Collision avoidance control method and device of space target, and electronic equipment

Abstract

The application discloses a space target collision avoidance control method and device and electronic equipment, and relates to the field of spaceflight measurement and control. The method comprises the following steps: determining the minimum distance between a satellite space target and any space target, detecting an abnormal space target based on the minimum distance, determining a warning time and a meeting time if the abnormal space target exists, determining the start time of the electric propulsion system of the satellite space target based on the warning time and the meeting time under multiple constraint conditions, and iteratively calculating the collision avoidance control times and the control time of each control based on the start time and the current minimum distance after each control, so as to obtain the target collision avoidance control times and the target control time of each control, and control the electric propulsion system of the satellite space target. The application solves the technical problem that the precise control of collision avoidance cannot be realized under the condition of minimum fuel consumption in the related art.

Description

Technical Field

[0001] This invention relates to the field of aerospace telemetry and control, specifically to a collision avoidance control method, apparatus, and electronic equipment for space targets. Background Technology

[0002] Electric propulsion systems offer the advantage of high specific impulse, effectively improving the payload ratio compared to chemical propulsion systems, and are increasingly used in space missions. In recent years, with the development of microsatellite constellations, the number of near-Earth space targets has increased rapidly, raising the risk of collisions between them. Electric propulsion systems are characterized by continuous maneuvering, long control durations, highly nonlinear dynamic equations, and complex terminal constraints. Therefore, ensuring the safety of satellites in orbit and rapidly developing collision avoidance strategies has become a crucial research issue in the aerospace field.

[0003] Collision avoidance strategy development utilizes hazardous target and spacecraft orbital data, combined with the spacecraft's flight plan, to determine avoidance control strategies, clarify the timing and methods of avoidance, and eliminate collision risks in the future to ensure spacecraft flight safety. Therefore, based on the characteristics of different flight phases of the spacecraft, and comprehensively considering collision avoidance calculation methods and engineering mission requirements, collision avoidance strategies need to be developed on a case-by-case basis.

[0004] In related technologies, two main types of orbital avoidance control methods are generally used: altitude avoidance and time avoidance. Altitude avoidance methods can be implemented closer to the moment of collision, allowing relatively ample time for collision risk assessment and avoidance strategy formulation, but they consume a large amount of fuel. Time avoidance methods are generally implemented at a point further away from the moment of collision, consuming less fuel, but the probability of false alarms during collision risk assessment is relatively higher.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides a collision avoidance control method, apparatus, and electronic device for space targets, to at least solve the technical problem in related technologies that it is impossible to achieve precise control of collision avoidance with minimal fuel consumption.

[0007] According to one aspect of the present invention, a collision avoidance control method for a space target is provided, comprising: determining the minimum distance between a satellite space target and any other space target, wherein the minimum distance includes a minimum relative distance and a minimum radial distance, and the minimum distance corresponds to a minimum time; detecting whether there is an abnormal space target that poses a collision risk to the satellite space target based on the minimum relative distance and the minimum radial distance; if an abnormal space target is detected, determining the time at which the abnormal space target is detected as a warning time, and determining the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target as a rendezvous time; under multiple constraints, determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and the rendezvous time, and iteratively calculating the number of collision avoidance controls and the control duration of each collision avoidance control based on the start-up time and the current minimum distance after each collision avoidance control, to obtain the number of target collision avoidance control operations and the target control duration of each collision avoidance control; and controlling the electric propulsion system of the satellite space target based on the number of target collision avoidance control operations and the target control duration of each collision avoidance control.

[0008] Further, the step of determining the minimum distance between the satellite space target and any other space target includes: determining the first position vector and the first velocity vector of the satellite space target at all times using a dynamic model based on the initial position vector and initial velocity vector of the satellite space target in the geocentric coordinate system; determining the second position vector and the second velocity vector of the space target at all times using a dynamic model based on the initial position vector and initial velocity vector of the space target in the geocentric coordinate system; determining the relative distance vector between the satellite space target and the other space target based on the first position vector and the second position vector, and determining the relative velocity vector between the satellite space target and the other space target based on the first velocity vector and the second velocity vector; determining the moment when the dot product of the relative distance vector and the relative velocity vector is zero as the minimum moment, and determining the minimum relative distance based on the relative distance vector indicated by the minimum moment; and determining the minimum radial distance between the satellite space target and the other space target at the minimum moment based on the transformation matrix from the geocentric coordinate system to the radial-lateral normal coordinate system, wherein the minimum radial distance refers to the minimum distance between the satellite space target and the other space target in the radial-lateral normal coordinate system.

[0009] Furthermore, the step of detecting whether there is an anomalous space target that poses a collision risk with the satellite space target based on the minimum relative distance and minimum radial distance includes: determining whether there is a minimum relative distance less than a relative distance threshold within a preset time period, and determining whether there is a minimum radial distance less than a radial distance threshold within a preset time period; if there is a minimum relative distance less than the relative distance threshold and a minimum radial distance less than the radial distance threshold within the preset time period, determining that the satellite space target is at a collision risk warning level; and identifying the space target corresponding to the minimum distance as an anomalous space target.

[0010] Furthermore, under multiple constraints, before determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and rendezvous time, the process also includes: conducting avoidance simulation based on the satellite parameters of the satellite space target and the maximum start-up and shutdown times of the electric propulsion system to obtain orbital deviation data; and determining the minimum avoidance time of the satellite space target based on the orbital deviation data.

[0011] Furthermore, under multiple constraints, before determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and rendezvous time, the following steps are also included: determining the telemetry and control constraints, which include: the continuous tracking arc range of each station and the time range of each revolution within the continuous tracking arc range; determining the electric propulsion control constraints, which include: the maximum start-up time and shutdown time of the electric propulsion system; determining the collision avoidance control target constraints, which include: the distance warning threshold between the satellite space target and the abnormal space target within the preset time after control; and determining the time constraints, which include: the decision generation time, the injection generation time, the preheating time before start-up, and the execution time after injection.

[0012] Furthermore, under multiple constraints, the steps for determining the start-up time of the electric propulsion system of a satellite space target based on the warning time and rendezvous time include: determining the lower limit of the injection time based on the warning time, the decision generation time, and the injection generation time; determining the upper limit of the injection time based on the rendezvous time, the preheating time before start-up, and the minimum avoidance time; determining the injection time based on the lower limit and the upper limit of the injection time; and determining the start-up time based on the injection time, the time for performing operations after injection, and the rendezvous time.

[0013] Further, the step of determining the upper limit of the betting time based on the rendezvous time, the preheating time before startup, and the minimum avoidance time includes: determining the injection difference based on the rendezvous time, the preheating time before startup, and the minimum avoidance time; when the injection difference is within the continuous tracking arc of the station but not within the first loop of the continuous tracking arc, the latest departure time of the station in the first loop is determined as the upper limit of the betting time, wherein the latest departure time is determined based on the time range of the loop; when the injection difference is within the continuous tracking arc of the station and is within all loops except the first loop of the continuous tracking arc, the latest departure time of the station in the previous loop is determined as the upper limit of the betting time; when the injection difference is within the continuous tracking arc of the station and is after the first loop and before the second loop of the continuous tracking arc, the latest departure time of the station in the first loop is determined as the upper limit of the betting time; when the injection difference is not within the continuous tracking arc of the station, the latest departure time of the station in the previous continuous tracking arc is determined as the upper limit of the betting time.

[0014] Furthermore, based on the power-on time and the current minimum distance after each collision avoidance control, the steps of iteratively calculating the number of collision avoidance control operations and the control duration of each collision avoidance control to obtain the target number of collision avoidance control operations and the target control duration of each collision avoidance control include: determining the coasting duration of the satellite space target after control; constructing an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; iteratively calculating the objective function to determine the variable value corresponding to the power-on duration variable for each collision avoidance control, until the current minimum distance after control is greater than the distance warning threshold; determining the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and counting the number of control operations during the iterative calculation process and determining the number of control operations as the target collision avoidance control count.

[0015] According to another aspect of the present invention, a collision avoidance control device for a space target is also provided, comprising: a first determining unit, configured to determine the minimum distance between a satellite space target and any other space target, wherein the minimum distance includes a minimum relative distance and a minimum radial distance, and the minimum distance corresponds to a minimum time; a detection unit, configured to detect, based on the minimum relative distance and the minimum radial distance, whether there is an abnormal space target that poses a collision risk to the satellite space target; a second determining unit, configured to, when an abnormal space target is detected, determine the time at which the abnormal space target is detected as a warning time, and determine the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target as a rendezvous time; an iterative unit, configured to, under multiple constraints, determine the start-up time of the electric propulsion system of the satellite space target based on the warning time and the rendezvous time, and iteratively calculate the number of collision avoidance controls and the control duration of each collision avoidance control based on the start-up time and the current minimum distance after each collision avoidance control, to obtain the number of target collision avoidance controls and the target control duration of each collision avoidance control; and a control unit, configured to control the electric propulsion system of the satellite space target based on the number of target collision avoidance controls and the target control duration of each collision avoidance control.

