Method and device for determining collision risk

Abstract

The invention provides a collision risk determination method and device. The method comprises the following steps: respectively acquiring first track information of a first space object and second track information of a second space object; according to the multiple pieces of first state data of the first space object and the multiple pieces of second state data of the second space object, an orbit height safety threshold value is determined; and determining whether there is a collision risk between the first space object and the second space object based on the first track information, the second track information and the track height safety threshold, thereby realizing effectiveness of determining whether there is a collision risk between the first space object and the second space object. Therefore, the safety of the first space object and the second space object is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of near-earth space, and particularly relates to a collision risk determination method and device. BACKGROUND

[0002] The purpose of determining whether there is a collision risk between space objects is to adjust the plan in advance and take timely avoidance measures when there is a high possibility of collision between space objects according to the known information of the current environment. With the increasing number of space objects (such as satellites and space debris), the space orbit will be more and more congested, and the possibility of collision between space objects will be greater and greater. By determining whether there is a collision risk between space objects in time, the possibility of collision of satellites can be reduced. Therefore, how to determine whether there is a collision risk between space objects is very important. SUMMARY

[0003] The present disclosure aims to at least solve one of the technical problems in the related art to some extent.

[0004] To this end, the present disclosure provides a collision risk determination method and device to determine an orbit height threshold value based on a plurality of first state data of a first space object and a plurality of second state data of a second space object, and then determine whether there is a collision risk between the first space object and the second space object according to first orbit information of the first space object, second orbit information of the second space object, and the orbit height safety threshold value, thereby realizing the effectiveness of determining whether there is a collision risk between the first space object and the second space object, and improving the safety of the first space object and the second space object.

[0005] The first aspect of the present disclosure provides a collision risk determination method, comprising: acquiring first orbit information of a first space object and second orbit information of a second space object respectively; determining an orbit height safety threshold value according to a plurality of first state data of the first space object and a plurality of second state data of the second space object; and determining whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information, and the orbit height safety threshold value.

[0006] The method for determining the collision risk of the embodiment of the present disclosure, by respectively acquiring first orbit information of a first space object and second orbit information of a second space object; determining an orbit height safety threshold according to a plurality of first state data of the first space object and a plurality of second state data of the second space object; determining whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold, thereby, based on the plurality of first state data of the first space object and the plurality of second state data of the second space object, the orbit height threshold is determined, and then according to the first orbit information of the first space object, the second orbit information of the second space object and the orbit height safety threshold, it is determined whether there is a collision risk between the first space object and the second space object, the effectiveness of determining whether there is a collision risk between the first space object and the second space object is realized, thereby improving the safety of the first space object and the second space object.

[0007] The second aspect embodiment of the present disclosure proposes a collision risk determination device, applied to a control device, comprising: an acquisition module, configured to respectively acquire first orbit information of a first space object and second orbit information of a second space object; a first determination module, configured to determine an orbit height safety threshold according to a plurality of first state data of the first space object and a plurality of second state data of the second space object; a second determination module, configured to determine whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold.

[0008] The third aspect embodiment of the present disclosure proposes an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the collision risk determination method as described in the first aspect embodiment of the present disclosure is realized.

[0009] The fourth aspect embodiment of the present disclosure proposes a computer readable storage medium, having a computer program stored thereon, when the computer program is executed by a processor, the collision risk determination method as described in the first aspect embodiment of the present disclosure is realized.

[0010] The fifth aspect embodiment of the present disclosure proposes a computer program product, when the processor in the computer program product executes, the collision risk determination method as described in the first aspect embodiment of the present disclosure is realized.

[0011] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially will become obvious from the following description, or will be known by the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0012] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings, in which:

[0013] Figure 1 A flowchart of a collision risk determination method provided by an embodiment of the present disclosure;

[0014] Figure 2 A flowchart of another collision risk determination method provided by an embodiment of the present disclosure;

[0015] Figure 3 A flowchart of another collision risk determination method provided by an embodiment of the present disclosure;

[0016] Figure 4 A flowchart of another collision risk determination method provided by an embodiment of the present disclosure;

[0017] Figure 5 An implementation flowchart of a collision risk determination method provided by an embodiment of the present disclosure;

[0018] Figure 6 A structural schematic diagram of a collision risk determination apparatus provided by an embodiment of the present disclosure;

[0019] Figure 7 A block diagram of an electronic device for collision risk determination according to an exemplary embodiment. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar reference numbers throughout. The embodiments described below are exemplary and are intended to explain the present disclosure, and are not to be understood as limiting the present disclosure.

[0021] In the related art, the spatial positions of a satellite and all possible space targets that may collide with the satellite at each time are calculated by combining the orbital information of the satellite and the space targets with a certain time step, and the collision risk is determined by comparing the relative distances of the satellite and the space targets at the same time to perform collision warning.

[0022] However, since there is a certain error in the orbital information of the satellite and the space targets, the calculated spatial positions and relative distances may be inaccurate, and since the movement speed of the satellite and the space targets reaches 7 km / s or more, there is difficulty in selecting the calculation step. If the step is too large, there is a large error between the calculated closest distance and the actual closest distance, causing missed warnings. If the step is too small, the calculation amount is increased.

[0023] To solve the above problems, the disclosure provides a collision risk determination method and device. It should be noted that the collision risk determination method of the embodiment of the disclosure can be applied to the collision risk determination device, and the collision risk determination device can be arranged in the control equipment of the satellite monitoring center for monitoring the satellite operation.

