Cooperative positioning method, device and equipment of spacecraft, storage medium and product

Abstract

The invention discloses a cooperative positioning method, device and equipment of a spacecraft, a storage medium and a product, the spacecraft comprises an impactor and a flyover, and the method comprises the following steps: obtaining first sight direction information of the impactor and second sight direction information of the flyover; determining relative position estimation values of the impactor and the flyover at the current moment; determining a first current moment position of the impactor according to the first sight line direction information, the second sight line direction information and the current moment relative position estimation value; and determining a second current moment position of the flyover according to the current moment relative position estimation value and the first current moment position. According to the cooperative positioning method of the spacecraft, positioning of the impactor and the flyover included in the spacecraft is achieved by estimating the relative positions of the impactor and the flyover, the problem that all states in the optical navigation technology are difficult to be completely observable can be solved, the state estimation dimension in a navigation filtering strategy can be reduced, and the positioning accuracy of the spacecraft is improved. And the on-satellite calculation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep space exploration, and particularly to a cooperative positioning method, device, equipment, storage medium and product for a spacecraft. Background Art

[0002] Spacecraft autonomous navigation refers to an orbit determination method that does not rely on artificial facilities on the Earth or other celestial bodies. In the deep space exploration mission of a spacecraft, due to the inability to receive Earth signals in the deep space environment, autonomous navigation has become a key technology.

[0003] In the existing autonomous navigation technologies, a commonly used solution is to adopt the relative navigation technology of an optical camera, which has been applied to missions such as DART, Deep Impact, and small body flyby missions. However, due to the special orbital configurations at the impact and flyby ends, it is difficult to fully observe all states of the optical navigation technology, so there is a risk of navigation filter divergence. To overcome this risk, the existing technology can perform navigation based on the relative distances and line-of-sight observations of multiple detectors during the approaching flight segment of an asteroid. However, this method requires the use of an optical camera to simultaneously observe other detectors and the asteroid, with large imaging constraints and being difficult to apply to asteroid impact missions.

[0004] In addition, for general multi-detector cooperative exploration autonomous navigation methods, the existing common practice is basically to adopt the Kalman filtering method and use the states of multiple detectors as the filtering states, resulting in high-dimensional matrix operations in the calculation, which brings a great burden to detectors with severely limited computing resources. Summary of the Invention

[0005] The present invention provides a cooperative positioning method, device, equipment, storage medium and product for a spacecraft to achieve autonomous navigation and positioning of the spacecraft based on the relative positions of an impactor and a flyby vehicle.

[0006] According to an aspect of the present invention, there is provided a cooperative positioning method for a spacecraft, including:

[0007] Obtaining first line-of-sight direction information of the impactor and second line-of-sight direction information of the flyby vehicle;

[0008] Determining an estimated value of the relative position of the impactor and the flyby vehicle at the current moment;

[0009] Determining a first position of the impactor at the current moment according to the first line-of-sight direction information, the second line-of-sight direction information, and the estimated value of the relative position at the current moment;

[0010] Determining a second position of the flyby vehicle at the current moment according to the estimated value of the relative position at the current moment and the first position of the impactor at the current moment.

[0011] Further, determining the current - moment relative - position estimation values of the impactor and the fly - by vehicle includes:

[0012] Predicting the states of the impactor and the fly - by vehicle at the current moment to obtain the predicted values of the states at the current moment; wherein, the states of the impactor and the fly - by vehicle at the current moment include the relative position and the relative velocity of the impactor and the fly - by vehicle at the current moment.

[0013] Obtaining the relative - position observation value and the relative - velocity observation value measured for the impactor and the fly - by vehicle.

[0014] Correcting the predicted values of the states at the current moment according to the relative - position observation value and the relative - velocity observation value to obtain the estimated values of the states at the current moment; wherein, the estimated values of the states at the current moment include the current - moment relative - position estimation value and the current - moment relative - velocity estimation value.

[0015] Further, predicting the states of the impactor and the fly - by vehicle at the current moment to obtain the predicted values of the states at the current moment includes:

[0016] Obtaining the previous - moment relative - position estimation value and the previous - moment relative - velocity estimation value of the impactor and the fly - by vehicle.

[0017] Predicting the predicted values of the states at the current moment according to the previous - moment relative - position estimation value and the previous - moment relative - velocity estimation value.