[0016] Further, the first determining unit includes: a first determining module, used to determine the first position vector and first velocity vector of the satellite space target at all times using a dynamic model based on the initial position vector and initial velocity vector of the space target in the geocentric coordinate system; a second determining module, used to determine the second position vector and second velocity vector of the space target at all times using a dynamic model based on the initial position vector and initial velocity vector of the space target in the geocentric coordinate system; a third determining module, used to determine the relative distance vector between the satellite space target and the space target based on the first position vector and the second position vector, and to determine the relative velocity vector between the satellite space target and the space target based on the first velocity vector and the second velocity vector; a fourth determining module, used to determine the moment when the dot product of the relative distance vector and the relative velocity vector is zero as the minimum moment, and to determine the minimum relative distance based on the relative distance vector indicated by the minimum moment; and a fifth determining module, used to determine the minimum radial distance between the satellite space target and the space target at the minimum moment based on the transformation matrix from the geocentric coordinate system to the radial-lateral normal coordinate system, wherein the minimum radial distance refers to the minimum distance between the satellite space target and the space target in the radial-lateral normal coordinate system.

[0017] Furthermore, the detection unit includes: a sixth determining module, used to determine whether there is a minimum relative distance less than the relative distance threshold within a preset time period, and to determine whether there is a minimum radial distance less than the radial distance threshold within the preset time period; a seventh determining module, used to determine that the satellite space target is at the collision risk warning level if there is a minimum relative distance less than the relative distance threshold and a minimum radial distance less than the radial distance threshold within the preset time period; and an eighth determining module, used to determine the space target corresponding to the minimum distance as an abnormal space target.

[0018] Furthermore, the collision avoidance control device also includes: a first simulation module, used to perform avoidance simulation based on the satellite parameters of the satellite space target and the maximum start-up and shutdown duration of the electric propulsion system before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and rendezvous time, to obtain orbital deviation data; and a ninth determination module, used to determine the minimum avoidance time of the satellite space target based on the orbital deviation data.

[0019] Furthermore, the collision avoidance control device also includes: a tenth determining module, used to determine the telemetry and control constraints before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and rendezvous time, wherein the telemetry and control constraints include: the continuous tracking arc range of each station and the time range of each revolution within the continuous tracking arc range; an eleventh determining module, used to determine the electric propulsion control constraints, wherein the electric propulsion control constraints include: the maximum start-up time and shutdown time of the electric propulsion system; a twelfth determining module, used to determine the collision avoidance control target constraints, wherein the collision avoidance control target constraints include: the distance warning threshold between the satellite space target and the abnormal space target within a preset time after control; and a thirteenth determining module, used to determine the time constraints, wherein the time constraints include: decision generation time, injection generation time, preheating time before start-up, and execution operation time after injection.

[0020] Furthermore, the iterative unit includes: a fourteenth determining module, used to determine the lower limit of the betting time based on the warning time, the decision generation time, and the injection generation time; a fifteenth determining module, used to determine the upper limit of the betting time based on the rendezvous time, the preheating time before startup, and the minimum avoidance time; a sixteenth determining module, used to determine the betting time based on the lower limit and the upper limit of the betting time; and a seventeenth determining module, used to determine the startup time based on the betting time, the time spent executing operations after betting, and the rendezvous time.

[0021] Furthermore, the fifteenth determining module includes: a first determining submodule, used to determine the injection difference based on the rendezvous time, the preheating time before startup, and the minimum avoidance time; a second determining submodule, used to determine the latest exit time of the station in the first loop as the upper limit of the injection time when the injection difference is within the continuous tracking arc range of the station but not within the first loop of the continuous tracking arc range, wherein the latest exit time is determined based on the time range of the loop; and a third determining submodule, used to determine the injection time limit when the injection difference is within the continuous tracking arc range of the station but not within the first loop of the continuous tracking arc range. In cases where the station's latest departure time in the previous cycle is excluded from the first cycle within the segment range, the upper limit for betting time is determined as follows: The fourth determination submodule is used to determine the upper limit for betting time in the first cycle when the injection difference is within the continuous tracking arc range of the station and is located after the first cycle and before the second cycle within the continuous tracking arc range; The fifth determination submodule is used to determine the upper limit for betting time in the previous continuous tracking arc range when the injection difference is not within the continuous tracking arc range of the station.

[0022] Furthermore, the iterative unit also includes: an eighteenth determination module, used to determine the coasting duration of the satellite space target after control; a first construction module, used to construct an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; a first iteration module, used to iteratively calculate the objective function and determine the variable value corresponding to the power-on duration variable for each collision avoidance control until the current minimum distance after control is greater than the distance warning threshold; a nineteenth determination module, used to determine the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and a first statistics module, used to count the number of control operations during the iterative calculation process and determine the number of control operations as the target collision avoidance control operations.

[0023] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a collision avoidance control method for any of the above-described spatial targets.

[0024] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any of the above-described collision avoidance control methods for space targets.

[0025] In this invention, the minimum distance between a satellite space target and any other space target is determined. Based on the minimum relative distance and the minimum radial distance, an abnormal space target with a collision risk with the satellite space target is detected. If an abnormal space target is detected, the moment of detection is determined as the warning moment, and the minimum moment corresponding to the minimum distance between the abnormal space target and the satellite space target is determined as the rendezvous moment. Under multiple constraints, the start-up moment of the satellite space target's electric propulsion system is determined based on the warning moment and the rendezvous moment. Based on the start-up moment and the current minimum distance after each collision avoidance control, the number of collision avoidance control operations and the control duration of each collision avoidance control are iteratively calculated to obtain the target collision avoidance control operations and the target control duration of each collision avoidance control. Based on the target collision avoidance control operations and the target control duration of each collision avoidance control, the electric propulsion system of the satellite space target is controlled, thereby solving the technical problem in related technologies that it is impossible to achieve precise control of collision avoidance with minimal fuel consumption.

[0026] In this invention, by detecting the minimum distance between a satellite and a space target and its corresponding minimum time, abnormal space targets with collision risk can be quickly identified. If an abnormal space target is detected, the warning time and the predicted rendezvous time can be determined. Based on multiple constraints, an iterative algorithm is used to optimize the avoidance strategy, determine the optimal start-up time and control duration of the electric propulsion system, minimize fuel consumption and the number of avoidance control operations, ensure the safety of the satellite in orbit, and improve the economy and feasibility of the space mission. This achieves the technical effect of guiding the electric propulsion system to perform precise avoidance operations, avoiding unnecessary resource waste, and enhancing the flexibility and reliability of the space mission. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0028] Figure 1 This is a flowchart of an optional collision avoidance control method for a space target according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of an optional intersection of two target orbits according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of an optional evasion control optimization process according to an embodiment of the present invention;

[0031] Figure 4This is a schematic diagram of an optional continuous tracking arc segment and time relationship of a measuring station according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of an optional collision avoidance control device for a space target according to an embodiment of the present invention;

[0033] Figure 6 This is a hardware structure block diagram of an electronic device (or mobile device) for a collision avoidance control method for space targets according to an embodiment of the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] It should be noted that all related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, and displayed data) collected and involved in this invention are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data comply with the relevant laws, regulations, and standards of the relevant regions, necessary confidentiality measures have been taken, and it does not violate public order and good morals. Corresponding operation entry points are provided for users to choose to authorize or refuse. For example, this system has an interface with relevant users or organizations. Before obtaining relevant information, a request to obtain the information needs to be sent to the aforementioned user or organization through the interface, and the relevant information is obtained only after receiving consent from the aforementioned user or organization.

[0037] This invention proposes an optimization method for collision avoidance control of satellite electric propulsion, applicable to the calculation of collision avoidance control strategies for near-Earth satellites. By considering constraints such as the electric propulsion control unit, telemetry and control area, collision avoidance control target constraints, and startup duration, the method uses the startup time as the independent variable and adds the minimum distance between the two target orbits as the terminal constraint to the value function of the collision avoidance maneuver control problem. Appropriate weighting coefficients are set, and an optimization method for startup duration is designed. Furthermore, combining the track-direction distance variation avoidance method and the collision avoidance control target constraint, an optimal avoidance timing selection and control number increase method are designed to maximize the avoidance of dangerous targets.

[0038] In this invention, a high-precision dynamic model and a collision warning model for the satellite are first established. Based on the relatively weak radial control capability of electric propulsion satellites, a path-along avoidance method is adopted to analyze the path-along control avoidance capability of electric propulsion. According to the path-along avoidance capability and collision avoidance implementation constraints, an electric propulsion collision avoidance optimization method is designed. This method achieves single-target and multi-target avoidance control by optimizing the control activation duration and the number of control operations. In this way, the activation duration and number of control operations can be effectively planned to achieve avoidance of dangerous targets.