[0024] The collision risk determination method and device of the embodiment of the disclosure are described below with reference to the accompanying drawings.

[0025] Figure 1 A flowchart of the collision risk determination method provided by the embodiment of the disclosure is shown in the figure.

[0026] As shown in the figure, the collision risk determination method can include the following steps: Figure 1

[0027] Step 101, respectively acquiring first orbit information of a first space object and second orbit information of a second space object.

[0028] As a possible implementation, the first space object and the second space object can be satellites at the same time; or the first space object is a satellite, and the second space object can be a space object other than a satellite (such as a space debris); or the first space object is a space object other than a satellite, and the second space object is a satellite.

[0029] As an example, the first orbit information can include orbit information of the running orbit of the first space object in a first period before a first time and a second period after the first time, wherein the time difference between the first period and the first time is less than a set time difference threshold, and the time difference between the second period and the first time is less than the set time difference threshold, and the first orbit information can include six numbers or two rows, wherein the six numbers can include: orbit semi-major axis, eccentricity, orbit inclination, perigee amplitude, ascending node right ascension and epoch plane yellow red intersection angle; the two rows are two rows of orbit data of the first space object, the first row in the two rows can include: the number of the first space object, the launch date, the orbit number, the perigee angle distance, the inclination rate of change, the ascending node right ascension rate of change, etc., and the second row in the two rows can include: orbit inclination, ascending node right ascension, orbit eccentricity, perihelion angle distance, average motion, perigee amplitude, etc.

[0030] Similarly, the second orbit information can include orbit information of the running orbit of the second space object in a third period before a second time and a fourth period after the second time, wherein the time difference between the third period and the second time is less than a set time difference threshold, and the time difference between the fourth period and the second time is less than the set time difference threshold, and the second orbit information can include six numbers or two rows.

[0031] ​In step 102, the orbit height safety threshold is determined according to the plurality of first state data of the first space object and the plurality of second state data of the second space object.

[0032] As a possible implementation, the first state data of the first space object at the plurality of first time points (e.g., historical time points) can be queried, and the first state data of the first space object at the first time points can be taken as the first state data. The first state data can include attitude, speed, position, and related information (orbit height, orbit type, orbit inclination, etc.) of the orbit of the first space object. As an example, according to the first state data of the first space object at the plurality of first time points, the first orbit information of the first space object can be determined. For example, a related algorithm for determining an orbit can be used to determine the first orbit information of the first space object according to the first state data of the first space object at the plurality of first time points. Similarly, the second state data of the second space object at the plurality of second time points (e.g., historical time points) can be queried, and the second state data of the second space object at the second time points can be taken as the second state data. The second state data can include attitude, speed, position, and related information (orbit height, orbit type, orbit inclination, etc.) of the orbit of the second space object. As an example, according to the second state data of the second space object at the plurality of second time points, the second orbit information of the second space object can be determined. For example, a related algorithm for determining an orbit can be used to determine the second orbit information of the second space object according to the second state data of the second space object at the plurality of second time points.

[0033] As a possible implementation, the orbit height error of the first space object at the plurality of first time points can be determined according to the plurality of first state data, and the orbit height error of the first space object at each first time point can be taken as the first orbit height error. At the same time, the orbit height error of the second space object at the plurality of second time points can be determined according to the plurality of second state data, and the orbit height error of the second space object at each second time point can be taken as the second orbit height error. Then, the orbit height safety threshold is determined according to the first orbit height error at the plurality of first time points and the second orbit height error at the plurality of second time points.

[0034] In step 103, whether there is a collision risk between the first space object and the second space object is determined based on the first orbit information, the second orbit information, and the orbit height safety threshold.

[0035] As a possible implementation, according to the apogee information in one of the first orbit information and the second orbit information and the perigee information in the other of the first orbit information and the second orbit information, a difference in orbit height is determined; and in response to the difference in orbit height being greater than an orbit height safety threshold, it is determined that there is no collision risk between the first space object and the second space object. It should be noted that the apogee information refers to the height of the point farthest from the center of the Earth on the elliptical orbit of the space object around the Earth, and the perigee information refers to the height of the point closest to the center of the Earth on the elliptical orbit of the space object around the Earth.

[0036] As an example, the difference between the apogee information in the first orbit information and the perigee information in the second orbit information is taken as the difference in orbit height, and then in the case where the difference in orbit height is greater than the orbit height safety threshold, it is determined that there is no collision risk between the first space object and the second space object.

[0037] As another example, the difference between the apogee information in the second orbit information and the perigee information in the first orbit information is taken as the difference in orbit height, and then in the case where the difference in orbit height is greater than the orbit height safety threshold, it is determined that there is no collision risk between the first space object and the second space object.

[0038] As another possible implementation, in the case where the difference in orbit height is not greater than the orbit height safety threshold, a difference in geocentric distance between the first space object and the second space object is further determined according to the first orbit information and the second orbit information, and then it is determined whether there is a collision risk between the first space object and the second space object according to the difference in geocentric distance.

[0039] In summary, by respectively obtaining the first orbit information of the first space object and the second orbit information of the second space object; determining the orbit height safety threshold according to the plurality of first state data of the first space object and the plurality of second state data of the second space object; and determining whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold, it is determined whether there is a collision risk between the first space object and the second space object based on the plurality of first state data of the first space object and the plurality of second state data of the second space object, and then whether there is a collision risk between the first space object and the second space object is determined according to the first orbit information, the second orbit information and the orbit height safety threshold, which realizes the effectiveness of determining whether there is a collision risk between the first space object and the second space object, thereby improving the safety of the first space object and the second space object.

