Forced orbiting control method and device for spacecraft with avoidance ability

Abstract

The present invention relates to the field of spacecraft guidance and control technology, and particularly relates to a method and device for forced fly-around control of a spacecraft with evasion capabilities. The present invention obtains fly-around control parameters, determines a forced fly-around velocity vector based on the fly-around control parameters, uses the forced fly-around velocity vector as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, inputs the position and velocity of the spacecraft and the orbital threat in the fly-around target orbital system into the IFDS planning algorithm to obtain a safe evasion velocity vector. Based on the safe evasion velocity vector, a trajectory control action is determined and the trajectory control action is executed. Through the above configuration method, the present invention can not only ensure that the spacecraft effectively evades various orbital threats during the fly-around process, but also, after successful evasion, quickly recover to a state close to the original fly-around orbit.

Description

Technical Field

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

[0002] Forced fly-around control is one of the key technologies for on-orbit servicing of spacecraft. With the increasing frequency of human space activities, a large number of space debris are generated, posing a serious threat to the safety of on-orbit servicing spacecraft. Therefore, an on-orbit servicing spacecraft in the process of forced fly-around must have the ability to autonomously avoid orbital threats. However, most of the existing forced fly-around control methods do not consider the coupling relationship between the avoidance maneuver and the fly-around maneuver during design, and it is difficult to achieve both the ability to avoid during the fly-around process and the autonomous control effect of quickly restoring to near the fly-around orbit after avoidance. There is an urgent need to carry out research on a forced fly-around control method for a spacecraft with an avoidance ability, so that the spacecraft can autonomously plan safe fly-around control commands according to the relative state with the orbital threat.

[0003] Based on this, there is an urgent need for a forced fly-around control method and device for a spacecraft with an avoidance ability to solve the technical problem of how to achieve both avoidance during the fly-around process and quickly restore to near the fly-around orbit after avoidance. Summary of the Invention

[0004] To solve the technical problem of how to achieve both avoidance during the fly-around process and quickly restore to near the fly-around orbit after avoidance, an embodiment of the present invention provides a method and device for forced fly-around control of a spacecraft with an avoidance ability.

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

[0006] Step 100: Obtain fly-around control parameters; wherein, the fly-around control parameters include a fly-around radius and a relative fly-around inclination angle;

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

[0008] Step 104: Use the forced fly-around 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-around 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 and velocity of the current orbital threat and the outer envelope parameters of the avoided orbital threat;

[0009] Step 106: Determine a plurality of safe forced fly-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 fly-around path points all passes the safety check. If so, determine a trajectory control action according to the plurality of safe forced fly-around path points, and execute the trajectory control action. After a preset time period, 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 an avoidance ability, including:

[0012] An acquisition module, configured to acquire fly-around control parameters; wherein, the fly-around control parameters include a fly-around radius and a relative fly-around inclination angle;

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

[0014] A second data processing module, configured to use the forced fly-around velocity vector as an initial velocity vector in an IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the positions and velocities of the spacecraft and the orbital threat in the fly-around 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 and velocity of the current orbital threat and the envelope parameters of the avoided orbital threat;

[0015] A third data processing module, configured to determine a plurality of safe forced fly-around path points based on the safe avoidance velocity vector;

[0016] A fourth data processing module, configured to determine whether the transfer process between every two of the safe forced fly-around path points all passes the safety check. If so, determine a trajectory control action according to the plurality of safe forced fly-around path points, and execute the trajectory control action. After a preset time period, re-execute the step of "acquiring fly-around control parameters". If not, re-execute the step of "using the forced fly-around velocity vector as an initial velocity vector in an IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the positions and velocities of the spacecraft and the orbital threat in the fly-around target orbit system into the IFDS planning algorithm to obtain a safe avoidance velocity vector".

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor. A computer program is stored in the memory. 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, on which a computer program is stored. When the computer program is executed on a computer, the computer is made to execute the method described in any embodiment of the present invention.