[0039] The present invention will now be described in detail with reference to various embodiments.

[0040] Example 1

[0041] According to an embodiment of the present invention, an embodiment of a collision avoidance control method for space targets is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0042] Figure 1 This is a flowchart of an optional collision avoidance control method for a space target according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0043] Step S101: Determine the minimum distance between the satellite space target and any other space target. The minimum distance includes the minimum relative distance and the minimum radial distance. The minimum distance corresponds to a minimum time.

[0044] In this embodiment of the invention, the positions and velocities of the satellite and the space target can be predicted using a high-precision dynamic model, and the relative position vectors between them can be obtained using orbital geometry calculation methods. Based on this, the minimum relative distance between the two targets (i.e., the minimum distance between the satellite and the space target in the J2000 inertial coordinate system) and the minimum radial distance (i.e., the minimum distance between the satellite and the space target in the RTN (Radial-Tangential-Normal) coordinate system) are calculated, and the minimum time corresponding to these distance values ​​is recorded.

[0045] Here, the RTN coordinate system is a local coordinate system commonly used in spacecraft orbital dynamics. It is mainly used to describe relative motion or to perform orbital control calculations. In this system, the R direction is the direction of the inertial position vector of the space target, the T direction is perpendicular to the R direction and points in the direction of motion, and the N direction, together with the R and T directions, forms a right-handed coordinate system.

[0046] Step S102: Based on the minimum relative distance and minimum radial distance, detect whether there are any anomalous space targets that pose a collision risk with the satellite space target.

[0047] In this embodiment of the invention, the minimum relative distance and minimum radial distance values ​​are compared with a pre-set warning threshold. If the distance between the satellite and the space target is less than the warning threshold (e.g., the warning threshold is 500 meters for relative distance and 50 meters for radial distance), the space target is considered to have a collision risk and is marked as an abnormal space target.

[0048] Step S103: If an abnormal space target is detected, the time when the abnormal space target is detected is determined as the warning time, and the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target is determined as the rendezvous time.

[0049] In this embodiment of the invention, when analysis reveals that the minimum distance between a satellite and a certain space target reaches or is less than a warning threshold, that moment is marked as the warning moment (i.e., the moment a collision warning is received). Simultaneously, based on the calculated minimum distance and its minimum moment, it is possible to predict when the two targets will reach their closest distance without any evasive action; this is the rendezvous moment.

[0050] In this embodiment, determining the warning time and rendezvous time provides crucial time points and urgency assessments for formulating avoidance strategies. The warning time indicates the earliest time to begin avoidance preparations, while the rendezvous time is the latest time when avoidance control must be completed to ensure the satellite safely avoids potential collisions.

[0051] Step S104: Under multiple constraints, based on the warning time and rendezvous time, determine the start-up time of the electric propulsion system of the satellite space target. Based on the start-up time and the current minimum distance after each collision avoidance control, iteratively calculate the number of collision avoidance control operations and the control duration of each collision avoidance control operation to obtain the number of target collision avoidance control operations and the target control duration of each collision avoidance control operation.

[0052] In this embodiment of the invention, multiple constraints are considered, including the performance parameters of the satellite's electric propulsion system (such as maximum thrust and controllable duration), tracking capabilities in the telemetry and control area (when control commands can be received and transmitted), satellite fuel limitations, and mission requirements. Iterative calculations are used to find an avoidance strategy that satisfies collision avoidance requirements while optimizing resource utilization (including the number of target collision avoidance controls and the target control duration for each collision avoidance control). This process typically involves simulating and evaluating different control durations and control counts to minimize the total avoidance time and fuel consumption.

[0053] In this embodiment, the evasion strategy can meet the actual engineering requirements to the greatest extent possible, while ensuring the feasibility and economy of the evasion action. Optimization of the power-on time ensures that evasion is carried out within the effective measurement and control period, while optimization of the number of control operations and duration reduces unnecessary fuel consumption and task interference.

[0054] Step S105: Control the electric propulsion system of the satellite space target based on the number of target collision avoidance control operations and the target control duration of each collision avoidance control operation.

[0055] In this embodiment of the invention, based on the determined optimal avoidance strategy, including the total number of avoidance controls and the duration of each control, the electric propulsion system will be precisely programmed to start at a preset power-on time and propel according to the calculated control duration, so as to ensure that the satellite can avoid dangerous targets according to the optimized avoidance plan, while minimizing interference with the normal mission of the satellite and improving the overall efficiency and safety of the space mission.

[0056] In summary, by detecting the minimum distance between a satellite and a space target and its corresponding minimum time, anomalous space targets with collision risks can be quickly identified. If an anomalous space target is detected, the warning time and the predicted rendezvous time can be determined. Based on multiple constraints, an iterative algorithm is used to optimize the avoidance strategy, determine the optimal electric propulsion system activation time and control duration, minimize fuel consumption and the number of avoidance control operations, ensure the safety of the satellite in orbit, and improve the economy and feasibility of space missions. This achieves the technical effect of guiding the electric propulsion system to perform precise avoidance operations, avoiding unnecessary resource waste, and enhancing the flexibility and reliability of space missions.

[0057] To improve the accuracy of determining the minimum distance, in the collision avoidance control method for space targets provided in Embodiment 1 of this application, based on the initial position vector and initial velocity vector of the satellite space target in the geocentric coordinate system, a dynamic model is used to determine the first position vector and first velocity vector of the satellite space target at all times; based on the initial position vector and initial velocity vector of the space target in the geocentric coordinate system, a dynamic model is used to determine the second position vector and second velocity vector of the space target at all times; based on the first position vector and the second position vector, the relative distance vector between the satellite space target and the space target is determined, and based on the first velocity vector and the second velocity vector, the relative velocity vector between the satellite space target and the space target is determined; the moment when the dot product of the relative distance vector and the relative velocity vector is zero is determined as the minimum moment, and the minimum relative distance is determined based on the relative distance vector indicated by the minimum moment; based on the transformation matrix from the geocentric coordinate system to the radial-lateral normal coordinate system, the minimum radial distance between the satellite space target and the space target at the minimum moment is determined, wherein the minimum radial distance refers to the minimum distance between the satellite space target and the space target in the radial-lateral normal coordinate system.

[0058] In this embodiment of the invention, a high-precision dynamic model is used to predict the position and velocity of a space target. The dynamic model is shown below:

[0059]

[0060] in, The acceleration representing the position vector as a function of time, r represents position, r represents the position vector, μ represents the Earth's gravitational constant, and a0 is the gravitational acceleration at the center of the Earth's mass. ε For the total perturbation acceleration, a i This refers to one of the perturbation models involved, such as the Earth's non-spherical perturbation, N-body perturbation, atmospheric damping perturbation, solar radiation pressure perturbation, solid tides, ocean tide perturbation, and relativistic effects.

[0061] In this embodiment of the invention, the minimum distance between two target orbits can be calculated using the geometric positional relationship between the two orbits in space. Figure 2 This is a schematic diagram of an optional intersection of two target orbits according to an embodiment of the present invention, such as... Figure 2 The diagram shows the intersection of two target orbits. Each orbit has two closest distances, d1 and d2, located near the intersection line of the two orbital planes. d1 and d2 are called the minimum distance between the two ellipses. If the minimum distance between the two orbits is greater than a distance threshold D, then there is no possibility of a collision between the two targets.

[0062] In this embodiment of the invention, the method for calculating the minimum distance between two targets includes: calculating the minimum relative distance between the two targets in the geocentric J2000 coordinate system (i.e., the geocentric coordinate system, an inertial reference system with the Earth's center of mass as its origin, used to describe and predict the orbits of space objects) and the minimum radial distance in the RTN coordinate system (i.e., the radial-lateral normal coordinate system). That is, given the initial positions and velocities of the two targets at time t0, a high-precision dynamic model is used to predict the positions and velocities of the two targets, calculating the relative distance values ​​between the satellite and the space target for all epochs, and interpolating from these relative distance values ​​to find the minimum distance.

[0063] In this embodiment of the invention, assuming that in the geocentric J2000 coordinate system, the position vector and velocity vector of the satellite are r1 and v1, and the position vector and velocity vector of the space target are r2 and v2, then the relative distance vector between them is: Δr = r1 - r2; the relative velocity vector between them is: Δv = v1 - v2; and the relative distance is: Assuming the distance reaches its minimum at time t, therefore:

[0064] Therefore, Δr.Δv = 0.

[0065] In this embodiment of the invention, when the dot product of two vectors is zero, it indicates that the distance between the two targets has reached its minimum, at which point the relative position vectors and relative velocity vectors of the two targets are perpendicular to each other. Based on this characteristic when the two targets are close, it can be used as a correction formula for iteratively calculating the closest distance between the two targets. Using this formula for correction can significantly improve the efficiency of early warning calculation and the calculation of longitude.