[0040] In order to clearly illustrate how the above-mentioned embodiments determine the orbit height safety threshold according to the plurality of first state data of the first space object and the plurality of second state data of the second space object, the present disclosure proposes another method for determining a collision risk.

[0041] Figure 2 FIG. 1 is a flowchart of another method for determining a collision risk according to an embodiment of the present disclosure.

[0042] As shown in FIG. 1, the method for determining a collision risk can include the following steps: Figure 2

[0043] In step 201, first orbit information of a first space object and second orbit information of a second space object are respectively acquired.

[0044] In step 202, first theoretical orbit altitudes of the first space object at a plurality of first time instants are calculated according to the first orbit information.

[0045] As a possible implementation manner, a related algorithm can be used to calculate the first theoretical orbit altitudes of the first space object at the plurality of first time instants according to the first orbit information.

[0046] As a possible implementation manner, a model prediction manner can be used to calculate the first theoretical orbit altitudes of the first space object at the plurality of first time instants according to the first orbit information. For example, based on an orbit altitude prediction model, orbit altitudes of the first space object at the plurality of first time instants can be calculated according to first state data of the plurality of first time instants, and the orbit altitudes of the first space object at the plurality of first time instants are denoted as the first theoretical orbit altitudes. The orbit altitude prediction model has learned a corresponding relationship between orbit information and orbit altitudes of a space object.

[0047] In step 203, first orbit altitude errors of the first space object at the plurality of first time instants are determined according to differences between first actual orbit altitudes and the first theoretical orbit altitudes of the first space object at the plurality of first time instants in the plurality of first state data.

[0048] In the embodiment of the present disclosure, the first state data can be state data of the first space object at a first time instant, and the first state data can include attitude, velocity, position, and related information (orbit altitude, orbit type, orbit inclination, etc.) of the first space object at the first time instant, etc. The first time instant can be a historical time instant before a current time instant. As a possible implementation manner, by querying the plurality of first state data, actual orbit altitudes of the first space object at the plurality of first time instants can be obtained, and the actual orbit altitudes of the first space object at the plurality of first time instants are denoted as the first actual orbit altitudes. For any first time instant, a difference between the first theoretical orbit altitude and the first actual orbit altitude of the first space object at the any first time instant is taken as the first orbit altitude error of the first space object at the any first time instant.

[0049] ​In step 204, a second theoretical orbit height of the second space object at the plurality of second time instants is calculated according to the second orbit information.

[0050] As a possible implementation, based on the orbit height prediction model, the orbit height of the second space object at the plurality of second time instants can be calculated according to the second orbit information, and the orbit height of the second space object at each second time instant calculated is recorded as a second theoretical orbit height.

[0051] In step 205, a second orbit height error of the second space object at the plurality of second time instants is determined according to the difference between the second actual orbit height and the second theoretical orbit height of the second space object at the plurality of second time instants in the plurality of second state data.

[0052] In the embodiments of the present disclosure, the second state data can be state data of the second space object at a second time instant, and the second state data can include attitude, speed, position, and related information (orbit height, orbit type, orbit inclination, etc.) of the orbit of the second space object, and the like, wherein the second time instant can be a historical time instant before the current time instant.

[0053] As a possible implementation, by querying the plurality of second state data, the actual orbit height of the second space object at the plurality of second time instants can be obtained, and the actual orbit height of the second space object at each second time instant is recorded as a second actual orbit height, and for any second time instant, the difference between the second theoretical orbit height and the second actual orbit height of the first space object at any second time instant is taken as the second orbit height error of the second space object at the any second time instant.

[0054] In step 206, an orbit height safety threshold is determined according to the first orbit height error at the plurality of first time instants and the second orbit height error at the plurality of second time instants.

[0055] As a possible implementation, a first orbit height error range of the first space object at a third time instant after the plurality of first time instants is determined according to the first orbit height error at the plurality of first time instants, a second orbit height error range of the second space object at a third time instant after the plurality of second time instants is determined according to the second orbit height error at the plurality of second time instants, and the orbit height safety threshold is determined according to the first orbit height error range and the second orbit height error range.

[0056] As an example, the maximum value of the first track height errors at the plurality of first time instants can be taken as the maximum value of the first track height error range, the minimum value of the first track height errors at the plurality of first time instants can be taken as the minimum value of the first track height error range, and similarly, the maximum value of the second track height errors at the plurality of second time instants can be taken as the maximum value of the second track height error range, and the minimum value of the second track height errors at the plurality of second time instants can be taken as the minimum value of the second track height error range.

[0057] Further, a first error maximum value of the first track height error range and a second error maximum value of the second track height error range are determined, and a sum of the first error maximum value and the second error maximum value is taken as the track height safety threshold.

[0058] As another possible implementation, the track height error of the first space object at the third time instant is determined according to the first track height errors at the plurality of first time instants, the track height error of the second space object at the third time instant is determined according to the second track height errors at the plurality of second time instants, and the track height safety threshold is determined according to the track height error of the first space object at the third time instant and the track height error of the second space object at the third time instant.

[0059] For example, the track height error of the first space object at the third time instant is determined according to the first track height errors at the plurality of first time instants in a model prediction manner, and similarly, the track height error of the second space object at the third time instant is determined according to the second track height errors at the plurality of second time instants in a model prediction manner, and a sum of the track height error of the first space object at the third time instant and the track height error of the second space object at the third time instant is taken as the track height safety threshold.