[0018] Further, correcting the predicted values of the states at the current moment according to the relative - position observation value and the relative - velocity observation value to obtain the estimated values of the states at the current moment includes:

[0019] Combining with the Kalman filtering method, determining the estimated values of the states at the current moment according to the relative - position observation value, the relative - velocity observation value and the predicted values of the states at the current moment.

[0020] Further, the first line - of - sight direction information is measured by the optical navigation sensor of the impactor, and the second line - of - sight direction information is measured by the optical navigation sensor of the fly - by vehicle.

[0021] Further, determining the second current - moment position of the fly - by vehicle according to the current - moment relative - position estimation value and the first current - moment position includes:

[0022] Determining the sum of the first current - moment position and the current - moment relative - position estimation value as the second current - moment position.

[0023] According to another aspect of the present invention, a cooperative positioning device for a spacecraft is provided, including:

[0024] A line-of-sight direction information acquisition module, configured to acquire first line-of-sight direction information of the impactor and second line-of-sight direction information of the flyby vehicle;

[0025] A current moment relative position estimation value determination module, configured to determine a current moment relative position estimation value of the impactor and the flyby vehicle;

[0026] A first current moment position determination module, configured to determine a first current moment position of the impactor according to the first line-of-sight direction information, the second line-of-sight direction information, and the current moment relative position estimation value;

[0027] A second current moment position determination module, configured to determine a second current moment position of the flyby vehicle according to the current moment relative position estimation value and the first current moment position;

[0028] Optionally, the current moment relative position estimation value determination module is further configured to:

[0029] Predict the current moment states of the impactor and the flyby vehicle to obtain current moment state prediction values; wherein, the current moment states of the impactor and the flyby vehicle include the current moment relative position and the current moment relative velocity of the impactor and the flyby vehicle;

[0030] Obtain relative position observation values and relative velocity observation values obtained by measuring the impactor and the flyby vehicle;

[0031] Correct the current moment state prediction values according to the relative position observation values and the relative velocity observation values to obtain current moment state estimation values; wherein, the current moment state estimation values include the current moment relative position estimation value and the current moment relative velocity estimation value.

[0032] Optionally, the current moment relative position estimation value determination module is further configured to:

[0033] Obtain the previous moment relative position estimation value and the previous moment relative velocity estimation value of the impactor and the flyby vehicle;

[0034] Predict the current moment state prediction values according to the previous moment relative position estimation value and the previous moment relative velocity estimation value.

[0035] Optionally, the current moment relative position estimation value determination module is further configured to:

[0036] Combine the Kalman filtering method to determine the current moment state estimation values according to the relative position observation values, the relative velocity observation values, and the current moment state prediction values.

[0037] Optionally, the first line-of-sight direction information is measured by an optical navigation sensor of the impactor, and the second line-of-sight direction information is measured by an optical navigation sensor of the flyby vehicle.

[0038] Optionally, the second current moment position determination module is further configured to:

[0039] Determine the sum of the first current moment position and the current moment relative position estimated value as the second current moment position.

[0040] According to another aspect of the present invention, there is provided an electronic device, including:

[0041] At least one processor; and

[0042] A memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the spacecraft cooperative positioning method according to any embodiment of the present invention.

[0044] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the spacecraft cooperative positioning method according to any embodiment of the present invention when executed.

[0045] According to another aspect of the present invention, there is provided a computer program product including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the spacecraft cooperative positioning method according to any embodiment of the present invention are implemented.

[0046] The spacecraft cooperative positioning method disclosed by the present invention first obtains the first line-of-sight direction information of the impactor and the second line-of-sight direction information of the flyby vehicle; then determines the current moment relative position estimated value of the impactor and the flyby vehicle; then determines the first current moment position of the impactor according to the first line-of-sight direction information, the second line-of-sight direction information and the current moment relative position estimated value; and finally determines the second current moment position of the flyby vehicle according to the current moment relative position estimated value and the first current moment position. The spacecraft cooperative positioning method disclosed by the present invention estimates the relative position of the impactor and the flyby vehicle, and locates the impactor and the flyby vehicle included in the spacecraft based on the current moment relative position estimated value, which can overcome the problem that all states are difficult to be fully observable in the optical navigation technology, and can reduce the state estimation dimension in the navigation filtering strategy, improving the on-board computing efficiency.

