Method, device and electronic equipment for automatically planning a spacecraft orbit computation

Abstract

The application relates to a method and device for automatically planning a spacecraft orbit calculation and an electronic device. The epoch time for which orbit calculation is to be performed is obtained, the last update time of Kepler six elements is obtained, the data delay duration is determined according to the epoch time and the last update time of the Kepler six elements, the target timeout threshold is determined based on at least one of the current orbit type, the spacecraft working mode and the spacecraft state, and the spacecraft orbit calculation is performed based on the Kepler six elements to determine the position and speed of the spacecraft when the data delay duration is less than or equal to the target timeout threshold. The comparison mechanism between the data delay duration and the dynamically configured target timeout threshold is established, intelligent decision of the orbit calculation mode is realized, the most suitable orbit calculation mode can be automatically selected according to the actual situation, the uncertainty caused by manual intervention is avoided, and the demand of different scenes can be met.

Description

Technical Field

[0001] This application relates to the field of aerospace telemetry and control technology, and in particular to a method, apparatus, electronic equipment, computer-readable storage medium, and computer program product for automatically planning and calculating spacecraft orbits. Background Technology

[0002] With the rapid development of aerospace technology, the accuracy and real-time performance of spacecraft orbit calculations are crucial to the successful implementation of space missions. Spacecraft orbit calculations are the foundation of spacecraft navigation, positioning, and control, and their accuracy directly affects the safe operation of spacecraft and the effectiveness of mission execution.

[0003] In traditional technologies, spacecraft orbit calculations primarily rely on models such as Keplerian Orbital Elements (suitable for short-term, high-precision orbit prediction) and Long-Term Ephemeris (LTE, typically used for long-term orbit prediction, with a lower data update frequency and a longer effective period) orbit parameters. In traditional space missions, the selection of the orbit calculation model often depends on manual intervention or a fixed configuration. For example, Keplerian Orbital Elements are used for precise orbit calculations at the beginning of the mission, while the LTE model is switched to during the long-term operational phase.

[0004] However, selecting orbit calculation models based on manual intervention or fixed configurations is difficult to adapt to the complex operating environment of multiple missions and multiple spacecraft, which makes it difficult to balance the accuracy and real-time performance of orbit calculation results. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, electronic device, computer-readable storage medium, and computer program product for automatically planning spacecraft orbit calculations to address the aforementioned technical problems.

[0006] In a first aspect, this application provides a method for automatically calculating and planning spacecraft orbits, the method comprising:

[0007] Obtain the epoch time for the orbit calculation to be performed, and obtain the last update time of the Kepler six roots;

[0008] The data delay duration is determined based on the epoch time and the last update time of the Kepler six roots;

[0009] Identify the current orbit type and determine the target timeout threshold based on the current orbit type;

[0010] If the data delay duration is determined to be less than or equal to the target timeout threshold, the spacecraft's position and velocity are determined based on the Kepler six roots.

[0011] The step of identifying the current orbit type and determining the target timeout threshold based on the current orbit type includes:

[0012] Identify the current track type and determine the maximum timeout threshold corresponding to the current track type based on a preset maximum timeout mapping table; the maximum timeout mapping table records the mapping relationship between different track types and different maximum timeout thresholds;

[0013] Based on the error growth rate and maximum permissible error of the current orbit type, determine the maximum permissible timeout threshold for the current orbit type;

[0014] The minimum value is determined from the maximum timeout threshold and the maximum allowable timeout threshold of the current orbit type, and the minimum value is used as the target timeout threshold of the current orbit type.

[0015] In one embodiment, the method further includes: if it is determined that the data delay duration is greater than the target timeout threshold, performing spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity.

[0016] In one embodiment, after determining the target timeout threshold, the method further includes: determining a transition interval based on the target timeout threshold and a preset transition duration, the transition interval including a first interval threshold and a second interval threshold, the second interval threshold being greater than the first interval threshold; if the data delay duration is determined to be less than or equal to the first interval threshold, performing spacecraft orbit calculation based on the Kepler six roots to determine the spacecraft's position and velocity; if the data delay duration is determined to be greater than or equal to the second interval threshold, performing spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity; if the data delay duration is determined to be within the transition interval, performing a weighted fusion calculation based on the Kepler six roots and the LTE orbit parameters to determine the spacecraft's position and velocity.

[0017] In one embodiment, after determining the maximum permissible timeout threshold for the current orbit type, the method further includes: when the spacecraft is detected to be in a first state, determining a minimum value from the maximum timeout threshold and the maximum permissible timeout threshold for the current orbit type; the first state includes the state of the spacecraft's propulsion system alarm; and determining a target timeout threshold for the current orbit type based on the product of the minimum value and a preset coefficient.