[0060] Step 207: determining, based on the first track information, the second track information and the track height safety threshold, whether there is a collision risk between the first space object and the second space object.

[0061] It should be noted that the execution processes of steps 201 and 207 can be implemented by any of the embodiments of the present disclosure, and the present disclosure does not limit the same, and will not be repeated here.

[0062] In summary, the first theoretical orbital height of the first space object at multiple first moments is calculated based on the first orbital information; the first orbital height error of the first space object at multiple first moments is determined based on the difference between the first actual orbital height and the first theoretical orbital height in the multiple first state data; the second theoretical orbital height of the second space object at multiple second moments is calculated based on the second orbital information; the second orbital height error of the second space object at multiple second moments is determined based on the difference between the second actual orbital height and the second theoretical orbital height in the multiple second state data; the orbital height safety threshold is determined based on the first orbital height error at multiple first moments and the second orbital height error at multiple second moments. Therefore, based on the multiple first state data of the first space object and the multiple second state data of the second space object, the orbital height safety threshold can be effectively and accurately determined. Therefore, based on the first orbital information, the second orbital information and the orbital height safety threshold, it can be accurately determined whether there is a collision risk between the first space object and the second space object.

[0063] As a possible implementation method, when the orbital height difference is not greater than the orbital height safety threshold, it is possible to further determine whether there is a collision risk between the first space object and the second space object based on the difference in the distance between the first space object and the second space object. Figure 3 The embodiments are described in detail.

[0064] Figure 3 A flowchart of another method for determining collision risk provided by an embodiment of the present disclosure.

[0065] like Figure 3 As shown, the method for determining the collision risk may include the following steps:

[0066] Step 301 : In response to the orbital altitude difference being not greater than the orbital altitude safety threshold, determining the geocentric distance difference between the first space object and the second space object based on the first orbital information and the second orbital information.

[0067] As a possible implementation method, based on the first orbital information, a first distance between the first space object and the center of the earth at multiple third moments is determined; based on the second orbital information, a second distance between the second space object and the center of the earth at multiple third moments is determined; and based on the difference between the first distance and the second distance at any third moment, the difference in the distance between the first space object and the second space object to the center of the earth is determined, wherein the third moment is located after the first moment and the second moment.

[0068] That is, the orbital radius of the first space object and the height of the first space object can be obtained from the orbital data of the first track information at any third time, the distance between the first space object and the center of the earth at any third time is determined as the sum of the radius of the earth and the height of the first space object, and the sum is taken as the first distance, which can be expressed as the following formula: R = r + h, wherein R represents the distance between the first space object and the center of the earth at any second time, r represents the radius of the earth, and h represents the height of the first space object. Similarly, the orbital radius of the second space object and the height of the second space object can be obtained from the orbital data of the second track information at any third time, the distance between the second space object and the center of the earth at any third time is determined as the sum of the radius of the earth and the height of the second space object, and the sum is taken as the second distance. Then, the difference between the first distance and the second distance at any third time is taken as the center distance difference between the first space object and the second space object at the third time.

[0069] In response to the center distance difference being greater than the center distance threshold, it is determined that there is no collision risk between the first space object and the second space object.

[0070] As a possible implementation, in the case where the center distance difference is greater than the center distance threshold, it is determined that there is no collision risk between the first space object and the second space object at the third time corresponding to the center distance difference. The size of the center distance threshold can be pre-set according to historical experience, or the size of the center distance threshold can be set according to actual application requirements.

[0071] As another possible implementation, in the case where the center distance difference is not greater than the center distance threshold, the minimum distance between the first space object and the second space object at multiple third times can be further determined, and whether there is a collision risk between the first space object and the second space object is determined according to the minimum distance.

[0072] In summary, by responding to the orbital height difference not being greater than the orbital height safety threshold, the center distance difference between the first space object and the second space object is determined according to the first track information and the second track information; in response to the center distance difference being greater than the center distance threshold, it is determined that there is no collision risk between the first space object and the second space object, so that in the case where the center distance difference is greater than the center distance threshold, it can be accurately determined that there is no collision risk between the first space object and the second space object.

[0073] As a possible implementation, in the case where the center distance difference is not greater than the center distance threshold, the minimum distance between the first space object and the second space object at multiple third times can be further determined, and whether there is a collision risk between the first space object and the second space object is determined according to the minimum distance, which will be described in detail below.Figure 4 Embodiments are described in detail.

[0074] Figure 4 Another flowchart of a collision risk determination method provided by embodiments of the present disclosure is shown.

[0075] As shown in Figure 4 The collision risk determination method can include the following steps:

[0076] Step 401, in response to the geocentric distance difference being not greater than the geocentric distance threshold, determining, according to the first orbit information and the second orbit information, a minimum distance between the first space object and the second space object at a plurality of third moments.

[0077] As a possible implementation manner, based on an orbit prediction model, the first position information of the first space object at any third moment is determined according to the first orbit information; based on the orbit prediction model, the second position information of the second space object at any third moment is determined according to the second orbit information; the distance between the first space object and the second space object at any third moment is determined according to the first position information and the second position information; and the minimum distance between the first space object and the second space object at a plurality of third moments is determined from the distances between the first space object and the second space object at various third moments.

