Orbit maneuver planning method based on spacecraft variable orbit element and system thereof

Abstract

This invention relates to the field of spacecraft orbital maneuver planning. By performing feature analysis and identification of spacecraft orbit-changing primitives, a method for orbital maneuver planning based on these primitives is proposed. This method integrates orbit-changing tasks into independent orbit-changing primitives, which can be arbitrarily combined to achieve specific space missions, thereby reducing the complexity of orbital maneuver planning and improving efficiency. The planning method is as follows: Step S1: In complex orbital maneuver planning tasks, the flight process is divided into multiple basic segments, which are combined to form a complete orbital maneuver planning task; Step S2: Each basic segment is divided into initial condition primitives, stopping condition primitives, and orbit primitives. By freely combining these primitives, the orbital maneuver task planning is completed. This invention is applicable to maneuver planning tasks in complex orbits.

Description

Technical Field

[0001] This invention relates to the field of spacecraft orbital maneuver planning, and more specifically to an orbital maneuver planning method based on spacecraft orbital change primitives. Background Technology

[0002] Orbital maneuver planning is one of the core technologies in space missions. Its importance is not only reflected in ensuring mission success rates, but also in profoundly affecting spacecraft lifespan, mission costs, and the sustainable use of future space resources.

[0003] However, orbital maneuver planning is a highly complex task, involving intricate dynamic environments, multi-objective and multi-constraint optimization requirements, real-time computational demands, the impact of uncertainties, and the challenges of collaborative tasks. Each aspect presents unique difficulties, requiring the comprehensive application of mathematical modeling, optimization algorithms, control theory, and high-performance computing techniques to solve.

[0004] In summary, orbital maneuver planning has a decisive impact on the success or failure of space missions, but realizing orbital maneuver planning requires knowledge from multiple fields and is quite complex. Summary of the Invention

[0005] The purpose of this invention is to propose an orbital maneuver planning method based on spacecraft orbit-changing primitives by performing feature analysis and identification on the primitives of spacecraft orbit-changing. By integrating orbit-changing tasks into independent orbit-changing primitives, these primitives can be arbitrarily combined to achieve specific space missions, thereby reducing the complexity of orbital maneuver planning and improving efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention proposes an orbital maneuver planning method based on spacecraft orbital maneuvering primitives by performing feature analysis and identification on the primitives of spacecraft orbit change. The planning method includes the following steps:

[0008] Step S1: In complex orbital maneuver planning tasks, the flight process is divided into multiple basic segments, and these basic segments are combined to form a complete orbital maneuver planning task.

[0009] Step S2: Divide each basic segment into initial condition primitives, stopping condition primitives, and orbit primitives. By freely combining the primitives, complete the orbital maneuvering task planning.

[0010] Furthermore, the aforementioned initial condition primitives are used to set up the reference spacecraft, set the initial phase position velocity, and set the initial epoch time at which the scenario begins.

[0011] Furthermore, the aforementioned stop condition primitive is used to stop track extrapolation based on the stop condition input by the user.

[0012] Furthermore, the aforementioned stopping conditions include stopping based on time, duration, or a specific epoch, stopping based on the shape of the chasing star's orbit, stopping at apogee or perigee, stopping based on the chasing star's position, stopping at a specific distance from the central target, and stopping when crossing the orbital plane.

[0013] Furthermore, the aforementioned orbital primitives include elliptical orbiting primitives, circular orbiting primitives, spiral orbiting primitives, fixed-point hovering primitives, water droplet hovering primitives, VBar following primitives, straight-line jump primitives, and curved-line jump primitives.

[0014] Furthermore, the basic characteristic of the above-mentioned elliptical orbital element is that the projection of the motion of the accompanying spacecraft relative to the reference spacecraft in the orbital plane is an elliptical trajectory with a ratio of 2:1 between the major and minor semi-axes.

[0015] The basic characteristic of the circular orbiting element is that it performs multiple maneuvers, and the distance between points on the relative motion trajectory and the central target is equal.