[0019] An embodiment of the present invention provides a method and device for forced fly-around control of a spacecraft with avoidance capabilities. In the complex scenario of space orbit manipulation, first, obtain the fly-around control parameters, construct an LGVF planning algorithm according to the fly-around control parameters, and input the position of the spacecraft in the fly-around target orbit system into the LGVF planning algorithm to obtain the forced fly-around velocity vector. Taking the forced fly-around 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 orbit threat in the fly-around target orbit system into the IFDS planning algorithm to obtain the safe avoidance velocity vector. According to the safe avoidance velocity vector, determine multiple safe forced fly-around path points, and judge whether the transfer process between every two safe forced fly-around path points all passes the safety check. If so, according to the multiple safe forced fly-around path points, determine the orbit control action and execute the orbit control action. After a preset time period, re-execute step 100. If not, re-execute step 104. Through the above configuration method, the present invention can not only ensure that the spacecraft effectively avoids various orbit threats during the fly-around process, but also can quickly return to a state close to the original fly-around orbit after successful avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0021] Figure 1 is a flowchart of a method for forced fly-around control of a spacecraft with avoidance capabilities 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 is a structural diagram of a device for forced fly-around control of a spacecraft with avoidance capabilities provided by an embodiment of the present invention;

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

[0025] Figure 5 It is a simulation result of planned path points and forced fly-around trajectories under the condition of no threat and the target not maneuvering provided by an embodiment of the present invention;

[0026] Figure 6 It is a simulation result of planned path points and forced fly-around trajectories under the condition of no threat and the target maneuvering provided by an embodiment of the present invention;

[0027] Figure 7 It is a simulation result of planned path points and forced fly-around trajectories under the condition of threat and the target not maneuvering provided by an embodiment of the present invention. Detailed implementation manners

[0028] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] Please refer to Figure 1 , an embodiment of the present invention provides a method for forced fly-around control of a spacecraft with evasive capabilities, and the method includes:

[0030] Step 100: Obtain fly-around control parameters; wherein, the fly-around control parameters include a fly-around radius and a relative fly-around inclination angle;

[0031] Step 102: Construct an LGVF planning algorithm based on the fly-around control parameters, and input the position of the spacecraft in the fly-around target orbital system into the LGVF planning algorithm to obtain a forced fly-around velocity vector;

[0032] Step 104: Use the forced fly-around 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-around target orbital system into the IFDS planning algorithm to obtain a safe evasive velocity vector; wherein, the IFDS planning algorithm is constructed by the position and velocity of the current orbital threat and the envelope parameters of the evaded orbital threat;

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

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

[0035] In the embodiment of the present invention, in the complex scenario of aerospace orbit control, first, obtain the fly-around control parameters, construct the LGVF planning algorithm according to the fly-around control parameters, and input the position of the spacecraft in the fly-around target orbit system into the LGVF planning algorithm to obtain the forced fly-around velocity vector. Take the forced fly-around velocity vector as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the positions and velocities of the spacecraft and the orbit threat in the fly-around target orbit system into the IFDS planning algorithm to obtain the safety avoidance velocity vector. Determine multiple safety forced fly-around path points according to the safety avoidance velocity vector, and determine whether the transfer process between every two safety forced fly-around path points all passes the safety check. If so, determine the orbit control action based on multiple safety forced fly-around path points, execute the orbit control action, and after a preset time duration, re-execute Step 100. If not, re-execute Step 104. Through the above configuration method, the present invention can not only ensure that the spacecraft effectively avoids various orbit threats during the fly-around process, but also can quickly return to a state close to the original fly-around orbit after successful avoidance.