[0078] That is, the first orbit information can be input into the orbit prediction model to obtain the position information of the first space object at a plurality of third moments output by the orbit prediction model, and the position information of the first space object at any third moment is taken as the first position information. Meanwhile, the second orbit information can also be input into the orbit prediction model to obtain the position information of the second space object at a plurality of third moments output by the orbit prediction model, and the position information of the second space object at any third moment is taken as the second position information. Furthermore, the difference between the first position information and the second position information at any third moment is taken as the distance between the first space object and the second space object at any third moment, and the minimum value of the distances between the first space object and the second space object at various third moments is taken as the minimum distance between the first space object and the second space object at a plurality of third moments.

[0079] Step 402, in response to the minimum distance being greater than the safety distance threshold, determining that there is no collision risk between the first space object and the second space object.

[0080] As a possible implementation manner, in the case where the minimum distance is greater than the safety distance threshold, it can be determined that there is no collision risk between the first space object and the second space object at the third moment corresponding to the minimum distance.

[0081] It should be noted that the determination manner of the safety distance threshold value can be as follows: predicting first position errors of the first space object at a plurality of third time points according to the first orbit information; predicting second position errors of the second space object at the plurality of third time points according to the second orbit information; and determining the safety distance threshold value according to the first position errors and the second position errors at the plurality of third time points.

[0082] For example, a position error prediction model can be used to predict first position errors of the first space object at a plurality of third time points based on the first orbit information, wherein the first position error indicates an error of a predicted first position of the first space object at a corresponding third time point; and the position error prediction model can be used to predict second position errors of the second space object at the plurality of third time points based on the second orbit information, wherein the second position error indicates an error of a predicted second position of the second space object at a corresponding third time point; and then the safety distance threshold value is determined according to the first position errors and the second position errors at the plurality of third time points.

[0083] As a possible implementation manner, a first position error range of the first space object at the plurality of third time points is determined according to the first position errors at the plurality of third time points; for example, a minimum value in the first position errors at the plurality of third time points is taken as a minimum value of the first position error range, and a maximum value in the first position errors at the plurality of third time points is taken as a maximum value of the first position error range; and a second position error range of the second space object at the plurality of third time points is determined according to the second position errors at the plurality of third time points; for example, a minimum value in the second position errors at the plurality of third time points is taken as a minimum value of the second position error range, and a maximum value in the second position errors at the plurality of third time points is taken as a maximum value of the second position error range; and the safety distance threshold value is determined according to the first position error range and the second position error range.

[0084] As an example, a first position error maximum value of the first position error range and a second position error maximum value of the second position error range are determined; and the safety distance threshold value is determined according to a sum of the first position error maximum value and the second position error maximum value.

[0085] In step 403, it is determined that there is a collision risk between the first space object and the second space object in response to the minimum distance being less than or equal to the safety distance threshold value.

[0086] As another possible implementation manner, in the case that the minimum distance is less than or equal to the safety distance threshold value, it can be determined that there is a collision risk between the first space object and the second space object at the third time point corresponding to the minimum distance.

[0087] As an example, in the case that there is a collision risk between the first space object and the second space object, collision warning information is generated and / or sent, wherein the collision warning information is used to indicate that there is a collision risk between the first space object and the second space object.

[0088] In summary, by responding to the fact that the geocentric distance difference is not greater than the geocentric distance threshold value, the minimum distance between the first space object and the second space object at a plurality of third time instants is determined according to the first orbit information and the second orbit information; in response to the fact that the minimum distance is greater than the safety distance threshold value, it is determined that there is no collision risk between the first space object and the second space object; and in response to the fact that the minimum distance is less than or equal to the safety distance threshold value, it is determined that there is a collision risk between the first space object and the second space object. Thus, the multi-level collision detection strategy is used to detect the possibility of collision of the satellite, and the detection accuracy of the collision of the satellite is improved, thereby improving the accuracy and effectiveness of the collision warning.

[0089] On the basis of any of the above embodiments, the implementation process of the present disclosure can be as shown in Figure 5 , mainly including the following steps:

[0090] First step: (1) obtaining orbit information of two space objects for judging collision risk; for example, the orbit information includes information of an orbit in which a corresponding space object is located, such as six numbers, two rows, or other forms of orbit information; wherein the orbit information of the two space objects is determined according to state data of the corresponding space object at a plurality of historical time instants;

[0091] (2) selecting a model for orbit prediction, such as SGP4, HPOP, two-body model, etc.

[0092] Second step: determining the orbit height error of the corresponding space object according to the state data of the two space objects (such as the attitude, speed, position, and related information of the orbit in which the space object is located at the historical time instant), and further determining the orbit height safety threshold f1; determining the position error of the two space objects according to the orbit information of the two space objects, and determining the safety distance error f2 according to the position error of the two space objects;

[0093] Third step: calculating the perigee Δd = d l -d s , wherein d l is the apogee distance of a space object, and d s is the perigee distance of another space object; when Δd > f1, the possibility of collision is excluded; otherwise, the next step of analysis is continued;

[0094] Fourth step: calculating the geocentric distance difference of the two space objects according to the orbit information of the two space objects;

[0095] Step 5: If the difference in geocentric distance is greater than the geocentric distance threshold, the possibility of collision is ruled out; otherwise, proceed to the next step of analysis;

[0096] Step 6: Using the orbit prediction model, the positions of the two space objects are calculated based on their orbital information. Then, based on the positions of the two space objects, the closest distance (minimum distance) d between the two space objects passing near the orbital intersection is calculated. min , when d min >f2, eliminate the possibility of collision; d min ≤f2, a collision warning is issued.