[0016] The basic characteristic of the spiral flying element is that the motion in the three directions of x, y, and z can be used to obtain an elliptical trajectory that drifts along the x direction;

[0017] The basic characteristic of the fixed-point hovering primitive is that the observed star is located at any specific point and maintains a fixed relative distance from the target star;

[0018] The primitive characteristics of the water droplet hovering primitive are the configurations naturally formed by the relative motion trajectories of a satellite in a drifting state, which have symmetry and revisiting properties;

[0019] The basic characteristic of the VBar follower primitive is that the distance between the observed star and the target star in the x-direction remains constant.

[0020] The basic characteristic of the linear jump primitive is that the transfer trajectory from the starting point to the ending point is a straight line, and multiple maneuvers are required;

[0021] The basic characteristic of the curvilinear jump primitive is that the transition trajectory from the starting point to the ending point is a curve, requiring only two maneuvers at the beginning and the end.

[0022] Furthermore, step S2 above specifically includes:

[0023] Step S21: Set initial condition primitives: Set a reference spacecraft and a VVLH coordinate system centered on the reference spacecraft, set the initial relative position and velocity and the initial epoch time;

[0024] Step S22: Set the stopping condition primitive: Select the stopping condition as duration stop and set the duration so that the duration is maintained based on the initial condition. When this primitive ends, output the relative position velocity at this moment to the ellipse orbiting primitive.

[0025] Step S23: Set the elliptical flight basic element: Set the semi-major axis of the flight and the transfer time. Determine whether the conditions for elliptical flight are met by the output of the stop condition basic element. If they are met, perform the flight. If they are not met, perform two maneuvers until they are met.

[0026] Step S24: Set the stopping condition primitive again: Select the stopping condition as duration stop and set the duration so that our spacecraft exits the orbiting flight from any position on the ellipse. When this primitive ends, output the relative position and velocity at this moment to the circular orbiting primitive.

[0027] Step S25: Set the circular flight primitive: Set the circular flight radius, the number of navigation points, and the transfer time respectively, so that our spacecraft can complete the circular flight according to the output of the stopping condition primitive;

[0028] Step S26: Set the stopping condition primitive again: Select the stopping condition as duration stop and set the duration. Our spacecraft completes a full orbit according to the set conditions.

[0029] The orbital maneuver planning method based on spacecraft orbit change primitives described in this invention can be fully implemented using computer software. Therefore, correspondingly, this invention also provides an orbital maneuver planning system based on spacecraft orbit change primitives. The system includes a storage device, which is used to execute the orbital maneuver planning method and steps based on spacecraft orbit change primitives proposed above.

[0030] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the orbital maneuver planning method based on spacecraft orbital change primitives as described above.

[0031] The present invention also provides a computer device, which includes a memory and a processor. The memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the orbital maneuver planning method based on spacecraft orbit change primitives as described in any one of the above-mentioned methods.

[0032] The beneficial effects of this invention are as follows:

[0033] 1. This invention proposes an orbital maneuver planning method based on spacecraft orbit-changing primitives by performing feature analysis and identification on the primitives of spacecraft orbit-changing. By integrating orbit-changing tasks into independent orbit-changing primitives, these primitives can be arbitrarily combined to achieve specific space missions, thereby reducing the complexity of orbital maneuver planning and improving efficiency.

[0034] Furthermore, the free combination of orbit-changing primitives proposed in this invention has the advantage of efficient integration and flexible expansion. Its positive effects are not only reflected in shortening the development cycle and improving mission reliability, but also in reducing the complexity for aerospace mission designers when facing orbital maneuver planning, so that they do not need to deal with code details such as orbit calculation and optimization algorithms, thereby improving the efficiency of aerospace mission design.