[0047] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood from the following description. Brief Description of the Drawings

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0049] Figure 1 is a flowchart of a method for collaborative positioning of a spacecraft provided in Embodiment 1 of the present invention;

[0050] Figure 2 is a schematic structural diagram of a device for collaborative positioning of a spacecraft provided in Embodiment 2 of the present invention;

[0051] Figure 3 is a schematic structural diagram of an electronic device for implementing the method for collaborative positioning of a spacecraft in Embodiment 3 of the present invention. Detailed Embodiments

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0054] Embodiment 1

[0055] Figure 1The flowchart of a cooperative positioning method for a spacecraft provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the spacecraft performs autonomous navigation tasks. This method can be executed by the cooperative positioning device of the spacecraft. The cooperative positioning device of the spacecraft can be implemented in the form of hardware and / or software, and the cooperative positioning device of the spacecraft can be configured in an electronic device. As Figure 1 shown, the method includes:

[0056] S110. Obtain the first line-of-sight direction information of the impactor and the second line-of-sight direction information of the flyby vehicle.

[0057] Among them, the first line-of-sight direction information and the second line-of-sight direction information are the line-of-sight direction vectors of the impactor and the flyby vehicle respectively.

[0058] Optionally, the first line-of-sight direction information is measured by the optical navigation sensor of the impactor, and the second line-of-sight direction information is measured by the optical navigation sensor of the flyby vehicle.

[0059] Specifically, the impactor and the flyby vehicle can be respectively equipped with their own optical navigation sensors, and the impactor and the flyby vehicle can respectively use their own optical navigation sensors to obtain the first line-of-sight direction information and the second line-of-sight direction information. Among them, the first line-of-sight direction information is the unit vector of the optical navigation sensor of the impactor pointing to the asteroid, and the second line-of-sight direction information is the unit vector of the optical navigation sensor of the flyby vehicle pointing to the asteroid.

[0060] S120. Determine the estimated relative position of the impactor and the flyby vehicle at the current moment.

[0061] In this embodiment, to determine the positions of the impactor and the flyby vehicle at the current moment, the relative position between them can be estimated first, that is, the estimated relative position of the impactor and the flyby vehicle at the current moment is determined, and then the positions of the impactor and the flyby vehicle at the current moment are calculated according to the estimated relative position at the current moment.

[0062] Optionally, the method for determining the estimated relative position of the impactor and the flyby vehicle at the current moment can be: predicting the states of the impactor and the flyby vehicle at the current moment to obtain the predicted state values at the current moment; among them, the states of the impactor and the flyby vehicle at the current moment include the relative position and relative velocity of the impactor and the flyby vehicle at the current moment; obtaining the relative position observation value and relative velocity observation value measured for the impactor and the flyby vehicle; correcting the predicted state value at the current moment according to the relative position observation value and relative velocity observation value to obtain the estimated state value at the current moment; among them, the estimated state value at the current moment includes the estimated relative position value and estimated relative velocity value at the current moment.

[0063] Specifically, the predicted value of the state at the current moment includes the predicted value of the relative position and the predicted value of the relative velocity of the impactor and the flyby vehicle at the current moment. Since the predicted values are inaccurate, the relative distance and velocity measurement sensors equipped between the impactor and the flyby vehicle can be used to obtain the observed value of the relative position and the observed value of the relative velocity between the impactor and the flyby vehicle. Then, the predicted values are corrected using the observed values to obtain a more accurate estimated value of the relative position and a more accurate estimated value of the relative velocity between the impactor and the flyby vehicle at the current moment.

[0064] Further, the method for predicting the state of the impactor and the flyby vehicle at the current moment to obtain the predicted value of the state at the current moment can be: obtaining the estimated value of the relative position and the estimated value of the relative velocity of the impactor and the flyby vehicle at the previous moment; predicting the predicted value of the state at the current moment based on the estimated value of the relative position and the estimated value of the relative velocity at the previous moment.

[0065] Specifically, define the relative position and velocity of the impactor and the flyby vehicle as , where represents the real number field of 3D vectors, as shown in the following formula:

[0066]

[0067] where and are the positions of the flyby vehicle and the impactor in the asteroid orbit coordinate system respectively, and are the velocities of the flyby vehicle and the impactor in the asteroid orbit coordinate system respectively.