[0018] In one embodiment, the method further includes: when the spacecraft is detected to be in a second state, determining a target timeout threshold for the current orbit type as a set timeout threshold; the second state includes a state of attitude instability of the spacecraft.

[0019] In one embodiment, the method further includes: when the spacecraft is detected to be in a third state, determining the maximum timeout threshold as the target timeout threshold for the current orbit type; the third state includes the state where the spacecraft's space-to-ground link is interrupted for a preset duration.

[0020] In one embodiment, after determining the maximum timeout threshold as the target timeout threshold for the current orbit type, the method further includes: performing spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity.

[0021] In one embodiment, the method further includes: detecting the target operating mode of the spacecraft; determining a timeout threshold corresponding to the target operating mode in a preset timeout threshold mapping table, and determining the timeout threshold corresponding to the target operating mode as the target timeout threshold; the timeout threshold mapping table records the mapping relationship between different operating modes and different timeout thresholds.

[0022] Secondly, this application also provides an apparatus for automatically calculating and planning spacecraft orbits, the apparatus comprising:

[0023] The data acquisition module is used to acquire the epoch time of the orbit calculation to be performed, as well as the last update time of the Kepler six roots.

[0024] The delay determination module is used to determine the data delay duration based on the epoch time and the last update time of the Kepler six roots;

[0025] The target threshold determination module is used to identify the current orbit type and determine the target timeout threshold based on the current orbit type;

[0026] The calculation module is used to perform spacecraft orbit calculations based on the Kepler six roots, and determine the position and velocity of the spacecraft, when the data delay duration is determined to be less than or equal to the target timeout threshold.

[0027] The target threshold determination module is specifically used for: identifying the current track type; determining the maximum timeout threshold corresponding to the current track type based on a preset maximum timeout mapping table; the maximum timeout mapping table records the mapping relationship between different track types and different maximum timeout thresholds; determining the maximum permissible timeout threshold of the current track type based on the error growth rate and the maximum permissible error of the current track type; determining the minimum value from the maximum timeout threshold and the maximum permissible timeout threshold of the current track type, and using the minimum value as the target timeout threshold of the current track type.

[0028] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0029] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0030] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0031] The aforementioned method, apparatus, electronic equipment, computer-readable storage medium, and computer program product for automatically planning spacecraft orbit calculations acquire the epoch time of the orbit calculation to be performed and the last update time of the Kepler six roots. Based on the epoch time and the last update time of the Kepler six roots, a data delay duration is determined. A target timeout threshold is determined based on at least one of the current orbit type, spacecraft operating mode, and spacecraft state. If the data delay duration is less than or equal to the target timeout threshold, the spacecraft orbit is calculated based on the Kepler six roots to determine the spacecraft's position and velocity. By establishing a comparison mechanism between the data delay duration and the dynamically configured target timeout threshold, it achieves intelligent decision-making regarding the orbit calculation method. This allows it to automatically select the most suitable orbit calculation method based on actual conditions, avoiding the uncertainty caused by manual intervention. Furthermore, since the target timeout threshold is dynamically configured based on orbit type, spacecraft operating mode, or spacecraft state, it can adapt to the needs of different scenarios and meet the complex operating environments of multiple missions and multiple spacecraft. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating a method for automatically calculating spacecraft orbits in one embodiment;

[0034] Figure 2 This is a flowchart illustrating the steps for determining the target timeout threshold in one embodiment;

[0035] Figure 3 This is a flowchart illustrating the step of determining the target timeout threshold in another embodiment;

[0036] Figure 4 This is a flowchart illustrating the step of determining the target timeout threshold in yet another embodiment;

[0037] Figure 5 This is a flowchart illustrating the automatic spacecraft orbit planning calculation process in one embodiment;

[0038] Figure 6 This is a structural block diagram of a device for automatically calculating spacecraft orbits in one embodiment;

[0039] Figure 7 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0042] Traditional methods of selecting orbit calculation models based on manual intervention or fixed configurations are ill-suited to the complex operating environments of multiple missions and spacecraft, making it difficult to balance accuracy and real-time performance in orbit calculations. Furthermore, when orbit data is not updated promptly or epochs exceed the valid range, using Kepler's six roots can lead to a sharp increase in orbit extrapolation errors, impacting the safe operation of spacecraft. While prematurely switching to the LTE model can avoid long-term extrapolation errors, it may sacrifice short-term orbit calculation accuracy, failing to meet high-precision navigation requirements. Fixed thresholds or manual intervention methods are also ill-suited to the complex operating environments of multiple missions and spacecraft, lacking flexibility and adaptability. Moreover, traditional methods struggle to achieve a good balance between accuracy and real-time performance in orbit calculations, resulting in poor configuration flexibility and an inability to dynamically adjust calculation strategies based on spacecraft operating modes, orbit types, and states.