[0097] Therefore, this scheme calculates the collision safety threshold by introducing orbital height error and position error without increasing the calculation time as much as possible, which is more in line with the actual operation rules of space objects and more accurately assesses the collision risk, reducing the false alarm rate and missed alarm rate during collision warning.

[0098] In order to implement the above embodiments, the present disclosure proposes a device for determining collision risk.

[0099] Figure 6 This is a schematic diagram of the structure of a device for determining collision risk provided by an embodiment of the present disclosure, wherein the device for determining collision risk can be applied to a control device.

[0100] like Figure 6 As shown, the collision risk determination device 600 includes: an acquisition module 610 , a first determination module 620 and a second determination module 630 .

[0101] Among them, the acquisition module 610 is used to respectively obtain the first orbital information of the first space object and the second orbital information of the second space object; the first determination module 620 is used to determine the orbital height safety threshold based on multiple first state data of the first space object and multiple second state data of the second space object; the second determination module 630 is used to determine whether there is a collision risk between the first space object and the second space object based on the first orbital information, the second orbital information and the orbital height safety threshold.

[0102] As a possible implementation method, the first determination module 620 is used to calculate the first theoretical orbital altitude of the first space object at multiple first moments based on the first orbital information; determine the first orbital altitude error of the first space object at multiple first moments based on the difference between the first actual orbital altitude and the first theoretical orbital altitude of the first space object at multiple first moments in the multiple first state data; calculate the second theoretical orbital altitude of the second space object at multiple second moments based on the second orbital information; determine the second orbital altitude error of the second space object at multiple second moments based on the difference between the second actual orbital altitude and the second theoretical orbital altitude of the second space object at multiple second moments in the multiple second state data; and determine the orbital altitude safety threshold based on the first orbital altitude error at multiple first moments and the second orbital altitude error at multiple second moments.

[0103] As a possible implementation method, the first determination module 620 is also used to determine the first orbital altitude error range of the first space object at the third moment after the multiple first moments based on the first orbital altitude errors at the multiple first moments; determine the second orbital altitude error range of the second space object at the third moment after the multiple second moments based on the second orbital altitude errors at the multiple second moments; and determine the orbital altitude safety threshold based on the first orbital altitude error range and the second orbital altitude error range.

[0104] As a possible implementation, the first determination module 620 is further configured to determine a first maximum error value within the first track height error range and a second maximum error value within the second track height error range; and determine a track height safety threshold based on the sum of the first maximum error value and the second maximum error value. As a possible implementation, the first determination module 620 is further configured to determine a first maximum error value within the first track height error range and a second maximum error value within the second track height error range; and determine a track height safety threshold based on the sum of the first maximum error value and the second maximum error value.

[0105] As a possible implementation method, the first determination module 620 is further used to determine the orbital altitude error of the first space object at a third moment based on multiple first orbital altitude errors at the first moments; determine the orbital altitude error of the second space object at the third moment based on multiple second orbital altitude errors at the second moments; and determine the orbital altitude safety threshold based on the orbital altitude error of the first space object at the third moment and the orbital altitude error of the second space object at the third moment.

[0106] As a possible implementation manner, the second determining module 630 is configured to determine an orbit height difference according to the apogee information in one of the first orbit information and the second orbit information and the perigee information in the other of the first orbit information and the second orbit information; and determine that there is no collision risk between the first space object and the second space object in response to the orbit height difference being greater than an orbit height safety threshold.

[0107] As a possible implementation manner, the collision risk determining apparatus 600 further includes a third determining module and a fourth determining module.

[0108] The third determining module is configured to determine a geocentric distance difference between the first space object and the second space object according to the first orbit information and the second orbit information in response to the orbit height difference not being greater than the orbit height safety threshold; and the fourth determining module is configured to determine that there is no collision risk between the first space object and the second space object in response to the geocentric distance difference being greater than a geocentric distance threshold.

[0109] As a possible implementation manner, the third determining module is configured to determine a first distance between the first space object and the geocenter at a plurality of third time points according to the first orbit information; determine a second distance between the second space object and the geocenter at the plurality of third time points according to the second orbit information; and determine a geocentric distance difference between the first space object and the second space object at any third time point according to a difference between the first distance and the second distance at the any third time point.

[0110] As a possible implementation manner, the collision risk determining apparatus 600 further includes a fifth determining module and a sixth determining module.

[0111] The fifth determining module is configured to determine a minimum distance between the first space object and the second space object at the plurality of third time points according to the first orbit information and the second orbit information in response to the geocentric distance difference not being greater than the geocentric distance threshold; and the sixth determining module is configured to determine that there is no collision risk between the first space object and the second space object in response to the minimum distance being greater than a safety distance threshold; and determine that there is a collision risk between the first space object and the second space object in response to the minimum distance being less than or equal to the safety distance threshold.

[0112] As a possible implementation manner, the fifth determining module is further configured to: determine, based on the orbit prediction model, first position information of the first space object at any third time according to the first orbit information; determine, based on the orbit prediction model, second position information of the second space object at any third time according to the second orbit information; determine a distance between the first space object and the second space object at any third time according to the first position information and the second position information; and determine a minimum distance between the first space object and the second space object at a plurality of third times from the distances between the first space object and the second space object at the third times.

[0113] As a possible implementation manner, the safety distance threshold is determined by the following modules: a first predicting module, a second predicting module and a sixth determining module.

[0114] The first predicting module is configured to predict first position errors of the first space object at a plurality of third times according to the first orbit information; the second predicting module is configured to predict second position errors of the second space object at the plurality of third times according to the second orbit information; and the sixth determining module is configured to determine the safety distance threshold according to the first position errors and the second position errors at the plurality of third times.