[0068] At time t0, the initial values of the relative position and relative velocity of the impactor and the flyby vehicle are obtained through ground measurement and control, and are denoted as and . Denote the current moment as t k (k≥1), then using relative motion dynamics, from the estimated value of the relative position k-1 and the estimated value of the relative velocity of the impactor and the flyby vehicle at time , predict the predicted value of the relative position k and the predicted value of the relative velocity at time :

[0069]

[0070] In the above formula, and correspond to the flyby vehicle and the impactor at time t k-1The orbital maneuver speed value at a moment, which is 0 if there is no orbital speed maneuver at that moment.

[0071] Furthermore, the method for correcting the predicted value of the current moment state based on the relative position observation value and the relative velocity observation value to obtain the estimated value of the current moment state can be: combining the Kalman filtering method, and determining the estimated value of the current moment state according to the relative position observation value, the relative velocity observation value and the predicted value of the current moment state.

[0072] Specifically, the relative position observation value and the relative velocity observation value of the impactor and the flyby vehicle can be obtained by the inter-satellite distance and velocity measurement sensor at time t k , and are respectively denoted as and . Combining the Kalman filtering method, define the state of the Kalman filter as , where represents the real number field of a 6-dimensional vector. Use the Kalman filter to estimate x, and denote the estimated value as , from the estimated value of the relative position k-1 of the impactor and the flyby vehicle at time t and the estimated value of the relative velocity , predict the predicted value of the relative position k at time t and the predicted value of the relative velocity can be expressed as:

[0073]

[0074] In the formula, , and are respectively the orbital maneuver moments of the flyby vehicle and the impactor, and are respectively the orbital maneuver speeds of the impactor and the flyby vehicle within the update period. If there is no orbital maneuver for the impactor (or flyby vehicle) within the update period, set it to 0.

[0075] The above formula can be written as:

[0076] Among them:

[0077]

[0078] Among them is an n×n identity matrix.

[0079] Based on the assumptions of the Kalman filter, the variance prediction equation of the state error can be written as:

[0080]

[0081] Where, P is the error variance, is the predicted variance at time t k , is the filtering error variance at time t k-1 (initialized at k + 1 and set as a positive definite matrix according to the approximate magnitude of the error), is the process noise variance at time t k-1 , generally set as a very small positive definite matrix.

[0082] The Kalman filter gain matrix can be expressed as:

[0083]

[0084] Wherein, is the measurement noise variance, , E is the mean operator, and are the relative distance and relative velocity measurement noises respectively. is the Jacobian matrix of the observed quantity with respect to the state quantity, expressed in the following form:

[0085]

[0086] According to the measurement update equation of the Kalman filter, the state estimate value and the filtering error state variance at time t k are shown in the following formula:

[0087]

[0088] It can be obtained that:

[0089]

[0090]

[0091]

[0092] Wherein, is the state estimate value at the current moment, which includes the relative position estimate value and the relative velocity estimate value at the current moment of the impactor and the flyby vehicle, is the state prediction value at the current moment, is the observation information, which includes the relative position observation value and the relative velocity observation value and . After obtaining the state estimate value at the current moment through the above process, the relative position estimate value and the relative velocity estimate value at the current moment of the impactor and the flyby vehicle can be obtained.

[0093] S130. Determine the first current - moment position of the impactor based on the first line - of - sight direction information, the second line - of - sight direction information, and the current - moment relative - position estimate value.

[0094] Denote the obtained first line - of - sight direction information and second line - of - sight direction information as and , respectively. The following observation equation can be obtained:

[0095]

[0096] where and are the attitude transformation matrices from the inertial system to the impactor sensor coordinate system and from the inertial system to the fly - by vehicle sensor coordinate system, respectively, which can be calculated by their respective attitude - determination systems according to attitude sensors. and are the optical measurement noises of the impactor and the fly - by vehicle. and represent the projections of the position vectors of the impactor and the fly - by vehicle relative to the target asteroid in the inertial coordinate system, respectively.

[0097] Neglecting the influence of noise, the following can be obtained from the above formula:

[0098]

[0099] where and are the positions of the fly - by vehicle and the impactor in the asteroid - orbit coordinate system, respectively. is the relative position between the impactor and the fly - by vehicle.

[0100] Thus,

[0101]

[0102] Write the above formula in matrix form:

[0103]

[0104] where

[0105]

[0106] In the above formula, [a×] is the cross - product matrix of.

