Visual multi-satellite orbit relative relation control method, device, equipment and medium

Abstract

The invention discloses a visual multi-satellite orbit relative relation control method and device, equipment and a medium. The method comprises the steps that target satellite parameters are set; configuring configuration parameters by the prefabricated configuration library; acquiring approaching satellite parameters according to the target satellite parameters and the configuration parameters; and drawing and displaying relative movement track information of the two satellites in real time according to the parameters of the two satellites. According to the method, four types of eleven standardized orbit configuration libraries are constructed, a complex relative motion mathematical model is modularized, a user does not need to manually derive an orbit equation, a preset configuration parameter library can be directly called, and dynamic parameter adjustment functions (such as a semi-major axis, eccentricity, simulation time and the like) are combined; satellite motion forms meeting different task requirements (such as reconnaissance, accompanying flight and orbit avoidance) are rapidly generated, the efficiency is improved, and the efficient multi-form orbit control capability is achieved.

Description

Technical Field

[0001] The present invention relates to the field of aerospace simulation multi-satellite orbit relative operation form and display technology, and in particular to a method, device, equipment and medium for visualizing the relative relationship control of multiple satellite orbits. Background Art

[0002] In recent years, with the exponential growth in the deployment scale of low-Earth orbit constellations and the dramatic increase in operational capabilities, satellite formation control technology has faced significant challenges. According to the latest statistics, the number of spacecraft in low-Earth orbit has exceeded 100,000, of which over 60% are networking satellites. Against this backdrop, precise control and visual monitoring of orbital relationships in multi-satellite collaborative operations, ensuring that dual or multiple satellites maintain a stable relative operational configuration, has become a normalized requirement for satellite orbit control.

[0003] The previously disclosed method and system for controlling the distance between satellites in relative motion (Document Application No. 202210026728.6) can describe close-flight scenarios, but it suffers from poor intuitive display when dealing with complex configurations such as circling, out-of-plane circling, and spiral approaches, and its parameter settings are complex.

[0004] The existing technology has the following defects: 1) Insufficient interactivity, which makes it impossible to achieve dynamic adjustment of configuration parameters during the simulation process; 2) Lack of visualization dimension. The three-dimensional visualization of existing software has high latency and lacks differential geometric feature expression of relative motion trajectories, making it difficult to accurately reflect nonlinear effects such as orbital plane precession; 3) The standardization of the configuration library lags behind, and a unified mathematical representation system has not yet been established for standard motion forms. Differences in coordinate system conversion methods lead to poor compatibility of collaborative tasks.

[0005] Therefore, existing technologies have significant technical barriers in terms of visual interaction, mathematical model standardization, and control accuracy. It is urgent to establish a new technical system that integrates parameterized configuration libraries, dynamic visual feedback, and high-precision control equations. Summary of the Invention

[0006] In response to the above-mentioned problems, the purpose of the present invention is to provide a method, device, equipment and medium for visualizing the relative relationship control of multiple satellite orbits, build an orbit configuration library, configure configuration parameters, and quickly generate and display inter-satellite motion forms that meet different mission requirements.

[0007] Embodiments of the present invention provide a method, apparatus, device, and medium for visualizing the relative relationship control of multiple satellite orbits.

[0008] A first aspect: A method for visualizing the relative relationship control of multiple satellite orbits, comprising:

[0009] S1. Set target star parameters;

[0010] S2, prefabricated configuration library configuration parameters;

[0011] S3. Obtaining the approaching star parameters based on the target star parameters and configuration parameters;

[0012] S4. Based on the binary star parameters, draw and display the relative motion trajectory information of the two stars in real time.

[0013] Optionally, also include:

[0014] S5. Modify the target star parameters and update the approaching star parameters in real time.

[0015] Optionally, the target star parameters include: epoch time, magnification, simulation time and six parameters.

[0016] Optionally, the configuration library classification includes following, circling, approaching and departing, wherein:

[0017] The following flight motion forms include fixed-point following flight, circling following flight and oscillating following flight;

[0018] The fly-around motion forms include coplanar fly-around and non-planar fly-around;

[0019] Approach motion patterns include flyby approach, jump approach and spiral approach;

[0020] The forms of escape motion include flyaway, jumpaway and spiralaway.

[0021] Optionally, the configuration parameters include: accompanying flight direction, accompanying flight distance, in-plane distance, relative phase, hovering position, closest distance and semi-axis increment.

[0022] Optionally, the real-time display of the relative motion trajectory of the two stars includes the viewing angle of the target star or the viewing angle of the approaching star.

[0023] Optionally, the real-time display of the relative motion trajectory information of the two stars includes: current time, relative distance, illumination angle, position component, velocity component and angular velocity component.