[0035] This invention is applicable to maneuver planning tasks in complex orbits. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is the initial state primitive setting attribute proposed in this invention;

[0038] Figure 2 These are the stop conditions that can be selected from the stop condition primitives proposed in this invention;

[0039] Figure 3 This is a subdivision of the orbital primitives proposed in this invention;

[0040] Figure 4 This is a detailed flowchart of a specific embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the elliptical orbiting flight described in this invention;

[0042] Figure 6 This is a schematic diagram of the circular circumferential flight according to the present invention. Detailed Implementation

[0043] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

[0044] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0045] Implementation Method 1: This implementation method proposes an orbital maneuver planning method based on spacecraft orbital maneuvering primitives by performing feature analysis and identification on the primitives of spacecraft orbit change. The planning method includes the following steps:

[0046] Step S1: In complex orbital maneuver planning tasks, the flight process is divided into multiple basic segments, and these basic segments are combined to form a complete orbital maneuver planning task.

[0047] Step S2: Divide each basic segment into initial condition primitives, stopping condition primitives, and orbit primitives. By freely combining the primitives, complete the orbital maneuvering task planning.

[0048] The proposed orbital maneuver planning method based on spacecraft orbit change primitives integrates orbit change tasks into independent orbit change primitives, which can be arbitrarily combined to achieve specific space missions, thereby reducing the complexity of orbital maneuver planning and improving efficiency.

[0049] Implementation Method 2, see below Figure 1 and Figure 2 This embodiment describes the initial condition primitive and the stopping condition primitive proposed in Embodiment 1 above.

[0050] Initial condition primitives: such as Figure 1 As shown, it is used to set the reference spacecraft, set the initial phase position and velocity, and set the initial epoch time when the scene begins.

[0051] Stop condition primitive: Used to stop track extrapolation based on user-input stop conditions. The stop conditions set in this implementation include: such as... Figure 2 As shown, stopping can occur based on time, duration, or a specific epoch; based on the shape of the chasing star's orbit, either at apogee or perigee; based on the chasing star's position, at a specific distance from the central target, or when crossing the orbital plane.

[0052] Implementation Method 3, see below Figure 3 This embodiment describes the orbital primitives proposed in Embodiment 1 above.

[0053] like Figure 3 As shown, the orbital primitives are subdivided according to different space missions: elliptical orbiting primitives, circular orbiting primitives, spiral orbiting primitives, fixed-point hovering primitives, droplet hovering primitives, VBar following primitives, straight-line jump primitives, and curved jump primitives. These primitives can be freely combined to form a "building block" structure for planning the orbital maneuvering mission's flight process.

[0054] Specifically, the elliptical orbital primitive is:

[0055] The relative motion of a circular orbit at a short distance and without external forces can be described by the following CW equation:

[0056]

[0057] Solving the above equation, we obtain the solution to the CW equation as follows:

[0058]

[0059] Differentiating the position component expression with respect to time yields the relative velocity expression:

[0060]

[0061] When z 00 =0, And the other two initial conditions are satisfied. At that time, the elliptical motion becomes elliptical motion around the origin of the coordinate system, that is, around the target spacecraft.

[0062] Basic characteristics: The projection of the motion of the accompanying spacecraft relative to the reference spacecraft into the orbital plane is an elliptical trajectory with a major semi-axis to minor semi-axis ratio of 2:1.

[0063] The circular orbital flying primitive is specifically:

[0064] Basic characteristics: It performs multiple maneuvers, and the distance between points on the relative motion trajectory and the central target is equal.

[0065] The spiral flying element is specifically:

[0066] Spiral fly-around is a form of fly-around that occurs on opposite sides. Compared to natural elliptical fly-around, spiral fly-around is non-periodic. According to the CW equations, if the initial state is as follows:

[0067]

[0068] The position equation can then be obtained as:

[0069]

[0070] From the equations of motion in the y and z directions, we can obtain the equations of motion in the oyz plane:

[0071]

[0072] Basic characteristics: From the equation of motion in the x-direction, it can be seen that there is a non-periodic term in the motion in the x-direction. This is the reason for the non-periodicity of the natural spiral flight trajectory. The motion in the y and z directions constitutes the equation of an ellipse, forming an elliptical trajectory. From the motion in the x, y, and z directions, we can obtain the elliptical trajectory drifting along the x-direction, that is, the natural spiral flight trajectory.