[0107] After obtaining the current - moment relative - position estimate value of the impactor and the fly - by vehicle through S120, the first current - moment position of the impactor can be obtained from the formula , denoted as , and can be expressed by the following formula:

[0108]

[0109] S140. Determine the second current moment position of the fly-by vehicle based on the estimated value of the relative position at the current moment and the first current moment position.

[0110] In this embodiment, after obtaining the first current moment position of the impactor, the second current moment position of the fly-by vehicle can be further determined based on the estimated value of the relative position at the current moment between the impactor and the fly-by vehicle and the first current moment position of the impactor.

[0111] Optionally, the method for determining the second current moment position of the fly-by vehicle based on the estimated value of the relative position at the current moment and the first current moment position can be: determining the sum of the first current moment position and the estimated value of the relative position at the current moment as the second current moment position.

[0112] Specifically, after obtaining the first current moment position of the impactor and the estimated value of the relative position at the current moment between the impactor and the fly-by vehicle the second current moment position of the fly-by vehicle can be expressed as:

[0113]

[0114] So far, the current moment positions of the impactor and the fly-by vehicle included in the spacecraft have been determined, and the positioning of the spacecraft is completed.

[0115] The cooperative positioning method of the spacecraft disclosed in the present invention first obtains the first line-of-sight direction information of the impactor and the second line-of-sight direction information of the fly-by vehicle; then determines the estimated value of the relative position at the current moment between the impactor and the fly-by vehicle; then determines the first current moment position of the impactor based on the first line-of-sight direction information, the second line-of-sight direction information and the estimated value of the relative position at the current moment; finally determines the second current moment position of the fly-by vehicle based on the estimated value of the relative position at the current moment and the first current moment position. The cooperative positioning method of the spacecraft disclosed in the present invention estimates the relative position between the impactor and the fly-by vehicle, and positions the impactor and the fly-by vehicle included in the spacecraft based on the estimated value of the relative position at the current moment, which can overcome the problem that all states are difficult to be fully observable in the optical navigation technology, and can reduce the state estimation dimension in the navigation filtering strategy, and improve the on-board computing efficiency.

[0116] Embodiment 2

[0117] Figure 2 is a schematic structural diagram of a cooperative positioning device of a spacecraft provided in Embodiment 2 of the present invention, as Figure 2As shown in the figure, the device includes: a line-of-sight direction information acquisition module 310, a current moment relative position estimation value determination module 320, a first current moment position determination module 330, and a second current moment position determination module 340.

[0118] The line-of-sight direction information acquisition module 310 is used to acquire the first line-of-sight direction information of the impactor and the second line-of-sight direction information of the flyover vehicle.

[0119] The current moment relative position estimation value determination module 320 is used to determine the current moment relative position estimation value of the impactor and the flyover vehicle.

[0120] The first current moment position determination module 330 is used to determine the first current moment position of the impactor according to the first line-of-sight direction information, the second line-of-sight direction information, and the current moment relative position estimation value.

[0121] The second current moment position determination module 340 is used to determine the second current moment position of the flyover vehicle according to the current moment relative position estimation value and the first current moment position.

[0122] Optionally, the current moment relative position estimation value determination module 320 is further used for:

[0123] Predict the current moment states of the impactor and the flyover vehicle to obtain the current moment state prediction values; wherein, the current moment states of the impactor and the flyover vehicle include the current moment relative position and the current moment relative velocity of the impactor and the flyover vehicle; obtain the relative position observation value and the relative velocity observation value measured for the impactor and the flyover vehicle; correct the current moment state prediction values according to the relative position observation value and the relative velocity observation value to obtain the current moment state estimation values; wherein, the current moment state estimation values include the current moment relative position estimation value and the current moment relative velocity estimation value.

[0124] Optionally, the current moment relative position estimation value determination module 320 is further used for:

[0125] Obtain the previous moment relative position estimation value and the previous moment relative velocity estimation value of the impactor and the flyover vehicle; predict the current moment state prediction values according to the previous moment relative position estimation value and the previous moment relative velocity estimation value.

[0126] Optionally, the current moment relative position estimation value determination module 320 is further used for:

[0127] Combine the Kalman filtering method to determine the current moment state estimation values according to the relative position observation values, the relative velocity observation values, and the current moment state prediction values.