[0043] Based on this, in an exemplary embodiment, such as Figure 1 As shown, this application provides a method for automatically calculating and planning spacecraft orbits, which may specifically include the following steps:

[0044] Step 102: Obtain the epoch time for the orbit calculation to be performed, and obtain the last update time of the Kepler six roots.

[0045] Among them, the epoch time refers to the target time when the spacecraft orbit needs to be calculated, and the last update time of the Kepler six roots refers to the time point when the Kepler six roots were most recently obtained.

[0046] Specifically, upon receiving an orbit calculation request, the system can obtain the epoch time of the orbit calculation to be performed, as well as the last update time of the Kepler six roots, and automatically plan the orbit calculation method based on subsequent steps to perform the orbit calculation, thereby avoiding the uncertainty caused by manual intervention.

[0047] Step 104: Determine the data delay duration based on the epoch time and the last update time of the Kepler six roots.

[0048] The data latency duration is used to characterize the delay between the acquisition time of the Kepler six-root data and the epoch time, and is used to represent the timeliness of the Kepler six-root data. Specifically, it can be obtained by subtracting the last update time of the Kepler six-roots from the epoch time.

[0049] In this embodiment, the epoch time and the last update time of the Kepler six roots are obtained through the above steps, and the epoch time is subtracted from the last update time of the Kepler six roots to determine the data delay duration.

[0050] Step 106: Determine the target timeout threshold based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status.

[0051] Among them, the target timeout threshold is the time limit used to determine whether Kepler six-root data is available, and it is also a dynamic threshold used for automatic trajectory planning calculation.

[0052] Specifically, the target timeout threshold can be dynamically determined based on at least one of the following: current orbit type, spacecraft operating mode, and spacecraft state. The orbit type is a classification based on the shape, altitude, inclination, and period of the spacecraft's orbit around the central celestial body (usually Earth). For example, by altitude, it generally includes LEO (Low Earth Orbit), MEO (Medium Earth Orbit), and GEO (Geostationary Orbit). The spacecraft operating mode characterizes the different global states configured for the spacecraft to complete a specific mission, defining the spacecraft's overall behavioral objectives, resource allocation, and safety level within a certain period. When the mode switches, multiple subsystems of the entire spacecraft adjust their operating parameters and logic accordingly. The spacecraft state measures the spacecraft's health status and can be detected in real time by the Health Monitoring System (HK System).

[0053] In this embodiment, the target timeout threshold can be determined based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status.

[0054] Step 108: If the data delay time is less than or equal to the target timeout threshold, the spacecraft orbit is calculated based on the Kepler six roots to determine the spacecraft's position and velocity.

[0055] Specifically, if the data delay is less than or equal to the target timeout threshold, it indicates that the data delay is within an acceptable range, and using the Kepler six-roots for orbit calculation yields more accurate results. Therefore, spacecraft orbit calculations can be performed based on the Kepler six-roots (i.e., using the Kepler six-roots model for orbit calculation) to determine the spacecraft's position and velocity.

[0056] The aforementioned method for automatically planning spacecraft orbit calculations obtains the epoch time of the orbit calculation to be performed and the last update time of the Kepler six roots. Based on the epoch time and the last update time of the Kepler six roots, a data delay duration is determined. A target timeout threshold is determined based on at least one of the current orbit type, spacecraft operating mode, and spacecraft state. If the data delay duration is less than or equal to the target timeout threshold, the spacecraft orbit is calculated based on the Kepler six roots to determine the spacecraft's position and velocity. By establishing a comparison mechanism between the data delay duration and the dynamically configured target timeout threshold, intelligent decision-making on the orbit calculation method is achieved. This allows for the automatic selection of the most suitable orbit calculation method based on actual conditions, avoiding the uncertainty caused by manual intervention. Furthermore, since the target timeout threshold is dynamically configured based on orbit type, spacecraft operating mode, or spacecraft state, it can adapt to the needs of different scenarios and meet the complex operating environments of multiple missions and multiple spacecraft.

[0057] In an exemplary embodiment, the above method may further include: if it is determined that the data delay duration is greater than the target timeout threshold, performing spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity.