[0066] In this embodiment of the invention, to more intuitively describe the specific situation when two space targets approach each other, in addition to using the closest distance (i.e., the minimum relative distance in the geocentric J2000 coordinate system), the distance components in three directions in the RTN coordinate system are used to further describe the approach of the two targets. In the RTN coordinate system with the satellite as the centroid, the three-directional distance components of the closest distance are:

[0067] ΔrR TN =M RTN ·Δr;

[0068] Among them, M RTN Let Δr be the transformation matrix from the geocentric J2000 coordinate system to the RTN coordinate system. RTN This is the relative distance vector in the transformed RTN coordinate system.

[0069] Specifically, the initial position and velocity vectors of the satellite and space target in the geocentric coordinate system can be determined first. Then, a high-precision dynamic model is used to predict the future positions and velocities of the satellite and space target, thus forming a series of first position vectors r1 and v1, and a series of second position vectors r2 and v2. Next, based on the first and second position vectors, the relative distance vector Δr = r1 - r2 between the satellite and space target is calculated, and based on the first and second velocity vectors, the relative velocity vector Δv = v1 - v2 between the satellite and space target is calculated. The moment when the dot product of the relative distance vector and the relative velocity vector is zero is determined as the minimum time t. Based on the relative distance vector indicated by the minimum time, the minimum relative distance is calculated (i.e., when Δr·Δv = 0, the minimum relative distance ||Δr|| is calculated based on the relative distance vector Δr indicated by time t). Furthermore, the transformation matrix M from the geocentric coordinate system to the radial and lateral normal coordinate system can be used. RTN Calculate the minimum radial distance ||Δr| between the satellite and the space target at the minimum time. RTN The minimum radial distance refers to the minimum distance between satellite space targets in the radial and lateral normal coordinate system.

[0070] In this embodiment, the potential collision risks of a satellite during space operations can be accurately predicted and assessed, and the timing and method of avoidance control can be determined. By using a dynamic model to make high-precision predictions of the future trajectories of the satellite and space targets, and combining this with the calculation of relative distance and relative velocity vectors, the minimum moment and minimum distance can be identified, thereby determining when to activate the electric propulsion system for avoidance and the magnitude of the avoidance.

[0071] To improve the accuracy of identifying anomalous space targets, the collision avoidance control method for space targets provided in Embodiment 1 of this application determines whether there is a minimum relative distance less than a relative distance threshold within a preset time period, and determines whether there is a minimum radial distance less than a radial distance threshold within the preset time period; if there is a minimum relative distance less than the relative distance threshold and a minimum radial distance less than the radial distance threshold within the preset time period, the satellite space target is determined to be at a collision risk warning level; the space target corresponding to the minimum distance is identified as an anomalous space target.

[0072] In this embodiment of the invention, a criterion combining proximity distance (i.e., relative distance) and radial distance is adopted, and the collision warning level can be divided into two levels: (1) Yellow warning level: within the next 3 days, the collision warning event with the proximity distance criterion threshold (relative distance threshold) being ≤2 kilometers and the radial distance criterion threshold (radial distance threshold) being ≤200 meters; (2) Red warning level: within the next 1 day, the collision warning event with the proximity distance criterion threshold being ≤500 meters and the radial distance criterion threshold being ≤50 meters.

[0073] In this embodiment of the invention, when a red warning level is detected, it can be determined that the satellite space target is at the collision risk warning level. The space target corresponding to the minimum distance can be identified as an abnormal space target, so that the satellite can be controlled to avoid it by electric propulsion, and the abnormal space target is controlled to be outside the yellow warning threshold.

[0074] Specifically, the system can iterate through relative distance data for all moments within a preset time period (e.g., within the next day), including minimum relative distance and minimum radial distance, and check whether they are below their respective set thresholds. If, during the above check, it is found that the minimum relative distance at a certain moment is less than the relative distance threshold, and the minimum radial distance at the same moment is less than the radial distance threshold, then the warning level for that moment will be marked as a red warning, indicating that there is a possibility of collision between the satellite and the target in a short period of time, and the target will be automatically classified as an anomalous space target. If the warning event occurs after the preset time period (e.g., within the next 3 days) but does not meet the conditions for a red warning, it will be marked as a yellow warning.

[0075] In this embodiment, the space environment surrounding the satellite can be monitored in real time, potential collision risks can be identified, and corresponding avoidance measures can be taken accordingly. The introduction of an early warning mechanism, especially tiered early warning (yellow and red), makes resource allocation more rational and can minimize the impact of avoidance operations on normal missions while ensuring satellite safety.

[0076] To improve the accuracy of determining the minimum avoidance duration, in the collision avoidance control method for space targets provided in Embodiment 1 of this application, under multiple constraints, before determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and rendezvous time, avoidance simulation is performed based on the satellite parameters of the satellite space target and the maximum start-up and shutdown time of the electric propulsion system to obtain orbital deviation data; based on the orbital deviation data, the minimum avoidance duration of the satellite space target is determined.

[0077] In this embodiment of the invention, when a dangerous target (i.e., an anomalous space target) enters the red warning threshold, electric propulsion can be used to control the satellite to avoid it, thereby keeping the dangerous target outside the yellow warning threshold. Based on the above avoidance strategy, the avoidance is simulated to analyze the avoidance capability under different power-on durations and power-on times.

[0078] Specifically, simulation analysis can be performed based on the satellite's current state and the performance parameters of its electric propulsion system. Satellite parameters include, but are not limited to: mass, initial orbital altitude, thrust level of the electric propulsion system, maximum start-up duration for a single control operation, and minimum shutdown duration after start-up. Then, using a dynamic model, the maximum start-up and shutdown durations of the electric propulsion system are set as constraints to simulate the control effect of the satellite's electric propulsion system under different start-up durations. By changing the start-up duration, the satellite's orbital response under different control strategies is observed, generating a series of orbital deviation data. These data reflect the orbital changes of the satellite after executing electric propulsion control, including but not limited to radial, lateral, and normal distance deviations. Subsequently, the collected orbital deviation data is analyzed to evaluate the avoidance effect under different control strategies. For example, whether the minimum approach distance between the satellite and the hazardous target after avoidance meets the warning release condition, and the degree of impact of the control strategy on the satellite's normal operation. Based on the analysis of the orbital deviation data, the shortest control duration required to make the minimum approach distance between the satellite and the hazardous target meet the warning release condition, i.e., the minimum avoidance duration, is found. This duration strikes a balance between operational efficiency and fuel conservation, ensuring the effectiveness of the avoidance operation while preventing unnecessary energy consumption.

[0079] For example, using a near-circular orbit at an altitude of 520 km, with an initial satellite mass of 520 kg and a thrust of 1.3 mN, a maximum single control activation time of 1 hour, and a minimum shutdown time of 1 hour after activation, the avoidance capability was analyzed for different activation durations and number of activations. The RTN three-directional distance deviations before and after control were obtained, and the analysis results are as follows:

[0080] (1) The track deviation after one start-up of electric propulsion (0.5 hours) is shown in Table 1.

[0081] Table 1

[0082]

[0083] As can be seen from Table 1, after 0.5 hours of electric propulsion control, the vehicle coasts for 8 revolutions (Q) and reaches the 2km yellow warning threshold along the track, with a total time of 12.33 hours.

[0084] (2) The track deviation after one start-up of electric propulsion (1.0 hour) is shown in Table 2.

[0085] Table 2

[0086]

[0087] As can be seen from Table 2, after 1 hour of electric propulsion control, the vehicle glides for 4 revolutions and reaches the 2km yellow warning threshold along the track, with a total time of 6.5 hours.

[0088] (3) The track deviations of the electric propulsion system during the two startups (1.0 hours each) are shown in Table 3.

[0089] Table 3

[0090]

[0091] As can be seen from Table 3, after a total of 2 hours of electric propulsion control, the vehicle glides for 2 laps and reaches the 2km yellow warning threshold along the track, taking a total of 4.6 hours.

[0092] (4) The track deviations of the electric propulsion system during the three startups (each lasting 1.0 hour) are shown in Table 4.

[0093] Table 4

[0094]

[0095] As can be seen from Table 4, the total control time for electric propulsion is 3 hours, and the total time to reach the 2km yellow warning threshold along the track is 4.589 hours, which is the minimum avoidance time.

[0096] This embodiment provides a method for determining the minimum avoidance time for an electrically propelled satellite under multiple constraints. By generating orbital deviation data through avoidance simulation, the effectiveness of different control strategies is evaluated, and ultimately, the optimal control scheme that effectively avoids collision risks while maximizing energy savings is selected. This not only improves the accuracy and efficiency of satellite avoidance operations but also reduces mission delays and resource waste caused by improper avoidance operations.