[0128] Optionally, the first line-of-sight direction information is measured by the optical navigation sensor of the impactor, and the second line-of-sight direction information is measured by the optical navigation sensor of the flyover vehicle.

[0129] Optionally, the second current moment position determination module 340 is further configured to:

[0130] Determine the sum of the first current moment position and the current moment relative position estimate as the second current moment position.

[0131] The cooperative positioning device of the spacecraft provided by the embodiments of the present invention can execute the cooperative positioning method of the spacecraft provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0132] Embodiment III

[0133] Figure 3 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0134] As Figure 3 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0135] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0136] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the cooperative positioning method of the spacecraft.

[0137] In some embodiments, the cooperative positioning method of the spacecraft can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the cooperative positioning of the spacecraft described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the cooperative positioning method of the spacecraft by any other suitable means (e.g., by means of firmware).

[0138] The various embodiments of the systems and technologies described above in this article can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0139] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on a remote machine or server.

[0140] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0141] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0142] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0143] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

Claims

1. A cooperative positioning method for a spacecraft, characterized in that, The spacecraft includes an impactor and a flyby vehicle, and the method includes: Obtaining first line-of-sight direction information of the impactor and second line-of-sight direction information of the flyby vehicle; Determining an estimated value of the relative position of the impactor and the flyby vehicle at the current moment; Determining the first current-moment position of the impactor according to the first line-of-sight direction information, the second line-of-sight direction information, and the estimated value of the relative position at the current moment; Determining the second current-moment position of the flyby vehicle according to the estimated value of the relative position at the current moment and the first current-moment position; 2. The method according to claim 1, characterized in that, Determining the estimated value of the relative position of the impactor and the flyby vehicle at the current moment includes: Predicting the states of the impactor and the flyby vehicle at the current moment to obtain predicted state values at the current moment; wherein, the states of the impactor and the flyby vehicle at the current moment include the relative position and relative velocity of the impactor and the flyby vehicle at the current moment; Obtaining relative position observation values and relative velocity observation values obtained by measuring the impactor and the flyby vehicle; Correcting the predicted state values at the current moment according to the relative position observation values and the relative velocity observation values to obtain estimated state values at the current moment; wherein, the estimated state values at the current moment include the estimated value of the relative position at the current moment and the estimated value of the relative velocity at the current moment; 3. The method according to claim 2, characterized in that, Predicting the states of the impactor and the flyby vehicle at the current moment to obtain predicted state values at the current moment includes: Obtaining the estimated value of the relative position and the estimated value of the relative velocity of the impactor and the flyby vehicle at the previous moment; Predicting the predicted state values at the current moment according to the estimated value of the relative position at the previous moment and the estimated value of the relative velocity at the previous moment; 4. The method according to claim 2, wherein Correcting the predicted state values at the current moment according to the relative position observation values and the relative velocity observation values to obtain estimated state values at the current moment includes: Combining the Kalman filtering method to determine the estimated state values at the current moment according to the relative position observation values, the relative velocity observation values, and the predicted state values at the current moment; 5. The method according to claim 1, characterized in that, The first line-of-sight direction information is measured by an optical navigation sensor of the impactor, and the second line-of-sight direction information is measured by an optical navigation sensor of the flyby vehicle; 6. The method according to claim 1, wherein Determining the second current-moment position of the flyby vehicle according to the estimated value of the relative position at the current moment and the first current-moment position includes: Determining the sum of the first current-moment position and the estimated value of the relative position at the current moment as the second current-moment position; 7. A collaborative positioning device for a spacecraft, characterized in that, Including: A line-of-sight direction information acquisition module for obtaining first line-of-sight direction information of the impactor and second line-of-sight direction information of the flyby vehicle; A current-moment relative position estimated value determination module for determining the estimated value of the relative position of the impactor and the flyby vehicle at the current moment; A first current-moment position determination module for determining the first current-moment position of the impactor according to the first line-of-sight direction information, the second line-of-sight direction information, and the estimated value of the relative position at the current moment; A second current moment position determination module, configured to determine a second current moment position of the flying vehicle according to the relative position estimation value at the current moment and the first current moment position.

8. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the cooperative positioning method of the spacecraft according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute the cooperative positioning method of the spacecraft according to any one of claims 1-6 when executed.

10. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, the steps of the cooperative positioning method of the spacecraft according to any one of claims 1-6 are implemented.

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