[0058] Specifically, if the data delay exceeds the target timeout threshold, it indicates that the data delay is within an unacceptable range, meaning the Kepler six-factor data is invalid. Using the Kepler six-factor data for orbit calculation in this case would result in significant errors. Therefore, when the data delay exceeds the target timeout threshold, LTE orbit parameters can be used for spacecraft orbit calculation (i.e., using the LTE model for orbit calculation) to determine the spacecraft's position and velocity.

[0059] Through its automatic switching mechanism, it can not only automatically select the most suitable orbit calculation model according to the actual situation, avoiding the uncertainty caused by human intervention, but also avoid orbit calculation errors caused by data delays or human misjudgment, thereby improving the reliability of the calculation results and enhancing the robustness of the system.

[0060] In one exemplary embodiment, such as Figure 2 As shown, in step 106, a target timeout threshold is determined based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status. Specifically, this may include:

[0061] Step 202: Detect the target operating mode of the spacecraft.

[0062] The target operating mode refers to the spacecraft's current operating mode. Operating modes include, but are not limited to, the spacecraft's orbital maneuvering mode, rendezvous and docking mode, attitude control mode, imaging mode, cruise mode, and standby mode.

[0063] Specifically, the current target operating mode of a spacecraft can be determined by detecting its operating mode.

[0064] In one scenario, the spacecraft's orbit, attitude, equipment status, and mission timeline can be monitored in real time using sensors, onboard computers, and received ground commands to determine the spacecraft's current target operating mode.

[0065] Step 204: Determine the timeout threshold corresponding to the target working mode in the preset timeout threshold mapping table, and set the timeout threshold corresponding to the target working mode as the target timeout threshold.

[0066] The timeout threshold mapping table records the mapping relationship between different operating modes and different timeout thresholds. For example, for the orbit change mode, the timeout threshold mapping table records the corresponding timeout threshold t1, so there is a mapping relationship between timeout threshold t1 and orbit change mode; for the imaging mode, the timeout threshold mapping table records the corresponding timeout threshold t2, so there is a mapping relationship between timeout threshold t2 and imaging mode. And so on, the timeout threshold mapping table can record the mapping relationship between various operating modes and their corresponding timeout thresholds. It is understandable that for operating modes with high precision requirements, a smaller timeout threshold may be needed to ensure calculation accuracy; therefore, its corresponding timeout threshold can be set smaller. Conversely, for operating modes with lower precision requirements, a larger timeout threshold can be tolerated.

[0067] Based on this, in this embodiment, after determining the target operating mode of the spacecraft according to the above steps, a timeout threshold corresponding to the target operating mode can be determined in a preset timeout threshold mapping table, and the timeout threshold corresponding to the target operating mode can be determined as the target timeout threshold. For example, if the determined target operating mode is imaging mode, and the timeout threshold corresponding to the imaging mode determined based on the timeout threshold mapping table is t2, then the timeout threshold t2 can be used as the target timeout threshold.

[0068] This embodiment can determine the corresponding target timeout threshold according to the target operating mode of the spacecraft, thereby improving the flexibility of system configuration and adapting to the needs of different scenarios.

[0069] In one exemplary embodiment, such as Figure 3 As shown, in step 106, a target timeout threshold is determined based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status. Specifically, this may include:

[0070] Step 302: Identify the current track type and determine the maximum timeout threshold corresponding to the current track type based on the preset maximum timeout mapping table.

[0071] The maximum timeout mapping table records the mapping relationship between different orbit types and different maximum timeout thresholds. For example, geostationary orbit and low Earth orbit may correspond to different maximum timeout thresholds. The maximum timeout threshold is the maximum tolerable timeout duration for the corresponding orbit type.

[0072] In this embodiment, the current orbit type can be identified, and the maximum timeout threshold corresponding to the current orbit type can be determined based on a preset maximum timeout mapping table, and then the target timeout threshold can be determined based on subsequent steps.

[0073] Step 304: Based on the error growth rate and the maximum permissible error of the current orbit type, determine the maximum permissible timeout threshold for the current orbit type.

[0074] The error growth rate characterizes the rate at which the orbital error increases per unit time and is typically estimated using an orbital dynamics model. It is understood that different orbital types have different error growth rates, and the specific error growth rate can be calculated based on the actual situation of each orbital type.

[0075] The maximum permissible error characterizes the maximum allowable track position error, indicating that the position error of the track calculation result cannot exceed this value. This value is usually set as a constant based on accuracy requirements, such as 100 meters or 200 meters.

[0076] The maximum permissible timeout threshold is calculated based on the error growth rate and the maximum permissible error for the current orbit type. Specifically, it can be the ratio between the maximum permissible error and the error growth rate for the current orbit type.