[0073] VBar follows the primitive as follows:

[0074] When x = x0 ≠ 0, all other initial values ​​are zero, that is... It becomes a fixed point (x0,0).

[0075]

[0076] Basic characteristics: The distance between the observed star and the target star in the x-direction remains constant.

[0077] The specific basic unit for fixed-point hovering is:

[0078] Basic characteristics: The observed star is located at any specific point and maintains a fixed relative distance from the target star.

[0079] The water droplet hovering primitive is specifically:

[0080] Basic characteristics: "Water droplet" hovering is a configuration that is naturally formed by the relative motion trajectory of a satellite in a drifting state. It is shaped like a water droplet and has obvious symmetry and revisiting characteristics.

[0081] The linear jump primitive is specifically:

[0082] Basic characteristics: The transfer trajectory from the starting point to the ending point is a straight line, requiring multiple maneuvers.

[0083] The specific basic unit of curve jump is:

[0084] Basic characteristics: The transfer trajectory from the starting point to the ending point is a curve, requiring only two maneuvers at the beginning and the end.

[0085] Based on the specific descriptions of the initial condition primitive, the stopping condition primitive, and the orbital primitive in the above implementation method, step S2 can be illustrated by example.

[0086] Step S21: Set initial condition primitives: Set a reference spacecraft and a VVLH coordinate system centered on the reference spacecraft, set the initial relative position and velocity and the initial epoch time;

[0087] Step S22: Set the stopping condition primitive: Select the stopping condition as duration stop and set the duration so that the duration is maintained based on the initial condition. When this primitive ends, output the relative position velocity at this moment to the ellipse orbiting primitive.

[0088] Step S23: Set the elliptical flight basic element: Set the semi-major axis of the flight and the transfer time. Determine whether the conditions for elliptical flight are met by the output of the stop condition basic element. If they are met, perform the flight. If they are not met, perform two maneuvers until they are met.

[0089] Step S24: Set the stopping condition primitive again: Select the stopping condition as duration stop and set the duration so that our spacecraft exits the orbiting flight from any position on the ellipse. When this primitive ends, output the relative position and velocity at this moment to the circular orbiting primitive.

[0090] Step S25: Set the circular flight primitive: Set the circular flight radius, the number of navigation points, and the transfer time respectively, so that our spacecraft can complete the circular flight according to the output of the stopping condition primitive;

[0091] Step S26: Set the stopping condition primitive again: Select the stopping condition as duration stop and set the duration. Our spacecraft completes a full orbit according to the set conditions.

[0092] Implementation Method Four, see below Figures 4 to 6 This embodiment describes a specific implementation method for detailing the orbital maneuver planning method based on spacecraft orbital change primitives proposed in Embodiment 1.

[0093] Objective: To achieve elliptical orbiting followed by circular orbiting.

[0094] Scenario description: Our spacecraft is named "Orbiting Star" and the enemy spacecraft is named "Target Star". "Orbiting Star" first orbits "Target Star" in an elliptical orbit and then connects to a circular orbit.

[0095] The specific steps are as follows: Figure 4 As shown:

[0096] Step 1: Set the initial state primitives:

[0097] If the reference spacecraft is set as the "target star", then the relative coordinate system described thereafter will be a VVLH coordinate system centered on the "target star".

[0098] Set the initial relative position velocity as: X0 = [-15, 0, 0, 0, 0, 0]

[0099] The initial epoch time is set to: 2023 / 10 / 01_00:00:00UTCG

[0100] Step 2: Set the stop condition primitives:

[0101] Select "Stop for duration" as the stop condition and set the duration to 600 seconds.

[0102] Detailed Explanation: The purpose of this primitive is to maintain the "orbiting star" state for 600 seconds with a fixed initial state before proceeding with subsequent actions. When this primitive ends, it will output the relative position and velocity at that moment to the next primitive.

[0103] Step 3: Set the elliptical orbital primitive:

[0104] The semi-major axis of the flight is set at 2km.