[0024] A second aspect: A visual multi-satellite orbit relative relationship control device, comprising:

[0025] Parameter input module, used to set target star parameters and adjust configuration parameters;

[0026] The core calculation module is used to obtain the parameters of the approaching star based on the target star parameters and configuration parameters;

[0027] The visualization rendering module is used to draw and display the relative motion trajectory information of the two stars in real time.

[0028] A third aspect: An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method provided in the first aspect are implemented.

[0029] A fourth aspect: A non-transitory computer-readable storage medium having a computer program stored thereon, which implements the steps of the method provided in the first aspect when executed by a processor.

[0030] Beneficial effects of the present invention:

[0031] 1. This invention constructs a library of 11 standardized orbital configurations in four categories, modularizing the complex mathematical model of relative motion. Users do not need to manually derive orbital equations, but can directly call the preset configuration library. Combined with dynamic parameter adjustment functions (such as semi-major axis, eccentricity, simulation time, etc.), it can quickly generate satellite motion forms that meet different mission requirements (such as reconnaissance, accompanying flight, and orbit avoidance), thereby improving efficiency and possessing efficient multi-form orbit control capabilities.

[0032] 2. The present invention adopts three-dimensional coordinate system dynamic rendering technology (such as Figure 3 The system displays key parameters such as the relative trajectory, orbital angle, and relative distance of binary / multi-satellites in real time (e.g., the coplanar flyby effect shown). When the user modifies configuration parameters, the system quickly recalculates the six orbital elements and redraws the trajectory, achieving closed-loop verification from parameter adjustment to effect preview, significantly reducing the risk of human calculation errors and making the interaction more visual.

[0033] 3. This invention transcends the limitations of traditional static simulation by establishing a correlation model between the six primary satellite element numbers and configuration parameters, supporting multi-parameter linkage adjustment (e.g., automatic correction of the ascending node's right ascension when changing inclination). The system's built-in parameter verification rules (e.g., eccentricity range verification) provide real-time warnings for illegal operations, ensuring the physical feasibility of the orbital configuration. This improves the overall design reliability of the device and enables dynamic parameter coupling analysis.

[0034] 4. The present invention presents the orbital plane projection, J2000 coordinate system reference system and maneuvering quantity statistics panel in multiple viewports synchronously (such as Figure 3 Implementation code). Users can simultaneously observe data such as the satellite's absolute orbital position and relative motion, providing panoramic decision support for complex space missions (such as reconnaissance by flyby or spiral approach avoidance) and enabling collaborative display of multi-dimensional data.

[0035] 5. This invention supports the rapid integration of new motion configurations through configuration field ID identification technology (such as the orbital angle parameter group when configuring a flyby configuration). When adding a new configuration, only the parameter configuration interface needs to be expanded without modifying the core algorithm. The system is compatible with special scenarios such as flybys of International Space Station modules and asteroid exploration, improving expansion efficiency and forming a scalable modular architecture. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart showing the principle of the method for visualizing the relative relationship of multiple satellite orbits according to the present invention;

[0037] Figure 2 This is a schematic diagram of the structure of the device for visualizing the relative relationship of multiple satellite orbits according to the present invention;

[0038] Figure 3 This is a diagram showing the effect of achieving coplanar fly-around using the method of the present invention;

[0039] Figure 4 Schematic diagram of the structure of the electronic device of the present invention. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0041] The existing visualization control of the relative relationship of multiple satellite orbits has the following problems: insufficient interactivity, which makes it impossible to realize the dynamic adjustment of configuration parameters during the simulation process; the lack of visualization dimension, which makes it difficult to accurately reflect nonlinear effects such as orbital plane precession; the standardization of the configuration library lags behind, and differences in coordinate system conversion methods lead to poor compatibility of collaborative tasks.

[0042] In order to solve the above problems, the present invention provides a method for visualizing the relative relationship control of multiple satellite orbits. Figure 1 The following is a flow chart of the principle of a method for visualizing the relative relationship of multiple satellite orbits provided in an embodiment of the present invention. The method comprises the following steps:

[0043] S1. Set the target star parameters.

[0044] like Figure 3 As shown in FIG, the target star parameters include epoch time, magnification, simulation time and six parameters.

[0045] The epoch time is the zero point of the current time; the magnification can be set to an integer from 1 to 5; the simulation time is the time counted from the epoch time; the six parameters of the target star include: semi-major axis / meter, eccentricity, inclination / degree, argument of perigee / degree, right ascension of ascending node / degree and mean anomaly / degree; the orbit of the target star can be determined by setting the target star parameters.

[0046] S2. Configure configuration parameters in the prefabricated configuration library.