[0077] Step 306: Determine the minimum value from the maximum timeout threshold and the maximum allowable timeout threshold for the current orbit type, and use the minimum value as the target timeout threshold for the current orbit type.

[0078] Specifically, the maximum timeout threshold for the current orbit type can be compared with the maximum permissible timeout threshold, and the minimum value can be determined and used as the target timeout threshold for the current orbit type. This ensures that the timeout threshold does not exceed the inherent limitations of the orbit type, nor does it cause errors to exceed acceptable limits, thereby improving reliability.

[0079] For example, the target timeout threshold can be determined based on the following equation (1):

[0080] ), (1)

[0081] in, This indicates the maximum timeout threshold corresponding to the current track type. This indicates the error growth rate for the current orbit type. This represents the maximum permissible error for the current orbit type (usually the default value, such as 100 meters), and T represents the final determined target timeout threshold for the current orbit type.

[0082] In one exemplary embodiment, such as Figure 4 As shown, after determining the maximum permissible timeout threshold for the current orbit type in step 304, the above method may further include:

[0083] Step 402: If the spacecraft is detected to be in the first state, determine the minimum value from the maximum timeout threshold and the maximum allowable timeout threshold for the current orbit type.

[0084] The status of a spacecraft is a dynamic, multi-dimensional, and hierarchical complete information system. This includes, but is not limited to, orbital status, attitude status, propulsion status, and data system status. It is not only the cornerstone for ground personnel to monitor and control, but also the fundamental prerequisite for a spacecraft to achieve autonomous survival and intelligent mission management. The more comprehensive the perception of the status, the more intelligent the processing, and the faster the response, the higher the spacecraft's survivability and mission success rate. The first status can specifically be the state of the spacecraft's propulsion system alarm.

[0085] In this embodiment, the spacecraft status can be monitored in real time using a health monitoring system (HK System). If the spacecraft is detected to be in a first state, the minimum value is determined from the maximum timeout threshold and the maximum permissible timeout threshold for the current orbit type. Specifically, the maximum timeout threshold for the current orbit type can be compared with the maximum permissible timeout threshold, and the minimum value can be determined from the comparison.

[0086] Step 404: Determine the target timeout threshold for the current orbit type based on the product of the minimum value and the preset coefficient.

[0087] The preset coefficient can be a pre-configured parameter used to adjust the timeout threshold. It is usually less than 1, for example, it can be set to 0.5 or 0.7, and the specific setting can be based on the actual scenario.

[0088] Specifically, when an anomaly is detected in the propulsion system, it indicates that the trajectory may undergo unpredictable changes, thus requiring a reduction in the timeout threshold. In this embodiment, the minimum value determined in the above steps can be calculated as its product with a preset coefficient, and the calculated product can be determined as the target timeout threshold for the current trajectory type.

[0089] In one scenario, the above method may further include: upon detecting that the spacecraft is in a second state, determining a target timeout threshold for the current orbit type as a set timeout threshold. The second state includes a state of attitude instability in the spacecraft, for example, an angular deviation greater than 5 degrees. The set timeout threshold can be a pre-set fixed value, for example, 5 minutes.

[0090] In this embodiment, when spacecraft attitude instability is detected, it indicates that the spacecraft may have a malfunction. Therefore, it is necessary to reduce the timeout threshold. Specifically, a pre-set smaller timeout threshold can be used as the target timeout threshold to ensure calculation accuracy.

[0091] In one scenario, the above method may further include: when the spacecraft is detected to be in a third state, determining the maximum timeout threshold as the target timeout threshold for the current orbit type. The third state includes a state where the spacecraft's space-to-ground link is interrupted for a preset duration. The space-to-ground link interruption indicates a disconnection between the spacecraft and ground monitoring, and the preset duration can be a pre-set interruption duration threshold.

[0092] In this embodiment, when a spacecraft's space-to-ground link interruption is detected for a preset duration, it indicates that new Kepler six-factor numbers cannot be acquired. In this case, the timeout threshold can be relaxed to ensure the system continues to operate. Specifically, the maximum timeout threshold can be determined as the target timeout threshold for the current orbit type.

[0093] In one scenario, after determining the maximum timeout threshold as the target timeout threshold for the current orbit type, the above method may further include: calculating the spacecraft orbit based on LTE orbit parameters to determine the spacecraft's position and velocity. This is because, in the event of a satellite-to-ground link interruption, even with a relaxed timeout threshold, the timeliness of the Kepler six roots may still be insufficient. Therefore, directly using LTE orbit parameters for spacecraft orbit calculation is more reliable in this situation.