[0036] In an embodiment of the present invention, the envelope parameters of the avoided orbit threat include the central position of the threat envelope, the semi-major axis length of the X-axis of the threat envelope, the semi-major axis length of the Y-axis of the threat envelope, the semi-major axis length of the Z-axis of the threat envelope, the shape control parameter of the envelope X-axis, the shape control parameter of the envelope Y-axis, the shape control parameter of the envelope Z-axis, and the corresponding X-axis line angle, Y-axis line angle, and Z-axis line angle between the envelope reference coordinate system and the target VVLH coordinate system.

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

[0038]

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

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

[0041] Parameter situation 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] The following description Figure 1 shows the execution methods of each step.

[0043] For step 100:

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

[0045] For step 102:

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

[0047]

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

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

[0050]

[0051] where T FA is the desired in-plane fly-around period; v0>0 represents the nominal speed amplitude in the "out-of-plane transfer" stage, which should be a relatively small value. The switching logic between the "in-plane fly-around" and "out-of-plane transfer" stages is shown in the following table:

[0052]

[0053] where ε>0 is a settable stage switching distance threshold. When the inclination is set small, this value can also be set small; the subscript last represents the previous beat.

[0054] On this basis, integrating V d yields a sequence of forced fly-around path points under non-evasive conditions. The fly-around trajectory formed by this sequence of path points rotates along the XOZ plane of the fly-around target orbit system, which saves more fuel compared to counterclockwise rotation. If a clockwise fly-around trajectory needs to be generated, the following formula can be used to calculate the forced fly-around velocity vector.

[0055]

[0056] Regarding step 104:

[0057] In an 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] In the formula, V is the initial velocity vector, M k(ΔX k ) is the perturbation matrix of the k-th threat, is the total perturbation matrix of all threats, w k (ΔX k ) is the weight coefficient, I3 is the third-order identity attraction matrix, ρ k and σ k are the normal and tangential repulsion reaction coefficients respectively, 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 safe avoidance velocity vector, is the position velocity of the current orbit threat.

[0062] In the embodiment of the present invention, V is the velocity vector of the spacecraft, called the initial velocity vector; M k (ΔX k ) and are the perturbation matrix of the k-th threat and the total perturbation matrix of all threats respectively, used to generate a repulsive effect, and drive the spacecraft to avoid threats by correcting the spacecraft velocity vector V; w k (ΔX k ) is the weight coefficient, determined by the relative distance between the spacecraft and the threat envelope surface (that is, the longer the distance, the smaller the weight and the corresponding repulsive effect); I3 is the third-order identity attraction matrix, generating an attraction effect that makes the spacecraft move towards the target point or maintain its original motion state; ρ k and σ k are the normal and tangential repulsion reaction coefficients respectively, used to determine the timing of the avoidance maneuver, θ k is the tangential direction coefficient, used to determine the direction of the avoidance maneuver, and the combination of different reaction coefficients and direction coefficients on the avoidance maneuver is as shown in Figure 4 ; v k (ΔX k ) and are the threat reference velocity vector and its vector sum respectively. When the threat moves away from the spacecraft, the interference effect will quickly disappear in the form of exponential decay, so that v k (ΔX k ) → 0 and unnecessary maneuvers are avoided.

[0063] In an embodiment of the present invention, the velocity vector V d output by the LGVF planning algorithm is used as the initial velocity vector V in the IFDS planning algorithm, and the IFDS algorithm parameters ρ k , σ k , θ k are reset, so as to generate a velocity vector u that can not only complete forced orbiting but also safely avoid during the orbiting process accordingly.

[0064] Regarding step 106:

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

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

[0067] Screen the sequence of alternative path points according to a preset rule to obtain multiple safety forced detour path points, and set the transfer period between every two safety forced detour path points.

[0068] In the embodiment of the present invention, the generated speed vector u is integrated with a certain sampling step ΔT to obtain a sequence of alternative path points. On this basis, screening is performed according to a preset rule to obtain safety forced detour path points, and the transfer period T between every two safety forced detour path points is set Trans .