[0097] To improve the accuracy of determining multiple constraints, in the collision avoidance control method for space targets provided in Embodiment 1 of this application, before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints based on the warning time and rendezvous time, the telemetry and control constraints are determined. These constraints include: the continuous tracking arc range of each station and the time range of each revolution within the continuous tracking arc range; electric propulsion control constraints are determined, including: the maximum start-up time and shutdown time of the electric propulsion system; collision avoidance control target constraints are determined, including: the distance warning threshold between the satellite space target and the abnormal space target within a preset time after control; and time constraints are determined, including: decision generation time, injection generation time, preheating time before start-up, and execution time after injection.

[0098] In this embodiment of the invention, the collision avoidance control implementation process takes the following constraints into account:

[0099] (1) Implement collision avoidance control constraints (i.e., telemetry and control constraints) in the telemetry and control area: The station tracks four times a day. After the station leaves the station, there is a long 8-hour arc without station tracking. If a red warning is issued after 24 hours, the timeliness requirement for collision avoidance is high. Therefore, for this situation, the maximum start-up time strategy is adopted. For avoidance that is not urgent, the minimum start-up time strategy can be planned to reduce propellant consumption.

[0100] (2) Electric propulsion control constraints: maximum start-up time T1, minimum shutdown time after start-up T2.

[0101] (3) Collision avoidance control target constraints: For three days after control, the satellite and dangerous targets are outside the yellow warning threshold.

[0102] (4) Other time constraints: the time required for comprehensive strategy calculation and early warning review, injection data generation, avoidance decision-making, uplink injection, and track control avoidance.

[0103] Specifically, the telemetry, tracking, and command (TT&C) constraints are determined, including: the continuous tracking arc range for each station (the orbital arc that the station can continuously monitor) and the time range for each orbit within the continuous tracking arc. The coverage and timing of the TT&C network are crucial for real-time monitoring of satellite status and execution of uplink commands. By clearly defining the TT&C constraints, the optimal time window for uplink data injection can be determined, avoiding situations where commands cannot be received due to the satellite entering an area without TT&C, thereby ensuring the timeliness and safety of avoidance operations.

[0104] Determining the control constraints for electric propulsion includes the maximum start-up time and shutdown time of the electric propulsion system, which are inherent limitations of the system design and operation. Here, the maximum start-up time refers to the maximum continuous operation time the electric propulsion system can sustain during a single evasion operation, and the shutdown time refers to the minimum time the electric propulsion system must remain shut down between two start-up operations. Setting these control constraints is a prerequisite for evasion strategy planning, ensuring that the operation of the electric propulsion system does not exceed its physical limitations, thus avoiding system failure or resource waste.

[0105] The constraints for collision avoidance control objectives are defined, including: a distance warning threshold between the satellite and the anomalous space target within a preset time period after control is achieved. This serves as the objective and safety standard for the avoidance operation. By setting the distance warning threshold, the ultimate goal of the avoidance operation is clarified: within a preset time period after control (e.g., 3 days), the minimum approach distance between the satellite and the anomalous space target must be maintained outside a certain safe range to ensure the safe operation of the satellite.

[0106] The time constraints are defined, including: decision generation time, injection generation time, preheating time before startup, and post-injection operation execution time. These represent the total time cost of the avoidance operation from decision-making to execution. Specifically, decision generation time refers to the time required from receiving the warning information to formulating an avoidance decision. Injection generation time refers to the time required to prepare and generate the uplink data command. Preheating time before startup refers to the preheating time before starting the electric propulsion system to ensure stable system operation. Post-injection operation execution time refers to the time required to perform avoidance operation preparations (such as storage and anode preheating) after the uplink injection command. The consideration of time constraints ensures the operability and efficiency of avoidance control, avoids the increased collision risk due to operational delays, and reduces the additional resource consumption caused by waiting and preparation.

[0107] In this embodiment, by comprehensively considering the telemetry and control conditions, electric propulsion system limitations, avoidance control objectives, and actual operation time costs, a systematic and optimized satellite electric propulsion collision avoidance control strategy is provided. This strategy not only ensures the safety and effectiveness of avoidance operations but also greatly improves the efficiency and accuracy of avoidance control, reducing fuel consumption and satellite mission interruptions.

[0108] To improve the accuracy of determining the startup time, in the collision avoidance control method for space targets provided in Embodiment 1 of this application, the lower limit of the injection time is determined based on the warning time, the decision generation time, and the injection generation time; the upper limit of the injection time is determined based on the rendezvous time, the preheating time before startup, and the minimum avoidance time; the injection time is determined based on the lower limit and the upper limit of the injection time; and the startup time is determined based on the injection time, the time for performing operations after injection, and the rendezvous time.

[0109] In this embodiment of the invention, in order to minimize the impact of collision avoidance on normal flight missions, and considering the operability of ground engineering implementation and the impact of various constraints on satellite avoidance control, an avoidance control scheme based on mission constraints is designed, and the initial activation time of avoidance control is determined.

[0110] The procedure for determining the power-on time is as follows:

[0111] (1) A red warning is received at time T0 (i.e., the warning time), and the first meeting time is T a .

[0112] (2) Based on the control strategy generation and decision-making time (i.e., decision generation time) Δt0 and the planning and injection generation time (i.e., injection generation time) Δt1, determine the betting time front edge (i.e., the betting time lower limit) T. smin :

[0113] 1) If T0+Δt0+Δt1 is within the range of the continuously tracked arc segment, then the leading edge T at the betting time is...smin =T0 + Δt0 + Δt1;

[0114] 2) If T0+Δt0+Δt1 is outside the range of the continuous tracking arc, the earliest arrival time of the next station is T. next_in Then the leading edge T of the betting time smin =T next_in .

[0115] (3) Based on the meeting time T a Preheating time and minimum avoidance time Δt before startup min After determining the injection time, the upper limit of the injection time (i.e., the upper limit of the injection time) T smax .

[0116] (4) Based on the preceding and following edges of the betting time [T] smin T smax [and station tracking data to confirm the betting time T] s .

[0117] (5) Based on the maximum time required for preheating the storage and supply and preheating the anode after injection (i.e., the operation time after injection) Δt h Determine the start and end edges of the power-on time [T] s +Δt h T a -6h], and select any time from them as the power-on time.

[0118] In this embodiment, precise time management ensures the smooth coordination of each key link in the satellite electric propulsion collision avoidance control. From determining the feasibility window for the avoidance operation (i.e., the lower and upper limits of the injection time), to optimizing the selection of the injection time, and then to ensuring the timely start-up of the electric propulsion system, each step is closely focused on the safety and efficiency of the avoidance operation. This improves the success rate of the avoidance operation and the efficiency of resource utilization, reduces the risk of the satellite colliding with abnormal space targets, and ensures the safe operation of the satellite.

[0119] To improve the accuracy of determining the upper limit of the betting time, in the collision avoidance control method for space targets provided in Embodiment 1 of this application, the injection difference is determined based on the rendezvous time, the preheating time before startup, and the minimum avoidance time. When the injection difference is within the continuous tracking arc of the station but not within the first loop of the continuous tracking arc, the latest departure time of the station in the first loop is determined as the upper limit of the betting time, where the latest departure time is determined based on the time range of the loop. When the injection difference is within the continuous tracking arc of the station and is located outside of the first loop within the continuous tracking arc, the latest departure time of the station in the previous loop is determined as the upper limit of the betting time. When the injection difference is within the continuous tracking arc of the station and is located after the first loop and before the second loop within the continuous tracking arc, the latest departure time of the station in the first loop is determined as the upper limit of the betting time. When the injection difference is not within the continuous tracking arc of the station, the latest departure time of the station within the previous continuous tracking arc is determined as the upper limit of the betting time.

[0120] In this embodiment of the invention, the rendezvous time T can be determined first. a Preheating time before startup and minimum avoidance time Δt min Determine the injection difference T a -Δt min .

[0121] If T a -Δt min Within the range of the continuous tracking arc, if it is within the tracking period of the station but not the first lap of the continuous tracking arc, let the latest departure time of the station be T. last_out Then the injection time trailing edge is T. smax =T last_out .

[0122] If T a -Δt min Within the continuous tracking arc, if located outside the stations of the 2nd to 4th cycles of the continuous tracking arc, let T be the latest departure time of the previous cycle station. last_out Then the injection time trailing edge is T. smax =T last_out .

[0123] If T a -Δt min After continuously tracking the arc segment for the first lap and before the second lap, let the latest exit time for the first lap be T. last_out Then the injection time trailing edge is T. smax =T last_out .

[0124] If T a -Δt minOutside the range of the continuously tracked arc segment, the latest betting arc segment is in the previous continuously tracked arc segment. Let the latest departure time of the previous arc segment be T. last_out Then the betting time trailing edge is T. smax =T last_out .

[0125] In this embodiment, the collision avoidance timeline for electrically propelled satellites can be planned, ensuring that the timing of the avoidance command injection meets both the minimum requirements for system operation (such as warm-up and minimum avoidance duration) and fully considers the limitations of continuous tracking arcs at the station and the real-time relative position of the satellite with abnormal space targets. This not only improves the success rate of avoidance operations but also significantly optimizes the satellite's energy usage and operational efficiency, reducing potential mission interruptions or resource waste due to improper avoidance operations. Furthermore, by precisely controlling the relationship between the injection timing and the power-on timing, a more intelligent and flexible response strategy is provided for electrically propelled satellites facing collision risks, maximizing the protection of the satellite's safe operation and mission continuity.