[0094] In the above embodiments, the target timeout threshold can be dynamically configured based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status. Therefore, it not only improves the flexibility of system configuration but also adapts to the needs of different scenarios. Furthermore, the automatic switching mechanism avoids orbit calculation errors caused by data delays or human misjudgment, enhancing the system's robustness. This method is applicable to single-satellite, multi-satellite, and spacecraft systems with different orbit types, demonstrating good versatility.

[0095] In one exemplary embodiment, such as Figure 5 As shown, after determining the target timeout threshold in step 106, the above method may further include:

[0096] Step 502: Determine the transition interval based on the target timeout threshold and the preset transition duration.

[0097] The transition duration is a pre-set, relatively small value designed to ensure a smooth transition when switching orbit calculation methods. The transition interval, determined based on the target timeout threshold and the pre-set transition duration, is the range used for the orbit calculation method switch. For example, if the target timeout threshold is T, and the pre-set transition duration is... The transition interval It can be expressed by the following formula (2):

[0098] (2)

[0099] Specifically, the transition interval includes a first interval threshold and a second interval threshold, and the second interval threshold is greater than the first interval threshold. For example, as shown in equation (2) above, the first interval threshold is... The threshold for the second interval is .

[0100] Step 504: If the data delay time is less than or equal to the first interval threshold, the spacecraft orbit is calculated based on the Kepler six roots to determine the spacecraft's position and velocity.

[0101] Specifically, if the data delay is less than or equal to the first interval threshold, it indicates that the data delay is within an acceptable range, meaning the Kepler six-factor model has good timeliness. In this case, using the Kepler six-factor model for orbit calculation can yield more accurate results. Therefore, spacecraft orbit calculations can be performed based on the Kepler six-factor model (i.e., using the Kepler six-factor model for orbit calculation) to determine the spacecraft's position and velocity.

[0102] Step 506: If the data delay duration is determined to be greater than or equal to the second interval threshold, the spacecraft orbit is calculated based on the LTE orbit parameters to determine the spacecraft's position and velocity.

[0103] Specifically, if the data delay duration is greater than or equal to the second interval threshold, it indicates that the data delay duration is within an unacceptable range, meaning the Kepler six-factor data is invalid. Using the Kepler six-factor data for orbit calculation in this case would result in a significant error. Therefore, when the data delay duration is greater than or equal to the second interval threshold, LTE orbit parameters can be used for spacecraft orbit calculation (i.e., using the LTE model for orbit calculation) to determine the spacecraft's position and velocity.

[0104] Step 508: If the data delay duration is determined to be within the transition interval, the spacecraft's position and velocity are determined by weighted fusion calculation based on the Kepler six roots and LTE orbital parameters.

[0105] In this context, a data delay duration falling within the transition interval indicates a data delay duration greater than the first interval threshold but less than the second interval threshold. In other words, the data delay duration hovers around the target timeout threshold; a hard handover in this situation would cause a jump in the result. Therefore, in this embodiment, when the data delay duration is determined to be within the transition interval, a weighted fusion calculation based on the Kepler six roots and LTE orbital parameters is performed to determine the spacecraft's position and velocity. That is, within the transition interval, by combining the two calculation methods, abrupt changes in the calculation results are avoided, making the switch between orbital calculation methods smoother.

[0106] For example, when the data delay duration is determined to be within the transition interval, the weights of each calculation method (such as Kepler calculation method and LTE calculation method) can be determined based on the following equations (3) and (4):

[0107] (3)

[0108] (4)

[0109] Where T is the target timeout threshold. The preset transition time, For data delay duration, The weights for the Kepler calculation method, The weights for the LTE calculation method.

[0110] Then, a weighted fusion calculation is performed based on these two methods to determine the spacecraft's position and velocity. For example, when calculating position, the positions calculated separately using the two methods can be weighted and summed to determine the spacecraft's final position. Similarly, when calculating velocity, the velocities calculated separately using the two methods can be weighted and summed to determine the spacecraft's final velocity. Therefore, when When the threshold is slowly crossed, the change in the output is also continuous and smooth, thus avoiding system jitter.

[0111] The above method automatically selects the appropriate orbit calculation method based on the different conditions of the spacecraft, ensuring calculation accuracy while improving the system's adaptability and reliability. Furthermore, the automatic switching mechanism avoids orbit calculation errors caused by data delays or human misjudgment, enhancing the system's robustness. This method is applicable to single-satellite, multi-satellite, and different orbital types spacecraft systems, exhibiting good versatility. It achieves intelligent and automated orbit calculation, balancing the accuracy and real-time nature of the calculation results, and improving the overall system's adaptability and calculation accuracy.