[0105] Set the transfer time to 8608s.

[0106] Detailed explanation: Based on the output of the previous "stop condition primitive", first determine whether the conditions for performing elliptical flight are met. This embodiment does not meet the requirement, therefore two maneuvers are needed to achieve it. The interval between the two maneuvers is the input parameter "transfer time". A schematic diagram of the elliptical flight is shown below. Figure 5 As shown.

[0107] Step 4: Set the stop condition primitives:

[0108] Select "Stop for duration" as the stop condition and set the duration to 7173 seconds.

[0109] Detailed Explanation: This step signifies that once the "flying star" completes its elliptical orbit relative to the "target star" for the set duration (7173s), it will stop orbiting, allowing the "flying star" to exit the orbit from any position on the ellipse and output its relative position and velocity at that moment. In this embodiment, after orbiting for 7173s, the "flying star" reaches the point on the semi-major axis of the ellipse located in front of the "target star" (…). Figure 5 (Point D in the middle).

[0110] Step 5: Set up the circular flying primitive:

[0111] The radius of the circular flight path is set to 4km.

[0112] Set the number of navigation points to 6.

[0113] Set the transfer time to 0 seconds.

[0114] Detailed Explanation: The circle is approximated by a regular N-gon; in this embodiment, it is a regular hexagon. The point where the major semi-axis of the elliptical flight exits is taken as the first navigation point. One pulse is applied to enter the second navigation point, and this process continues until six pulses are applied to return to the starting point, achieving a circular flight with a radius of 4km. Figure 6 As shown.

[0115] Step 6: Set the stop condition primitives:

[0116] Select "Stop for duration" as the stop condition and set the duration to 5739s.

[0117] Detailed Explanation: This step signifies that once the "flying star" has completed its circular orbit relative to the "target star" for the set duration (5739s), it will stop orbiting, allowing the "flying star" to exit the orbit from any position on the circle and output its relative position and velocity at that moment. In this embodiment, after 5739s of orbiting, the "flying star" completes one full orbit.

[0118] Step 7: Set arbitrary orbital primitives:

[0119] If other orbital missions are required, you can directly add a specific orbital primitive and set the input.

[0120] Implementation Method 5: The orbital maneuver planning method based on spacecraft orbit change primitives described in any one of Implementation Methods 1 to 3 above can be entirely implemented using computer software. Therefore, this implementation method proposes an orbital maneuver planning system based on spacecraft orbit change primitives, the system comprising:

[0121] A storage device used in complex orbital maneuver planning tasks to divide the flight process into multiple basic segments, and to combine multiple basic segments to form a complete orbital maneuver planning task.

[0122] A storage device used to divide each basic segment into initial condition primitives, stopping condition primitives, and orbital primitives, and to complete the orbital maneuvering task planning by freely combining the various primitives.

[0123] Implementation Method Six: This implementation method provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it executes the orbital maneuver planning method based on spacecraft orbital change primitives described in any of the above implementation methods.

[0124] Implementation Method Seven: This implementation method provides a computer device, which includes a memory and a processor. The memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the orbital maneuver planning method based on spacecraft orbital change primitives as described in any of the above implementation methods.

[0125] This embodiment provides a computer device, the hardware of which is a general-purpose model and is not shown in the figure. The system includes a processor and a memory, which can be connected by a bus or other means. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, as well as corresponding program instructions / modules. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions and modules stored in the memory, so as to realize the orbital maneuver planning method and steps based on spacecraft orbit change primitives in the above method embodiment.