[0126] To improve the accuracy of determining the number of collision avoidance control operations and the target control duration for each collision avoidance control, the collision avoidance control method for space targets provided in Embodiment 1 of this application determines the coasting duration of the satellite space target after control; constructs an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; iteratively calculates the objective function to determine the variable value corresponding to the power-on duration variable for each collision avoidance control, until the current minimum distance after control is greater than the distance warning threshold; determines the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and counts the number of control operations during the iterative calculation process, and determines the number of control operations as the target collision avoidance control operations.

[0127] In this embodiment of the invention, T1 is taken as the initial start-up time. Based on the basic theory of orbital perturbation and electric propulsion technology, an electric propulsion dynamics control calculation model is established, and the duration of a single start-up is set as Δt. m Δt, the duration of the coasting after control c Let a set of track control strategies be denoted as (T1, Δt). m , Δt c ), where Δt c For the specified value, Δt m To optimize the variables, the minimum distance between the two target tracks is added as the terminal constraint to the value function of the collision avoidance maneuver control problem, with the start-up time as the independent variable. Appropriate weighting coefficients are set, and the optimal solutions for the control duration and number of control operations for each avoidance maneuver are obtained using global optimization and fixed-step search methods.

[0128] Specifically, the coasting duration after control can be determined first. Here, coasting duration refers to the length of time after the electric propulsion system completes the control operation, during which the satellite maintains its new orbital state by inertia without activating the thrusters. The coasting duration after control depends on the specific parameters of the avoidance control and the satellite's dynamic characteristics. Then, an objective function (i.e., a value function) is constructed. The objective function includes key parameters such as activation time, activation duration variable, coasting duration, and current minimum distance. Its purpose is to guide the optimal design of the avoidance strategy by minimizing or maximizing a certain performance index (such as the minimum distance after avoidance or fuel consumption). Subsequently, the objective function is iterated continuously using global optimization and fixed step size search methods to determine the variable value corresponding to the activation duration variable for each collision avoidance control, until the current minimum distance after control is greater than the distance warning threshold (i.e., the threshold specified by the yellow warning level). After that, the variable value corresponding to the activation duration variable for each collision avoidance control is determined as the target control duration, and the number of control operations during the iterative calculation process is counted and determined as the target collision avoidance control count.

[0129] In this embodiment, by iteratively optimizing the objective function, the startup duration and number of control operations for the electric propulsion satellite are effectively planned to achieve automation and intelligence in collision avoidance control. This not only ensures the safety and success rate of the avoidance operation but also significantly improves the satellite's energy utilization and operational efficiency by minimizing the control duration and number of operations, reducing mission interference caused by the avoidance operation.

[0130] Figure 3 This is a schematic diagram of an optional evasion control optimization process according to an embodiment of the present invention, such as... Figure 3 As shown, initialization is performed first. Then, the startup time is calculated based on multiple constraints, the avoidance control parameters are calculated, and the deviation between the satellite ephemeris and the dangerous target ephemeris is calculated. It is then determined whether the minimum approach distance is greater than the warning threshold. If yes, the result is output; if no, it is determined whether the duration of a single startup exceeds the threshold. If yes, the process ends directly; if no, the number of control cycles is increased, the avoidance control parameters are calculated, and the deviation between the satellite ephemeris and the dangerous target ephemeris is calculated. It is then determined whether the minimum approach distance is greater than the warning threshold. If yes, the result is output; if no, it is then determined whether the duration of a single startup exceeds the threshold.

[0131] The following section provides a detailed explanation based on simulation verification.

[0132] To verify the effectiveness of the collision avoidance control optimization method proposed in this embodiment, a simulation example was set up. Assuming the satellite's initial mass is 152 kg, thrust is 1.3 mN, initial orbital altitude is 520 km, the yellow collision avoidance warning threshold is set at a radial distance of 2 km, the red warning threshold is set at a radial distance of 500 m, the maximum single-cycle electric propulsion activation time is 3600 seconds, and the post-control coasting time is 3600 seconds, Table 5 shows the initial orbital elements of the satellite.

[0133] Table 5

[0134]

[0135] Where A / m represents the semi-major axis of the satellite orbit, in meters (m). e represents the eccentricity of the orbit. i / deg represents the orbital inclination, in degrees (deg). Ω / deg represents the right ascension of the ascending node, in degrees (deg). ω / deg represents the angular distance from perigee, in degrees (deg). M / deg represents the average argument of perigee, in degrees (deg).

[0136] An early warning analysis was conducted on the possibility of satellite collisions over the next three days. There are three approach events that will reach the red warning threshold. Table 6 shows the closest distance and rendezvous time of the approach events for the next three days.

[0137] Table 6

[0138]

[0139] Based on the time of receiving the red alert and the time of the first rendezvous, combined with the duration of avoidance control, and according to the station tracking constraint calculation method, the preceding and following edges of the injection are [2025-01-15T08:26:00, 2025-01-15T11:42:00]; based on the station tracking situation and station availability, the injection time is selected as 2025-01-15T10:00:00, then the preceding and following edges of the power-on time are [2025-01-15T12:30:00, 2025-01-15T15:00:00]. Table 7 shows the duration of avoidance control.

[0140] Table 7

[0141] Serial Number Job duties Avoid time-consuming (hours) 1 <![CDATA[Control strategy generation and decision-making Δt0]]> 1 2 <![CDATA[Time consumption for plan and injection generation Δt1]]> 5 3 <![CDATA[Preheating before startup and minimum avoidance duration Δt min > 8.5 4 <![CDATA[Execute storage supply preheating and anode preheating Δt h > 2.5

[0142] Figure 4 This is a schematic diagram of an optional station continuously tracking arc segment and time relationship according to an embodiment of the present invention, as shown below. Figure 4As shown, with time on the horizontal axis and tracking duration (minutes) on the vertical axis, the continuous tracking arcs and their temporal relationships of the stations are displayed. Specifically, the first continuous tracking arc for stations 1 and 2 is between January 14T21:00 and January 15T03:00, 2025; the first continuous tracking arc is between January 15T6:00 and January 15T15:00, 2025; and the first continuous tracking arc is between January 15T18:00 and January 16T00:00, 2025. First, the warning time T0 and the rendezvous time T are determined. a Based on the early warning time T0, the time consumed by control strategy generation and decision-making is Δt0, the time consumed by plan and injection generation is Δt1, and the rendezvous time is T. a Preheating before startup and minimum avoidance time Δt min Determine the leading and trailing edges of the betting time (by analyzing whether T0+Δt0+Δt1 is within the range of the continuous tracking arc to determine the leading edge of the betting time, by analyzing T...). a -Δt min The relationship with the range of the continuous tracking arc segment determines the betting time (the preceding and following edges). The betting time is determined based on the preceding and following edges of the betting time, and the start-up time is determined based on the preceding and following edges of the betting time, thus ultimately determining the start-up time.

[0143] If the system is powered on for the minimum duration, with the initial power-on time selected as 2025-01-15T12:30:00, and the initial power-on duration set at 360 seconds, the controlled coasting duration at 3600 seconds, and one control attempt, then the collision avoidance strategy is calculated based on the collision avoidance control objective constraints. After optimization using the method described in this paper, the total number of control attempts is 1, and the power-on duration is 2880 seconds.

[0144] If the system is powered on for the maximum duration, with the first power-on time selected as 2025-01-15T15:00:00, and a single power-on duration of 3600 seconds, plus a controlled coasting duration of 3600 seconds, and one control operation, then the collision avoidance control target constraint is used to calculate the avoidance strategy. After optimization using the method described in this paper, the total number of control operations is 2. The first power-on time is 3600 seconds, and the second power-on time is 2025-01-15T17:00:00, with a power-on duration of 720 seconds.

[0145] After the avoidance, there were no warning events for either the satellite or the three dangerous targets, and there were no red-alert approach events within 3 days after the avoidance.

[0146] The following is a detailed description with reference to another embodiment.

[0147] Example 2

[0148] The collision avoidance control device for a space target provided in this embodiment includes multiple implementation units, each of which corresponds to a specific implementation step in Embodiment 1 above.

[0149] Figure 5 This is a schematic diagram of an optional space target collision avoidance control device according to an embodiment of the present invention, such as... Figure 5 As shown, the collision avoidance control device may include: a first determining unit 50, a detection unit 51, a second determining unit 52, an iteration unit 53, and a control unit 54.

[0150] The first determining unit 50 is used to determine the minimum distance between the satellite space target and any space target. The minimum distance includes the minimum relative distance and the minimum radial distance, and the minimum distance corresponds to the minimum time.

