Autonomous wake-up time determination method, device and equipment of lunar surface patroller and medium

Abstract

The invention relates to a method, a device and equipment for determining an autonomous wake-up moment of a lunar rover and a medium, and the method comprises the steps: determining a current wake-up interval according to historical wake-up moment data of the lunar rover at a current moment and solar altitude forecast; according to the current wake-up interval and a pre-constructed relation model, determining a required incident angle sequence corresponding to the lunar surface patroller at the current moment; generating an actual incident angle sequence corresponding to the current wake-up interval according to the solar altitude forecast and the dormancy attitude parameters of the lunar surface patroller; and according to the required incident angle sequence and the actual incident angle sequence, determining the autonomous wake-up time of the lunar surface patroller. Through the method provided by the invention, full-autonomous wake-up moment determination based on historical data dynamic correction and orbit forecast accurate calculation is realized, the prediction accuracy of the wake-up moment is effectively improved, the dependence on ground measurement and control is reduced, and the method can adapt to complex in-orbit environments such as solar wing performance degradation and day-moon distance periodic change.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of teleoperation task planning, in particular, the present application relates to a method and device for determining the autonomous wake-up time of a lunar rover, and a medium. BACKGROUND

[0002] With the continuous development of space activities of various countries, various countries have begun to make efforts in the field of deep space exploration, and the scientific exploration task of extraterrestrial unmanned rover has become more and more important. The task planning problem of unmanned rover has begun to be valued in the space industry. Due to the influence of energy, climate, temperature, etc., the extraterrestrial rover needs to be hibernated regularly, and accurate calculation of the wake-up time of the extraterrestrial rover becomes an important research topic related to the daily work arrangement and long-term health management of the rover.

[0003] Taking the wake-up work of a lunar rover as an example, due to the existence of a lunar vacuum environment, the temperature difference between lunar day and lunar night is large, and the rover needs to hibernate at night and wake up at a certain height when the solar elevation angle rises. The lunar day adopts the method of autonomous wake-up under the illumination of rated power. When the solar wing power generation meets the wake-up power, the wake-up circuit is triggered to work and autonomously wakes up. The power generation of the solar wing of the lunar rover corresponds to the demand of the irradiance, which is affected by the solar elevation angle, the distance between the sun and the moon, and the performance decay of the solar wing. Among them, the distance factor between the sun and the moon causes the spatial transmission attenuation of electromagnetic waves to change periodically, causing the irradiance per unit area of the solar wing to oscillate; the performance decay of the solar wing affects the energy conversion efficiency, which increases the demand for solar irradiance, and the decay characteristic presents a linear trend, so it is necessary to accurately evaluate and accurately predict the distance factor and the performance decay factor of the solar wing, so as to automatically calculate the future lunar day wake-up solar elevation angle, thereby accurately calculating the wake-up time, which is of great significance for the long-term on-orbit management and work arrangement of the lunar rover. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a method and device for determining the autonomous wake-up time of a lunar rover, which aims to solve at least one of the above technical problems.

[0005] In a first aspect, the technical solution of the present application to solve the above technical problem is as follows: a method for determining the autonomous wake-up time of a lunar rover, the method comprising: obtaining historical wake-up time data and solar elevation angle prediction of the lunar rover at the current time; determining the current wake-up interval according to the historical wake-up time data and the solar elevation angle prediction; According to the current wake-up interval and the pre-constructed relationship model, a demand incidence angle sequence corresponding to the lunar rover at the current time is determined, and the relationship model is used to describe the corresponding relationship between different time points and different solar incidence angles. According to the solar elevation angle prediction and the sleep posture parameters of the lunar rover, an actual incidence angle sequence corresponding to the current wake-up interval is generated. According to the demand incidence angle sequence and the actual incidence angle sequence, the autonomous wake-up time of the lunar rover is determined.

[0006] The beneficial effects of the present application are: the present application determines the current wake-up interval by obtaining the historical wake-up time data of the lunar rover and the solar elevation angle prediction, generates the demand incidence angle sequence by combining the pre-constructed relationship model for describing the corresponding relationship between time and solar incidence angle, generates the actual incidence angle sequence by using the solar elevation angle prediction and the sleep posture parameters, and finally determines the autonomous wake-up time by comparing the two sequences, realizes the full autonomous wake-up time determination based on the dynamic correction of historical data and the accurate calculation of orbit prediction, effectively improves the prediction accuracy of the wake-up time, reduces the dependence on ground measurement and control, can adapt to complex on-orbit environments such as solar wing performance degradation and periodic changes in the distance between the sun and the moon, and ensures the reliable wake-up of the lunar rover in long-term tasks.