[0115] As a possible implementation manner, the sixth determining module is further configured to: determine a first position error range of the first space object at the plurality of third times according to the first position errors at the plurality of third times; determine a second position error range of the second space object at the plurality of third times according to the second position errors at the plurality of third times; and determine the safety distance threshold according to the first position error range and the second position error range.

[0116] As a possible implementation manner, the sixth determining module is further configured to: determine a first position error maximum value of the first position error range and a second position error maximum value of the second position error range; and determine the safety distance threshold according to a sum of the first position error maximum value and the second position error maximum value.

[0117] As a possible implementation manner, the collision risk determining apparatus 600 further includes a processing module.

[0118] The processing module is configured to generate and / or send a collision warning information in response to the existence of the collision risk between the first space object and the second space object, where the collision warning information is used to indicate the existence of the collision risk between the first space object and the second space object.

[0119] The collision risk determination apparatus of the embodiment of the present disclosure, by respectively acquiring first orbit information of the first space object and second orbit information of the second space object; determining an orbit height safety threshold according to the plurality of first state data of the first space object and the plurality of second state data of the second space object; determining whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold, thereby determining the orbit height threshold based on the plurality of first state data of the first space object and the plurality of second state data of the second space object, and further determining whether there is a collision risk between the first space object and the second space object according to the first orbit information of the first space object, the second orbit information of the second space object and the orbit height safety threshold, realizing the effectiveness of determining whether there is a collision risk between the first space object and the second space object, thereby improving the safety of the first space object and the second space object.

[0120] It should be noted that the above explanation of the collision risk determination method embodiment is also applicable to the collision risk determination method of this embodiment, which will not be repeated here.

[0121] In order to realize the above-mentioned embodiments, the present application also proposes an electronic device, such as Figure 7 as shown, Figure 7 is a block diagram of an electronic device for collision risk determination according to an exemplary embodiment.

[0122] As shown in Figure 7 , the above-mentioned electronic device 700 includes:

[0123] The memory 710 and the processor 720, the bus 730 connecting different components including the memory 710 and the processor 720, the memory 710 storing a computer program, when the processor 720 executes the program, realizing the collision risk determination method of the embodiment of the present disclosure.

[0124] The bus 730 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to industry standard architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video electronics standards association (VESA) local bus, and peripheral component interconnect (PCI) bus.

[0125] The electronic device 700 typically includes a variety of electronic device readable media. These media can be any available media that can be accessed by the electronic device 700, including volatile and non-volatile media, removable and non-removable media.

[0126] Memory 710 can also include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 760 can be provided for reading from and writing to a non-removable, nonvolatile magnetic media (not shown and typically called a "hard drive"). Figure 7 Although not specifically shown, such computer readable media can further include other volatile / non-volatile memory storage media. Figure 7 In this manner, program product 770 can be loaded onto computer system 700 and execute like a program in a host computer system, which can be used to implement embodiments of the present disclosure as discussed herein. As will be appreciated, the system 700 components, modules, and / or units can include processors and / or storage media of exoskeleton 100, exoskeleton 200, exoskeleton 300, exoskeleton 400, exoskeleton 500, and / or exoskeleton 600.

[0127] Program / utility 780, having a set of programs / modules 770, can be stored in memory 710 by way of example, such programs includes an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of a network environment as in each of these examples. Programs 770 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0128] Electronic device 700 can also communicate with one or more external devices 790 such as a keyboard or pointing device, a display, etc.; one or more devices that enable a user to interact with electronic device 700; and / or one or more devices that enable electronic device 700 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 792. Similarly, such communication can be via network adapter 793. Network adapter 793 can communicate with the other Figure 7 components of electronic device 700 via bus 730. It will be appreciated that although not shown, other hardware and / or software components that are Figure 7 described herein can be used in conjunction with electronic device 700. These include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0129] The processor 720 performs various function applications and data processing by running programs stored in the memory 710.

[0130] It should be noted that the implementation process and technical principles of the electronic device of the embodiment are described above in the determination method of the collision risk of the embodiment of the disclosure, which will not be repeated here.

[0131] In order to realize the above-mentioned embodiment, the disclosure further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the determination method of the collision risk described in the above-mentioned embodiment.

[0132] In order to realize the above-mentioned embodiment, the disclosure further provides a computer program product, which executes the determination method of the collision risk described in the above-mentioned embodiment when the instruction processor in the computer program product is executed.

[0133] In the description of the present specification, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0134] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0135] Although the embodiments of the disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present disclosure.

Claims

1. A method of determining a risk of collision, characterized in that, The application is applied to a control device, comprising: respectively acquiring first orbit information of a first space object and second orbit information of a second space object; determining an orbit height safety threshold according to a plurality of first state data of the first space object and a plurality of second state data of the second space object; determining whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold.

2. The method of claim 1, wherein, The determination of the orbit height safety threshold according to the plurality of first state data of the first space object and the plurality of second state data of the second space object comprises: calculating first theoretical orbit heights of the first space object at a plurality of first time instants according to the first orbit information; determining first orbit height errors of the first space object at the plurality of first time instants according to differences between first actual orbit heights of the first space object at the plurality of first time instants in the plurality of first state data and the first theoretical orbit heights; calculating second theoretical orbit heights of the second space object at a plurality of second time instants according to the second orbit information; determining second orbit height errors of the second space object at the plurality of second time instants according to differences between second actual orbit heights of the second space object at the plurality of second time instants in the plurality of second state data and the second theoretical orbit heights; determining the orbit height safety threshold according to the first orbit height errors at the plurality of first time instants and the second orbit height errors at the plurality of second time instants.