[0151] The detection unit 51 is used to detect whether there are any anomalous space targets that pose a collision risk with satellite space targets based on the minimum relative distance and the minimum radial distance.

[0152] The second determining unit 52 is used to determine the time when the abnormal space target is detected as the warning time when the abnormal space target is detected, and to determine the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target as the rendezvous time when the abnormal space target is detected.

[0153] The iteration unit 53 is used to determine the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and the rendezvous time, and to iteratively calculate the number of collision avoidance control and the control duration of each collision avoidance control based on the start-up time and the current minimum distance after each collision avoidance control, so as to obtain the number of target collision avoidance control and the target control duration of each collision avoidance control.

[0154] The control unit 54 is used to control the electric propulsion system of the satellite space target based on the number of target collision avoidance control operations and the target control duration of each collision avoidance control operation.

[0155] The aforementioned collision avoidance control device can quickly identify anomalous space targets with collision risk by detecting the minimum distance between the satellite and the space target and its corresponding minimum time. If an anomalous space target is detected, the warning time and the predicted rendezvous time can be determined. Based on multiple constraints, an iterative algorithm is used to optimize the avoidance strategy, determine the optimal electric propulsion system start-up time and control duration, minimize fuel consumption and the number of avoidance control operations, ensure the safety of the satellite in orbit, and improve the economy and feasibility of the space mission. It achieves the technical effect of guiding the electric propulsion system to perform precise avoidance operations, avoiding unnecessary resource waste, and enhancing the flexibility and reliability of the space mission.

[0156] Optionally, the first determining unit includes: a first determining module, used to determine the first position vector and the first velocity vector of the satellite space target at all times using a dynamic model based on the initial position vector and the initial velocity vector of the space target in the geocentric coordinate system; a second determining module, used to determine the second position vector and the second velocity vector of the space target at all times using a dynamic model based on the initial position vector and the initial velocity vector of the space target in the geocentric coordinate system; a third determining module, used to determine the relative distance vector between the satellite space target and the space target based on the first position vector and the second position vector, and to determine the relative velocity vector between the satellite space target and the space target based on the first velocity vector and the second velocity vector; a fourth determining module, used to determine the moment when the dot product of the relative distance vector and the relative velocity vector is zero as the minimum moment, and to determine the minimum relative distance based on the relative distance vector indicated by the minimum moment; and a fifth determining module, used to determine the minimum radial distance between the satellite space target and the space target at the minimum moment based on the transformation matrix from the geocentric coordinate system to the radial-lateral normal coordinate system, wherein the minimum radial distance refers to the minimum distance between the satellite space target and the space target in the radial-lateral normal coordinate system.

[0157] Optionally, the detection unit includes: a sixth determining module, used to determine whether there is a minimum relative distance less than the relative distance threshold within a preset time period, and to determine whether there is a minimum radial distance less than the radial distance threshold within the preset time period; a seventh determining module, used to determine that the satellite space target is at the collision risk warning level if there is a minimum relative distance less than the relative distance threshold and a minimum radial distance less than the radial distance threshold within the preset time period; and an eighth determining module, used to determine the space target corresponding to the minimum distance as an abnormal space target.

[0158] Optionally, the collision avoidance control device further includes: a first simulation module, used to perform avoidance simulation based on the satellite parameters of the satellite space target and the maximum start-up and shutdown duration of the electric propulsion system before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and rendezvous time, to obtain orbital deviation data; and a ninth determination module, used to determine the minimum avoidance time of the satellite space target based on the orbital deviation data.

[0159] Optionally, the collision avoidance control device further includes: a tenth determining module, used to determine the telemetry and control constraints before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and rendezvous time, wherein the telemetry and control constraints include: the continuous tracking arc range of each station and the time range of each revolution within the continuous tracking arc range; an eleventh determining module, used to determine the electric propulsion control constraints, wherein the electric propulsion control constraints include: the maximum start-up time and shutdown time of the electric propulsion system; a twelfth determining module, used to determine the collision avoidance control target constraints, wherein the collision avoidance control target constraints include: the distance warning threshold between the satellite space target and the abnormal space target within a preset time after control; and a thirteenth determining module, used to determine the time constraints, wherein the time constraints include: decision generation time, injection generation time, preheating time before start-up, and execution operation time after injection.

[0160] Optionally, the iterative unit includes: a fourteenth determining module, used to determine the lower limit of the betting time based on the warning time, the decision generation time, and the injection generation time; a fifteenth determining module, used to determine the upper limit of the betting time based on the intersection time, the preheating time before startup, and the minimum avoidance time; a sixteenth determining module, used to determine the betting time based on the lower limit and the upper limit of the betting time; and a seventeenth determining module, used to determine the startup time based on the betting time, the time spent performing operations after betting, and the intersection time.

[0161] Optionally, the fifteenth determining module includes: a first determining submodule, used to determine the injection difference based on the rendezvous time, the preheating time before startup, and the minimum avoidance time; a second determining submodule, used to determine the latest exit time of the station in the first loop as the upper limit of the injection time when the injection difference is within the continuous tracking arc range of the station but not within the first loop of the continuous tracking arc range, wherein the latest exit time is determined based on the time range of the loop; and a third determining submodule, used to determine the injection time when the injection difference is within the continuous tracking arc range of the station but not within the first loop of the continuous tracking arc range. In cases where the station's latest departure time in the previous cycle is excluded from the first cycle within the segment range, the upper limit for betting time is determined as follows: The fourth determination submodule is used to determine the upper limit for betting time in the first cycle when the injection difference is within the continuous tracking arc range of the station and is located after the first cycle and before the second cycle within the continuous tracking arc range; The fifth determination submodule is used to determine the upper limit for betting time in the previous continuous tracking arc range when the injection difference is not within the continuous tracking arc range of the station.

[0162] Optionally, the iterative unit further includes: an eighteenth determining module, used to determine the coasting duration of the satellite space target after control; a first constructing module, used to construct an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; a first iterative module, used to iteratively calculate the objective function and determine the variable value corresponding to the power-on duration variable for each collision avoidance control until the current minimum distance after control is greater than the distance warning threshold; a nineteenth determining module, used to determine the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and a first statistics module, used to count the number of control operations during the iterative calculation process and determine the number of control operations as the target collision avoidance control operations.

[0163] The collision avoidance control device described above may also include a processor and a memory. The first determining unit 50, the detection unit 51, the second determining unit 52, the iteration unit 53, the control unit 54, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions.

[0164] The aforementioned processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting kernel parameters, the electric propulsion system of the satellite space target can be controlled based on the number of target collision avoidance controls and the target control duration for each collision avoidance control.

[0165] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0166] This invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program with the following method steps: determining the minimum distance between a satellite space target and any other space target; detecting the existence of an abnormal space target that poses a collision risk to the satellite space target based on the minimum relative distance and the minimum radial distance; if an abnormal space target is detected, determining the moment of detection as the warning moment, and determining the minimum moment corresponding to the minimum distance between the abnormal space target and the satellite space target as the rendezvous moment; under multiple constraints, determining the start-up moment of the satellite space target's electric propulsion system based on the warning moment and the rendezvous moment; iteratively calculating the number of collision avoidance controls and the control duration of each collision avoidance control based on the start-up moment and the current minimum distance after each collision avoidance control, to obtain the target number of target collision avoidance controls and the target control duration of each collision avoidance control; and controlling the satellite space target's electric propulsion system based on the target number of target collision avoidance controls and the target control duration of each collision avoidance control.

[0167] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a collision avoidance control method for any of the above-described spatial targets.

[0168] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the above-described collision avoidance control method for space targets.

[0169] Figure 6 This is a hardware structure block diagram of an electronic device (or mobile device) for a collision avoidance control method for space targets according to an embodiment of the present invention. Figure 6 As shown, an electronic device may include one or more processors (e.g., Figure 6 The processors 602a, 602b, ..., 602n, etc., may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), and a memory 604 for storing data. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are more... Figure 6 The more or fewer components shown, or having the same Figure 6 The different configurations shown.

[0170] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0171] The embodiments or examples disclosed herein are not exhaustive, but merely illustrative of some embodiments or examples, and are not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment or example can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment or example can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment or example can be arbitrarily interchanged. Furthermore, optional methods or examples in a particular embodiment or example can be arbitrarily combined; moreover, embodiments or examples can be arbitrarily combined. For example, some or all steps of different embodiments or examples can be arbitrarily combined, and a particular embodiment or example can be arbitrarily combined with optional methods or examples of other embodiments or examples.