[0047] The present invention divides the satellite relative orbit motion into four categories according to the purpose of space control: follow-up, fly-around, approach, and distance. This forms a configuration library of 11 relative motion forms for completing different space missions. The motion form classification is shown in Table 1:

[0048] Table 1 Classification of configuration library

[0049]

[0050] By mathematically modeling four categories of 11 motion forms, a library of 11 satellite orbit motion form configurations is formed. Based on the configuration parameters of each configuration, operational control and visual display methods that meet the needs of specific motion forms are realized, allowing users to use a graphical method of what they see is what they get to control the configuration of satellite motion forms.

[0051] Depending on the motion configuration, the configuration parameters include: accompanying flight direction, accompanying flight distance, in-plane distance, relative phase, hovering position, closest distance and semi-axis increment, etc.

[0052] like Figure 3 As shown, when the motion form is the coplanar winding method, the configuration parameters can be the in-plane distance and relative phase.

[0053] S3. Obtain the approaching star parameters based on the target star parameters and configuration parameters.

[0054] The obtained parameters of the approaching star are mainly six numbers of the approaching star orbit, including semi-major axis / meter, eccentricity, inclination / degree, argument of perigee / degree, right ascension of ascending node / degree and mean anomaly / degree.

[0055] For example, Figure 3 As shown, when the motion form is coplanar flyby, the configuration parameter in-plane distance is 5000m and the relative phase is 0.

[0056] Target star six parameters (semi-major axis / m): 6678140;

[0057] Target star six parameters (eccentricity): 0;

[0058] Target satellite six parameters (inclination / degree): 98;

[0059] Target satellite six parameters (perigee argument / degree): 0;

[0060] Target star six parameters (ascending node right ascension / degree): 0;

[0061] Target star six parameters (mean anomaly angle / degree): 0;

[0062] The six element numbers of the companion star obtained by calculation are:

[0063] Target star six parameters (semi-major axis / m): 6678140;

[0064] Target star six parameters (eccentricity): 0.00037435;

[0065] Target satellite six parameters (inclination / degree): 98;

[0066] Target satellite six parameters (perigee argument / degree): 0;

[0067] Target star six parameters (ascending node right ascension / degree): 0;

[0068] The six parameters of the target satellite (mean anomaly angle / degree): 0; the specific implementation code can be:

[0069]

[0070]

[0071] Code Description: The above code is used to update satellite orbit information in the Cesium 3D Earth visualization framework, mainly including:

[0072] Parameter acquisition: Get the initial parameters required for orbit calculation through configLibraryParamsRef;

[0073] Time calculation: Calculate simulation time based on satellite orbit period;

[0074] Timeline control: set the start / end time of the Cesium timeline;

[0075] Asynchronous orbit calculation: call asyncProcess to generate orbit data;

[0076] Visualization update: Update the orbital paths of the target star (targetSate) and the approaching star (chaserSate);

[0077] Auxiliary functions: update sun vector, view tracking, etc.

[0078] For example, in orbital period calculation, calcOrbitPeriod is an externally defined orbital period calculation function step that determines the data interpolation density and affects the smoothness of the orbit display.

[0079] In the timeline settings, the total simulation duration is dynamically set according to the orbit period, and setTimeline controls the display range of the Cesium timeline component.

[0080] In the satellite orbit parameters, leadTime / trailTime controls the forward and backward extension display time of the satellite track.

[0081] In the asynchronous processing flow, fj2000pv is the J2000 coordinate system data containing the satellite position / velocity, and setRelativeTrajectory is used to calculate and display the relative orbit of the two satellites.

[0082] S4. Based on the binary star parameters, draw and display the relative motion trajectory information of the two stars in real time.

[0083] Visually display the motion form of the spacecraft orbit, maneuverability and relative distance to the target star and other data. Figure 3 As shown, the motion trajectory information includes the current time, relative distance, illumination angle, position component, velocity component and angular velocity component, etc.

[0084] The specific implementation code is:

[0085]

[0086]

[0087] Code description: This code is used to create or update the relative motion trajectory of two satellites (target satellite and approaching satellite) in the Cesium 3D visualization scene. The main functions include:

[0088] Object reuse: Reuse of trajectory objects through predefined ID (relativeTrajectoryID);

[0089] Dynamic parameter injection: dynamically bind the incoming params parameters to the track object properties;

[0090] Visualization customization: configure the track line style (dashed line, cyan), coordinate axis parameters (magenta axis, width 10);

[0091] Data association: bind satellite entities (targetSate / chaserSate) and orbit calculation results (result);

[0092] For example, the lvlHAxes series of parameters controls the display of the local vertical horizontal (LVLH) coordinate system; lineType:Dash is a dashed trajectory mode suitable for displaying theoretical calculation paths. Dynamic parameter processing is supported, and the mathematical parameters of the trajectory object (such as orbital dynamics parameters) can be expanded at runtime.

[0093] This code is used with the satellite simulation object and the Cesium 3D rendering engine to draw and display the relative motion trajectory of the two satellites in real time.