[0112] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0113] Based on the same inventive concept, this application also provides an apparatus for automatically planning spacecraft orbits, which implements the method for automatically planning spacecraft orbits as described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations of one or more embodiments of the apparatus for automatically planning spacecraft orbits provided below can be found in the limitations of the method for automatically planning spacecraft orbits described above, and will not be repeated here.

[0114] In one exemplary embodiment, such as Figure 6 As shown, an apparatus for automatically planning and calculating spacecraft orbits is provided, comprising: a data acquisition module 602, a delay determination module 604, a target threshold determination module 606, and a calculation module 608, wherein:

[0115] The data acquisition module 602 is used to acquire the epoch time of the orbit calculation to be performed, and to acquire the last update time of the Kepler six roots;

[0116] The delay determination module 604 is used to determine the data delay duration based on the epoch time and the last update time of the Kepler six roots;

[0117] The target threshold determination module 606 is used to determine the target timeout threshold based on at least one of the current orbit type, spacecraft operating mode, and spacecraft status;

[0118] The calculation module 608 is used to perform spacecraft orbit calculation based on the Kepler six roots, and determine the position and velocity of the spacecraft, when the data delay time is determined to be less than or equal to the target timeout threshold.

[0119] In an exemplary embodiment, the calculation module is further configured to: perform spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity if it is determined that the data delay duration is greater than the target timeout threshold.

[0120] In an exemplary embodiment, the calculation module is further configured to: determine a transition interval based on the target timeout threshold and a preset transition duration, wherein the transition interval includes a first interval threshold and a second interval threshold, the second interval threshold being greater than the first interval threshold; if the data delay duration is determined to be less than or equal to the first interval threshold, perform spacecraft orbit calculation based on the Kepler six-factor to determine the spacecraft's position and velocity; if the data delay duration is determined to be greater than or equal to the second interval threshold, perform spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity; and if the data delay duration is determined to be within the transition interval, perform a weighted fusion calculation based on the Kepler six-factor and the LTE orbit parameters to determine the spacecraft's position and velocity.

[0121] In an exemplary embodiment, the target threshold determination module is further configured to: detect the target operating mode of the spacecraft; determine the timeout threshold corresponding to the target operating mode in a preset timeout threshold mapping table, and determine the timeout threshold corresponding to the target operating mode as the target timeout threshold; the timeout threshold mapping table records the mapping relationship between different operating modes and different timeout thresholds.

[0122] In an exemplary embodiment, the target threshold determination module is further configured to: identify the current orbit type; determine the maximum timeout threshold corresponding to the current orbit type based on a preset maximum timeout mapping table; the maximum timeout mapping table records the mapping relationship between different orbit types and different maximum timeout thresholds; determine the maximum permissible timeout threshold of the current orbit type based on the error growth rate and the maximum permissible error of the current orbit type; determine the minimum value from the maximum timeout threshold and the maximum permissible timeout threshold of the current orbit type, and use the minimum value as the target timeout threshold of the current orbit type.

[0123] In an exemplary embodiment, the target threshold determination module is further configured to, when the spacecraft is detected to be in a first state, determine a minimum value from the maximum timeout threshold and the maximum allowable timeout threshold of the current orbit type; the first state includes the state of the spacecraft's propulsion system alarm; and determine the target timeout threshold of the current orbit type based on the product of the minimum value and a preset coefficient.

[0124] In an exemplary embodiment, the target threshold determination module is further configured to: determine the target timeout threshold of the current orbit type as a set timeout threshold when the spacecraft is detected to be in a second state; the second state includes the state of the spacecraft attitude instability.

[0125] In an exemplary embodiment, the target threshold determination module is further configured to: determine the maximum timeout threshold as the target timeout threshold for the current orbit type when the spacecraft is detected to be in a third state; the third state includes the state in which the spacecraft's space-to-ground link is interrupted for a preset duration.

[0126] In an exemplary embodiment, the calculation module is further configured to: after determining the maximum timeout threshold as the target timeout threshold for the current orbit type, perform spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity.

[0127] The modules in the aforementioned automatic spacecraft orbit planning and calculation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0128] In one exemplary embodiment, an electronic device is provided, the internal structure of which can be shown as follows: Figure 7As shown, this electronic device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for automatically calculating and planning spacecraft orbits. The display unit is used to create a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the electronic device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the electronic device, or external keyboards, touchpads, or mice, etc.