3. The method of claim 2, wherein, The determination of the orbit height safety threshold according to the first orbit height errors at the plurality of first time instants and the second orbit height errors at the plurality of second time instants comprises: determining a first orbit height error range of the first space object at a third time instant after the plurality of first time instants according to the first orbit height errors at the plurality of first time instants; determining a second orbit height error range of the second space object at a third time instant after the plurality of second time instants according to the second orbit height errors at the plurality of second time instants; determining the orbit height safety threshold according to the first orbit height error range and the second orbit height error range.

4. The method of claim 3, wherein, The determination of the orbit height safety threshold according to the first orbit height error range and the second orbit height error range comprises: determining a first error maximum value of the first orbit height error range and a second error maximum value of the second orbit height error range; determining the orbit height safety threshold according to a sum value of the first error maximum value and the second error maximum value.

5. The method of claim 3, wherein, The determination of the orbit height safety threshold according to the first orbit height errors at the plurality of first time instants and the second orbit height errors at the plurality of second time instants comprises: determining an orbit height error of the first space object at the third time instant according to the first orbit height errors at the plurality of first time instants; determining an orbit height error of the second space object at the third time instant according to the second orbit height errors at the plurality of second time instants; According to the orbit height error of the first space object at the third time and the orbit height error of the second space object at the third time, the orbit height safety threshold is determined.

6. The method of claim 1, wherein, The determination of whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information and the orbit height safety threshold comprises: According to the apogee information in one of the first orbit information and the second orbit information and the perigee information in the other, the orbit height difference is determined; In response to the orbit height difference being greater than the orbit height safety threshold, it is determined that there is no collision risk between the first space object and the second space object.

7. The method according to claim 6, characterized in that The method further comprises: In response to the orbit height difference not being greater than the orbit height safety threshold, the geocentric distance difference between the first space object and the second space object is determined according to the first orbit information and the second orbit information; In response to the geocentric distance difference being greater than the geocentric distance threshold, it is determined that there is no collision risk between the first space object and the second space object.

8. The method of claim 7, wherein, The determination of the geocentric distance difference between the first space object and the second space object according to the first orbit information and the second orbit information comprises: According to the first orbit information, the first distance between the first space object and the geocenter at a plurality of third times is determined; According to the second orbit information, the second distance between the second space object and the geocenter at the plurality of third times is determined; According to the difference between the first distance and the second distance at any third time, the geocentric distance difference between the first space object and the second space object is determined.

9. The method of claim 8, wherein, The method further comprises: In response to the geocentric distance difference not being greater than the geocentric distance threshold, the minimum distance between the first space object and the second space object at the plurality of third times is determined according to the first orbit information and the second orbit information; In response to the minimum distance being greater than the safety distance threshold, it is determined that there is no collision risk between the first space object and the second space object; In response to the minimum distance being less than or equal to the safety distance threshold, it is determined that there is a collision risk between the first space object and the second space object.

10. The method of claim 9, wherein, The determination of the minimum distance between the first space object and the second space object at the plurality of third times according to the first orbit information and the second orbit information comprises: Based on an orbit prediction model, the first position information of the first space object at any third time is determined according to the first orbit information; Based on the orbit prediction model, the second position information of the second space object at the any third time is determined according to the second orbit information; According to the first position information and the second position information, the distance between the first space object and the second space object at the any third time is determined; The minimum distance between the first space object and the second space object at the plurality of third moments is determined from distances between the first space object and the second space object at each third moment.

11. The method of claim 9, wherein, The safety distance threshold is determined in the following manner: The first position error of the first space object at the plurality of third moments is predicted according to the first orbit information; The second position error of the second space object at the plurality of third moments is predicted according to the second orbit information; The safety distance threshold is determined according to the first position error and the second position error at the plurality of third moments.

12. The method of claim 11, wherein, The safety distance threshold is determined according to the first position error and the second position error at the plurality of third moments, including: The first position error range of the first space object at the plurality of third moments is determined according to the first position error at the plurality of third moments; The second position error range of the second space object at the plurality of third moments is determined according to the second position error at the plurality of third moments; The safety distance threshold is determined according to the first position error range and the second position error range.

13. The method of claim 12, wherein, The safety distance threshold is determined according to the first position error range and the second position error range, including: The first position error maximum of the first position error range and the second position error maximum of the second position error range are determined; The safety distance threshold is determined according to a sum of the first position error maximum and the second position error maximum.

14. The method of any one of claims 1-13, wherein, The method further includes: In response to the existence of the collision risk between the first space object and the second space object, generating and / or sending collision warning information; The collision warning information is used to indicate the existence of the collision risk between the first space object and the second space object.

15. A collision risk determination apparatus characterized by comprising: The application is applied to a control device, including: An acquisition module is configured to acquire first orbit information of a first space object and second orbit information of a second space object respectively; A first determination module is configured to determine an orbit height safety threshold according to a plurality of first state data of the first space object and a plurality of second state data of the second space object; A second determination module is configured to determine whether there is a collision risk between the first space object and the second space object based on the first orbit information, the second orbit information, and the orbit height safety threshold.

16. An electronic device, comprising: The computer program is executed by the processor to implement the collision risk determination method according to any one of claims 1-14.

17. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the collision risk determination method according to any one of claims 1-14.

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