[0094] When observing the relative motion trajectory of two stars in real time, you can use the target star perspective or the approaching star perspective.

[0095] The present invention also provides a device for visualizing the relative relationship of multiple satellite orbits. Figure 2 As shown, the device includes:

[0096] Parameter input module, used to set target star parameters and adjust configuration parameters;

[0097] The core calculation module is used to obtain the parameters of the approaching star based on the target star parameters and configuration parameters;

[0098] The visualization rendering module is used to draw and display the relative motion trajectory information of the two stars in real time.

[0099] The device of the present invention adopts a modular layered architecture, consisting of a parameter input module, a core calculation module, and a visual rendering module, and realizes closed-loop control of parameter configuration, trajectory calculation and three-dimensional rendering through dynamic data flow.

[0100] The parameter input module receives the six orbital parameters (semi-major axis, eccentricity, etc.) and simulation parameters (epoch time, magnification, etc.) input by the user, and adjusts the configuration parameters according to the configuration library.

[0101] The core calculation module automatically generates the orbital parameters of the approaching star based on the target star parameters and configuration parameters. For example, if the configuration type selected by the user is coplanar flyby, the preset mathematical template is first called, and then the orbital parameter association model of the target star and the approaching star is established based on the input configuration parameters (such as keeping the semi-major axis the same but adjusting the eccentricity to achieve flyby). When the target star parameters are modified, the approaching star orbit is quickly recalculated through the differential correction algorithm to achieve real-time update.

[0102] The visualization rendering module, based on a three-dimensional rendering engine, can use WebGL technology to achieve high-performance rendering on the browser side. It supports dual-perspective switching (target star / approaching star perspective) and orbital plane projection overlay display, generates dynamic trajectories of binary stars, draws trajectory lines with time marks in real time, and synchronously displays dynamic parameters such as relative distance and velocity components.

[0103] The present invention also provides an electronic device, Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 4 As shown, the electronic device may include: a processor, a communications interface, a memory, and a communication bus, wherein the processor, the communications interface, and the memory communicate with each other via the communication bus. The processor may call logic instructions in the memory, for example, to execute the following method:

[0104] S1. Set target star parameters;

[0105] S2, prefabricated configuration library configuration parameters;

[0106] S3. Obtaining the approaching star parameters based on the target star parameters and configuration parameters;

[0107] S4. Based on the binary star parameters, draw and display the relative motion trajectory information of the two stars in real time.

[0108] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0109] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method provided in each of the above embodiments is implemented, for example, including:

[0110] S1. Set target star parameters;

[0111] S2, prefabricated configuration library configuration parameters;

[0112] S3. Obtaining the approaching star parameters based on the target star parameters and configuration parameters;

[0113] S4. Based on the binary star parameters, draw and display the relative motion trajectory information of the two stars in real time.

[0114] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for visualizing the relative relationship of multiple satellite orbits, characterized in that: include: S1. Set target star parameters; S2, prefabricated configuration library configuration parameters; S3. Obtaining the approaching star parameters based on the target star parameters and configuration parameters; S4. Based on the binary star parameters, draw and display the relative motion trajectory information of the two stars in real time.

2. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, characterized in that: Also includes: S5. Modify the target star parameters and update the approaching star parameters in real time.

3. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, characterized in that: The target star parameters include: epoch time, magnification, simulation time and six parameters.

4. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, wherein: The configuration library classification includes following, circling, approaching and departing, among which: The following flight motion forms include fixed-point following flight, circling following flight and oscillating following flight; The fly-around motion forms include coplanar fly-around and non-planar fly-around; Approach motion patterns include flyby approach, jump approach and spiral approach; The forms of escape motion include flyaway, jumpaway and spiralaway.

5. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, wherein: The configuration parameters include: accompanying flight direction, accompanying flight distance, in-plane distance, relative phase, hovering position, closest distance and semi-axis increment.

6. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, characterized in that: The real-time display of the relative motion trajectory of the two stars includes the viewing angle of the target star or the viewing angle of the approaching star.

7. The method for visualizing the relative relationship of multiple satellite orbits according to claim 1, wherein: The real-time display of the relative motion trajectory information of the two stars includes: current time, relative distance, illumination angle, position component, velocity component and angular velocity component.

8. A visual multi-satellite orbit relative relationship control device applied to the method according to any one of claims 1 to 7, characterized in that: The device comprises: Parameter input module, used to set target star parameters and adjust configuration parameters; The core calculation module is used to obtain the parameters of the approaching star based on the target star parameters and configuration parameters; The visualization rendering module is used to draw and display the relative motion trajectory information of the two stars in real time.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of a method for visualizing the relative relationship of multiple satellite orbits as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for visualizing the relative relationship of multiple satellite orbits as claimed in any one of claims 1 to 7 are implemented.

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