[0126] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. An orbital maneuver planning method based on spacecraft orbit change primitives, characterized in that, The method is as follows: S1: Divide the flight process into multiple basic segments, and combine the multiple basic segments to form a complete orbital maneuvering planning task; S2: Divide each basic segment into initial condition primitives, stopping condition primitives and orbit primitives, and complete the orbital maneuvering task planning by freely combining the various primitives; S2 specifically refers to: S21: Set initial condition primitives: Set up a reference spacecraft and a VVLH coordinate system centered on the reference spacecraft, set the initial relative position and velocity and the initial epoch time; S22: Set Stop Condition Primitive: Select the stop condition as duration stop and set the duration. The duration is maintained based on the initial condition. When this primitive ends, the relative position and velocity at this moment are output to the elliptical orbiting primitive. S23: Set Elliptical Flight Primitive: Set the semi-major axis of the flight and the transfer time. Determine whether the conditions for elliptical flight are met by the output of the stopping condition primitive. If they are met, the flight is performed. If they are not met, two maneuvers are performed until the conditions are met. S24: Reset the stopping condition primitive: Select the stopping condition as duration stop and set the duration. The spacecraft exits the orbiting flight from any position on the ellipse. When this primitive ends, the relative position and velocity at this moment are output to the circular orbiting primitive. S25: Set circular flight primitives: Set the circular flight radius, number of navigation points and transfer time respectively. The spacecraft completes the circular flight according to the output of the stopping condition primitives. S26: Set the stopping condition primitive again: Select the stopping condition as duration and set the duration. The spacecraft completes a full orbit according to the set conditions.

2. The orbital maneuver planning method based on spacecraft orbit change primitives according to claim 1, characterized in that, The initial conditions primitive is used to set up the reference spacecraft, set the initial phase, position, and velocity, and set the initial epoch time at the start of the scenario.

3. The orbital maneuver planning method based on spacecraft orbit change primitives according to claim 1, characterized in that, The stop condition primitive is used to stop track extrapolation based on the stop condition input by the user.

4. The orbital maneuver planning method based on spacecraft orbit change primitives according to claim 1, characterized in that, Stopping conditions include stopping based on time, duration, or a specific epoch, stopping based on the shape of the chasing star's orbit, stopping at apogee or perigee, stopping based on the chasing star's position, stopping at a specific distance from the central target, and stopping when crossing the orbital plane.

5. The orbital maneuver planning method based on spacecraft orbit change elements according to claim 1, characterized in that, The orbital primitives include elliptical orbiting primitives, circular orbiting primitives, spiral orbiting primitives, fixed-point hovering primitives, water droplet hovering primitives, VBar following primitives, straight-line jump primitives, and curved-line jump primitives.

6. The orbital maneuver planning method based on spacecraft orbit change primitives according to claim 5, characterized in that, The basic characteristic of the elliptical orbital element is that the projection of the motion of the accompanying spacecraft relative to the reference spacecraft into the orbital plane is an elliptical trajectory with a ratio of 2:1 between the major and minor semi-axes. The basic characteristic of the circular orbiting element is that it performs multiple maneuvers, and the distance between points on the relative motion trajectory and the central target is equal. The basic characteristic of the spiral flying element is that the motion in the three directions of x, y, and z can be used to obtain an elliptical trajectory that drifts along the x direction; The basic characteristic of the fixed-point hovering primitive is that the observed star is located at any specific point and maintains a fixed relative distance from the target star; The primitive characteristics of the water droplet hovering primitive are the configurations naturally formed by the relative motion trajectories of a satellite in a drifting state, which have symmetry and revisiting properties; The basic characteristic of the VBar follower primitive is that the distance between the observed star and the target star in the x-direction remains constant. The basic characteristic of the linear jump primitive is that the transfer trajectory from the starting point to the ending point is a straight line, and multiple maneuvers are required; The basic characteristic of the curvilinear jump primitive is that the transition trajectory from the starting point to the ending point is a curve, requiring only two maneuvers at the beginning and the end.

7. An orbital maneuver planning system based on spacecraft orbit change elements, characterized in that, The system includes a storage device for performing the method and steps of claim 1.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the orbital maneuver planning method based on spacecraft orbital change primitives as described in any one of claims 1-6.

9. A computer device, characterized in that, The device includes a memory and a processor. The memory stores a computer program. When the processor runs the computer program stored in the memory, the processor executes the orbital maneuver planning method based on spacecraft orbital change primitives as described in any one of claims 1-6.

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