[0069] First, set the sampling step ΔT. After integrating to obtain the path point sequence, count the total number M of path points in the two stages of "out-of-plane transfer" and "in-plane detour" Enter and M FA , and number them sequentially from 1. Since the path points are too dense, screening is still required. The rules are as follows:

[0070] Set the number of times N of the given orbit control pulses in the two stages of "out-of-plane transfer" and "in-plane detour" Enter and N FA , where N FA can be set as the number of segments of forced detour. Then the selected path point numbers j i (i = Enter, FA) are as 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 , and the following formula gives a setting scheme:

[0075]

[0076] where T Enter is the total expected 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 Figures 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 compared with the prior art are as follows: The maneuvering instructions generated by the method of the present invention can take into account the requirements of both threat avoidance and fly-around mission. On the one hand, it can form a three-dimensional forced fly-around trajectory with a certain relative inclination angle. On the other hand, it can enable the spacecraft to safely achieve the follow-up tracking forced fly-around of the target under the condition that there are multiple dynamic threats with different shapes near the target. In addition, the present invention has no complex numerical calculation process, and fully considers the pulse orbit control characteristics of the spacecraft during the design, which is convenient for engineering application.

[0082] As Figure 2 , Figure 3 shown, the embodiment of the present invention provides a forced fly-around control device for a spacecraft with avoidance ability. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, as Figure 2 shown, it is a hardware architecture diagram of an electronic device where the forced fly-around control device for a spacecraft with avoidance ability provided by the embodiment of the present invention is located. In addition to Figure 2 the shown processor, memory, network interface, and non-volatile memory, the electronic device where the device is located in the embodiment usually may also include other hardware, such as a forwarding chip responsible for processing packets, etc. Taking software implementation as an example, as Figure 3 shown, as a logically meaningful device, it is formed by the CPU of its corresponding electronic device reading the computer program in the non-volatile memory into the memory and running.

[0083] As Figure 3 shown, the embodiment of the present invention provides a forced fly-around control device for a spacecraft with avoidance ability, and the device includes:

[0084] An acquisition module 300, configured to acquire fly-around control parameters; wherein, the fly-around control parameters include a fly-around radius and a relative fly-around inclination angle;

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

[0086] A second data processing module 304, configured to use the forced fly-around velocity vector as an initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the positions and velocities of the spacecraft and the orbit threat in the fly-around 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 and velocity of the current orbit threat and the envelope parameters of the avoided orbit threat;

[0087] The third data processing module 306 is configured to determine multiple safe forced fly-around path points based on the safe avoidance velocity vector;

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

[0089] In an embodiment of the present invention, the obtaining 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 an embodiment of the present invention, the envelope parameters of the avoided orbital threat include the central position of the threat envelope, the semi-major axis length of the X-axis of the threat envelope, the semi-major axis length of the Y-axis of the threat envelope, the semi-major axis length of the Z-axis of the threat envelope, the shape control parameter of the envelope X-axis, the shape control parameter of the envelope Y-axis, the shape control parameter of the envelope Z-axis, and the corresponding X-axis line angle, Y-axis line angle, and Z-axis line angle between the envelope reference coordinate system and the target VVLH coordinate system.

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

[0092]

[0093] In the formula, the subscript k is the threat serial number, X D = [x D , y D , z D Tis the central position of the threat outer envelope, A is the semi-major axis length of the X-axis of the threat outer envelope, B is the semi-major axis length of the Y-axis of the threat outer envelope, C is the semi-major axis length of the Z-axis of the threat outer envelope, q is the shape control parameter of the outer envelope X-axis, p is the shape control parameter of the outer envelope Y-axis, r is the shape control parameter of the outer envelope Z-axis, is the rotation matrix from the envelope reference coordinate system to the target VVLH coordinate system. φ1, φ2, and φ3 are the corresponding X-axis included angle, Y-axis included angle, and Z-axis included angle between the envelope reference coordinate system and the target VVLH coordinate system in sequence. 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 fly-around radius, i Tx is the fly-around inclination angle relative to the X-axis in the relative fly-around inclination angle, i Tz is the fly-around inclination angle relative to the Z-axis in the relative fly-around inclination angle, V d is the forced fly-around velocity vector, R x is the rotation matrix along the X-axis, R z is the rotation matrix along the Z-axis, n is an adjustable outer-track convergence parameter of the fly-around orbit plane, and V0 is the nominal value of the forced fly-around speed 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] In the formula, V is the initial velocity vector, M k (ΔX k ) is the perturbation matrix of the kth threat, is the total perturbation 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 also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor is caused to execute a method for controlling a spacecraft's forced fly-around with evasion ability according to any embodiment of the present invention.