[0129] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0130] In one exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0131] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0132] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0133] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0134] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0135] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for automatically calculating and planning spacecraft orbits, characterized in that, The method includes: Obtain the epoch time for the orbit calculation to be performed, and obtain the last update time of the Kepler six roots; The data delay duration is determined based on the epoch time and the last update time of the Kepler six roots; Identify the current orbit type and determine the target timeout threshold based on the current orbit type; If the data delay duration is determined to be less than or equal to the target timeout threshold, the spacecraft's position and velocity are determined based on the Kepler six roots. The step of identifying the current orbit type and determining the target timeout threshold based on the current orbit type includes: Identify the current track type and determine the maximum timeout threshold corresponding to the current track type based on a preset maximum timeout mapping table; the maximum timeout mapping table records the mapping relationship between different track types and different maximum timeout thresholds; Based on the error growth rate and maximum permissible error of the current orbit type, determine the maximum permissible timeout threshold for the current orbit type; The minimum value is determined from the maximum timeout threshold and the maximum allowable timeout threshold of the current orbit type, and the minimum value is used as the target timeout threshold of the current orbit type; If the data delay duration is determined to be greater than the target timeout threshold, the spacecraft's orbit is calculated based on LTE orbital parameters to determine the spacecraft's position and velocity.

2. The method according to claim 1, characterized in that, After determining the target timeout threshold, the method further includes: Based on the target timeout threshold and the preset transition duration, a transition interval is determined. The transition interval includes a first interval threshold and a second interval threshold, wherein the second interval threshold is greater than the first interval threshold. If the data delay duration is determined to be less than or equal to the first interval threshold, the spacecraft orbit is calculated based on the Kepler six roots to determine the spacecraft's position and velocity; If the data delay duration is determined to be greater than or equal to the second interval threshold, the spacecraft orbit is calculated based on the LTE orbit parameters to determine the spacecraft's position and velocity. If the data delay duration is determined to be within the transition range, the position and velocity of the spacecraft are determined by weighted fusion calculation based on the Kepler six roots and the LTE orbital parameters.

3. The method according to claim 1, characterized in that, After determining the maximum allowable timeout threshold for the current orbit type, the method further includes: If the spacecraft is detected to be in a first state, the minimum value is determined from the maximum timeout threshold and the maximum allowable timeout threshold for the current orbit type; the first state includes the state of the spacecraft's propulsion system alarm. The target timeout threshold for the current orbit type is determined based on the product of the minimum value and the preset coefficient.

4. The method according to claim 3, characterized in that, The method further includes: If the spacecraft is detected to be in the second state, the target timeout threshold for the current orbit type is determined to be the set timeout threshold; the second state includes the state of the spacecraft's attitude instability.

5. The method according to claim 3, characterized in that, The method further includes: If the spacecraft is detected to be in the third state, the maximum timeout threshold is determined as the target timeout threshold for the current orbit type; the third state includes the state in which the spacecraft's space-to-ground link is interrupted for a preset duration.

6. The method according to claim 5, characterized in that, After determining the maximum timeout threshold as the target timeout threshold for the current orbit type, the method further includes: The spacecraft's orbit is calculated based on LTE orbital parameters to determine its position and velocity.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Detect the target operating mode of the spacecraft; A timeout threshold corresponding to the target working mode is determined in a preset timeout threshold mapping table, and the timeout threshold corresponding to the target working mode is determined as the target timeout threshold; the timeout threshold mapping table records the mapping relationship between different working modes and different timeout thresholds.

8. A device for automatically calculating and planning spacecraft orbits, characterized in that, The device includes: The data acquisition module is used to acquire the epoch time of the orbit calculation to be performed, as well as the last update time of the Kepler six roots. The delay determination module is used to determine the data delay duration based on the epoch time and the last update time of the Kepler six roots; The target threshold determination module is used to identify the current orbit type and determine the target timeout threshold based on the current orbit type; The calculation module is used to perform spacecraft orbit calculations based on the Kepler six roots, and determine the position and velocity of the spacecraft, when the data delay duration is determined to be less than or equal to the target timeout threshold. The target threshold determination module is specifically used for: identifying the current track type; determining the maximum timeout threshold corresponding to the current track type based on a preset maximum timeout mapping table; the maximum timeout mapping table records the mapping relationship between different track types and different maximum timeout thresholds; determining the maximum permissible timeout threshold for the current track type based on the error growth rate and maximum allowable error of the current track type; determining the minimum value from the maximum timeout threshold and the maximum permissible timeout threshold of the current track type, and using the minimum value as the target timeout threshold for the current track type; The calculation module is also used to perform spacecraft orbit calculation based on LTE orbit parameters to determine the spacecraft's position and velocity when the data delay duration is determined to be greater than the target timeout threshold.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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