[0172] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0173] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0174] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0175] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0176] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0177] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A collision avoidance control method for space targets, characterized in that, include: Determine the minimum distance between a satellite space target and any other space target, wherein the minimum distance includes: minimum relative distance and minimum radial, track, and normal distances, the minimum distance corresponds to a minimum time, the minimum relative distance is the minimum distance between the satellite space target and the space target in the J2000 inertial coordinate system, and the minimum radial, track, and normal distances are the minimum distances between the satellite space target and the space target in the RTN coordinate system; Based on the minimum relative distance and the minimum radial, along-track, and normal distances, detect whether there are any anomalous space targets that pose a collision risk with the satellite space target; If the presence of the abnormal space target is detected, the time when the abnormal space target is detected is determined as the warning time, and the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target is determined as the rendezvous time; Under multiple constraints, based on the warning time and the rendezvous time, the start-up time of the electric propulsion system of the satellite space target is determined. Based on the start-up time and the current minimum distance after each collision avoidance control, the number of collision avoidance control operations and the control duration of each collision avoidance control are iteratively calculated to obtain the target collision avoidance control operation number and the target control duration of each collision avoidance control. The multiple constraints include: telemetry and control constraints, electric propulsion control constraints, collision avoidance control target constraints, and time constraints. The electric propulsion system of the satellite space target is controlled based on the number of target collision avoidance control operations and the target control duration of each collision avoidance control operation. Before determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and the rendezvous time under multiple constraints, the method further includes: performing avoidance simulation based on the satellite parameters of the satellite space target and the maximum start-up and shutdown times of the electric propulsion system to obtain orbital deviation data; and determining the minimum avoidance time of the satellite space target based on the orbital deviation data; wherein, the minimum avoidance time is used to determine the start-up time. The steps of iteratively calculating the number of collision avoidance controls and the control duration of each collision avoidance control based on the power-on time and the current minimum distance after each collision avoidance control, to obtain the target number of collision avoidance control controls and the target control duration of each collision avoidance control, include: determining the coasting duration of the satellite space target after control; constructing an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; iteratively calculating the objective function to determine the variable value corresponding to the power-on duration variable for each collision avoidance control, until the current minimum distance after control is greater than the distance warning threshold; determining the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and counting the number of control operations during the iterative calculation process, and determining the number of control operations as the target collision avoidance control count. Specifically, the objective function is iteratively calculated using global optimization and fixed step size search methods.

2. The collision avoidance control method according to claim 1, characterized in that, The steps for determining the minimum distance between a satellite space target and any other space target include: Based on the initial position vector and initial velocity vector of the satellite space target in the geocentric coordinate system, the first position vector and first velocity vector of the satellite space target at all times are determined by a dynamic model. Based on the initial position vector and initial velocity vector of the space target in the geocentric coordinate system, the second position vector and second velocity vector of the space target at all times are determined using the dynamic model. Based on the first position vector and the second position vector, the relative distance vector between the satellite space target and the space target is determined, and based on the first velocity vector and the second velocity vector, the relative velocity vector between the satellite space target and the space target is determined. The moment when the dot product of the relative distance vector and the relative velocity vector is zero is determined as the minimum moment, and the minimum relative distance is determined based on the relative distance vector indicated by the minimum moment; Based on the transformation matrix from the geocentric coordinate system to the radial-lateral normal coordinate system, the minimum radial, track-direction, and normal distances between the satellite space target and the space target at the minimum time are determined, wherein the minimum radial, track-direction, and normal distances refer to the minimum distances between the satellite space target and the space target in the radial-lateral normal coordinate system.

3. The collision avoidance control method according to claim 1, characterized in that, The step of detecting the existence of an anomalous space target that poses a collision risk with the satellite space target based on the minimum relative distance and the minimum radial, along-track, and normal distances includes: Determine whether there is a minimum relative distance less than a relative distance threshold within a preset time period, and determine whether there is a minimum radial, trace, and normal distance less than a radial distance threshold within the preset time period; If, within the preset time period, there exists a minimum relative distance less than the relative distance threshold and a minimum radial, track-direction, and normal distance less than the radial distance threshold, the satellite space target is determined to be at a collision risk warning level. The spatial target corresponding to the minimum distance is identified as the anomalous spatial target.

4. The collision avoidance control method according to claim 1, characterized in that, Before determining the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and the rendezvous time, the method further includes: The measurement and control constraints are determined, wherein the measurement and control constraints include: the range of the continuous tracking arc segment for each station and the time range of each revolution within the range of the continuous tracking arc segment; Determine the electric propulsion control constraints, wherein the electric propulsion control constraints include: the maximum start-up time and the maximum shutdown time of the electric propulsion system; Determine the collision avoidance control target constraints, wherein the collision avoidance control target constraints include: a distance warning threshold between the satellite space target and the abnormal space target within a preset time after control; Determine the time constraints, which include: decision generation time, injection generation time, preheating time before startup, and operation execution time after injection.

5. The collision avoidance control method according to claim 4, characterized in that, Under multiple constraints, the step of determining the activation time of the electric propulsion system of the satellite space target based on the warning time and the rendezvous time includes: Based on the warning time, the decision generation time, and the injection generation time, a lower limit for the injection time is determined. Based on the meeting time, the preheating time before startup, and the minimum avoidance time, the upper limit of the betting time is determined; The betting time is determined based on the lower limit and the upper limit of the betting time. The startup time is determined based on the betting time, the time taken to perform the operation after betting, and the rendezvous time.

6. The collision avoidance control method according to claim 5, characterized in that, The step of determining the upper limit of the betting time based on the meeting time, the preheating time before startup, and the minimum avoidance time includes: The injection difference is determined based on the meeting time, the preheating time before startup, and the minimum avoidance time. If the injection difference is within the range of the continuous tracking arc of the station, but not within the first lap of the continuous tracking arc, the latest exit time of the station in the first lap is determined as the upper limit of the injection time, wherein the latest exit time is determined based on the time range of the lap; If the injection difference is within the range of the continuous tracking arc of the station, and is within the range of the continuous tracking arc except for the first lap, the latest departure time of the station in the previous lap is determined as the upper limit of the injection time. If the injection difference is within the continuous tracking arc of the station, and is after the first lap and before the second lap within the continuous tracking arc, the latest exit time of the station in the first lap is determined as the upper limit of the injection time. If the injection difference is not within the range of the continuous tracking arc of the station, the latest departure time of the station within the range of the previous continuous tracking arc is determined as the upper limit of the injection time.

7. A collision avoidance control device for a space target, characterized in that, include: The first determining unit is used to determine the minimum distance between a satellite space target and any other space target. The minimum distance includes: minimum relative distance and minimum radial, track, and normal distances. The minimum distance corresponds to a minimum time. The minimum relative distance is the minimum distance between the satellite space target and the space target in the J2000 inertial coordinate system. The minimum radial, track, and normal distances are the minimum distances between the satellite space target and the space target in the RTN coordinate system. The detection unit is used to detect whether there is an anomalous space target that poses a collision risk with the satellite space target, based on the minimum relative distance and the minimum radial, track-direction and normal distances. The second determining unit is used to determine the time when the abnormal space target is detected as the warning time when the existence of the abnormal space target is detected, and to determine the minimum time corresponding to the minimum distance between the abnormal space target and the satellite space target as the rendezvous time when the abnormal space target is detected. An iterative unit is used to determine the start-up time of the electric propulsion system of the satellite space target under multiple constraints, based on the warning time and the rendezvous time, and to iteratively calculate the number of collision avoidance controls and the control duration of each collision avoidance control based on the start-up time and the current minimum distance after each collision avoidance control, so as to obtain the target collision avoidance control number and the target control duration of each collision avoidance control. The multiple constraints include: telemetry and control constraints, electric propulsion control constraints, collision avoidance control target constraints, and time constraints. A control unit is configured to control the electric propulsion system of the satellite space target based on the number of target collision avoidance control attempts and the target control duration of each collision avoidance control attempt; The collision avoidance control device is also used for: Before determining the start-up time of the electric propulsion system of the satellite space target based on the warning time and the rendezvous time under multiple constraints, the method further includes: performing avoidance simulation based on the satellite parameters of the satellite space target and the maximum start-up and shutdown times of the electric propulsion system to obtain orbital deviation data; and determining the minimum avoidance time of the satellite space target based on the orbital deviation data; wherein, the minimum avoidance time is used to determine the start-up time. The steps of iteratively calculating the number of collision avoidance controls and the control duration of each collision avoidance control based on the power-on time and the current minimum distance after each collision avoidance control, to obtain the target number of collision avoidance control controls and the target control duration of each collision avoidance control, include: determining the coasting duration of the satellite space target after control; constructing an objective function based on the power-on time, power-on duration variable, coasting duration, and current minimum distance; iteratively calculating the objective function to determine the variable value corresponding to the power-on duration variable for each collision avoidance control, until the current minimum distance after control is greater than the distance warning threshold; determining the variable value corresponding to the power-on duration variable for each collision avoidance control as the target control duration; and counting the number of control operations during the iterative calculation process, and determining the number of control operations as the target collision avoidance control count. Specifically, the objective function is iteratively calculated using global optimization and fixed step size search methods.

8. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the collision avoidance control method for a space target as described in any one of claims 1 to 6.

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