[0112] Specifically, a system or device equipped with a storage medium can be provided, on which software program code for implementing the functions of any of the above embodiments is stored, and the computer (or CPU or MPU) of the system or device is caused to read and execute the program code stored in the storage medium.

[0113] In this case, the program code read from the storage medium itself can implement the functions of any one of the above embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present invention.

[0114] Embodiments of the storage medium for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.

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

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

[0117] It should be noted that in this document, 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0118] Those 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. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The aforementioned storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks, or optical discs.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 ability, 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 velocity 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, wherein 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, wherein The relationship between the outer envelope parameters of the avoided orbital threat is determined by the following formula: In the formula, the subscript k is the threat serial number, and X D = [x D , y D , z D T is the central position of the threat outer envelope, A is the semi-major axis length of the X-axis of the threat outer envelope, B is the semi-major axis length of the Y-axis of the threat outer envelope, C is the semi-major axis length of the Z-axis of the threat outer envelope, q is the shape control parameter of the X-axis of the outer envelope, p is the shape control parameter of the Y-axis of the outer envelope, r is the shape control parameter of the Z-axis of the outer envelope, is the rotation matrix from the envelope reference coordinate system to the target VVLH coordinate system. φ1, φ2, and φ3 are the X-axis line angle, Y-axis line angle, and Z-axis line angle respectively 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: where R T is the radius of the fly-around, i Tx is the fly-around inclination angle relative to the X-axis in the relative fly-around inclination angle, i Tz is the fly-around inclination angle relative to the Z-axis in the relative fly-around inclination angle, V d is the forced fly-around velocity vector, R x is the rotation matrix along the X-axis, R z is the rotation matrix along the Z-axis, n is an adjustable trajectory convergence parameter outside the fly-around orbit plane, and V0 is the nominal magnitude of the forced fly-around velocity.

5. The method according to claim 4, wherein The IFDS planning algorithm is constructed by the following formula: t′ k = [cosθ k sinθ k 0] T , θ k ∈ [0, 2π] where V is the initial velocity vector, M k (ΔX k ) is the perturbation matrix of the k-th threat, is the total perturbation 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 reaction coefficients respectively, 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, wherein 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 spacecraft forced fly-around control device with avoidance ability, 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; The first data processing module is configured to construct an LGVF planning algorithm based on the fly-around control parameters, and input the position of the spacecraft in the fly-around target orbital system into the LGVF planning algorithm to obtain a forced fly-around velocity vector; The second data processing module is configured to use the forced fly-around 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-around 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 and velocity of the current orbital threat and the outer envelope parameters of the avoided orbital threat; The third data processing module is configured to determine a plurality of safe forced fly-around path points based on the safe avoidance velocity vector; The fourth data processing module is configured to determine whether the transfer process between every two of the safe forced fly-around path points all passes the safety check. If so, determine a trajectory control action according to the plurality of safe forced fly-around path points, and execute the trajectory control action. After a preset time period, re-execute the step of "obtaining fly-around control parameters". If not, re-execute the step of "using the forced fly-around 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-around target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector".

9. An electronic device, characterized in that, It includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the method described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon. When the computer program is executed on a computer, the computer is made to execute the method described in any one of claims 1-7.

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