[0007] On the basis of the above technical scheme, the present application can also be improved as follows.

[0008] Further, the above-mentioned determination of the current wake-up interval according to the historical wake-up time data and the solar elevation angle prediction comprises: According to the historical wake-up time data, the solar elevation angle range corresponding to the historical wake-up interval is determined. From the solar elevation angle prediction, the current wake-up interval corresponding to the solar elevation angle corresponding to the historical wake-up interval is determined.

[0009] Further, the above-mentioned determination of the demand incidence angle sequence corresponding to the lunar rover at the current time according to the current wake-up interval and the pre-constructed relationship model comprises: According to the current wake-up interval and the preset sampling interval, a plurality of time points are determined. According to the plurality of time points corresponding to the current wake-up interval, the solar incidence angle corresponding to each time point is determined through the relationship model. The solar incidence angles corresponding to all time points are taken as the demand incidence angle sequence.

[0010] Further, the solar elevation angle prediction comprises the solar elevation angle and the solar azimuth angle corresponding to different time points, and the sleep posture parameters at least include the vehicle heading angle, the solar wing installation inclination angle and the solar wing installation azimuth angle. The actual incidence angle sequence corresponding to the current wake-up interval is generated according to the solar elevation angle prediction and the hibernation posture parameter of the lunar rover, and includes the following steps: According to the solar elevation angle and the solar azimuth angle corresponding to different time points in the solar elevation angle prediction, a solar incidence vector in a lunar horizontal coordinate system is constructed. According to the hibernation posture parameter, a solar wing normal vector in a body coordinate system of the lunar rover is constructed. The solar wing normal vector is converted from the body coordinate system of the lunar rover to the lunar horizontal coordinate system, and the solar wing normal vector in the lunar horizontal coordinate system is obtained after conversion. The solar incidence vector and the solar wing normal vector in the lunar horizontal coordinate system are subjected to vector dot product operation, and the cosine value of the included angle between the two vectors is obtained, and then the actual incidence angle of the sunlight relative to the surface of the solar wing at each time point is calculated through the inverse cosine function. The actual incidence angles corresponding to each time point in the current wake-up interval are arranged in time sequence to form an actual incidence angle sequence.

[0011] Further, the autonomous wake-up time of the lunar rover is determined according to the required incidence angle sequence and the actual incidence angle sequence, and includes the following steps: For each same time point in the required incidence angle sequence and the actual incidence angle sequence, the difference between the two solar incidence angles corresponding to each same time point is determined. The time points corresponding to the differences that meet the preset condition are determined as the autonomous wake-up time of the lunar rover.

[0012] In a second aspect, the present application also provides a device for determining the autonomous wake-up time of a lunar rover to solve the above technical problems, and the device includes: An acquisition module is configured to acquire the historical wake-up time data of the lunar rover at the current time and the solar elevation angle prediction. A current wake-up interval determination module is configured to determine the current wake-up interval according to the historical wake-up time data and the solar elevation angle prediction. A required incidence angle sequence determination module is configured to determine the required incidence angle sequence corresponding to the current time of the lunar rover according to the current wake-up interval and a pre-constructed relationship model, and the relationship model is used to describe the corresponding relationship between different time points and different solar incidence angles. An actual incidence angle sequence determination module is configured to generate the actual incidence angle sequence corresponding to the current wake-up interval according to the solar elevation angle prediction and the hibernation posture parameter of the lunar rover. An autonomous wake-up time determination module is configured to determine the autonomous wake-up time of the lunar rover according to the required incidence angle sequence and the actual incidence angle sequence.

[0013] In a third aspect, the present application provides an electronic device to solve the above technical problems, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for determining the autonomous wake-up time of a lunar rover when executing the computer program.

[0014] In a fourth aspect, the present application provides a computer readable storage medium to solve the above technical problems, which stores a computer program, and the computer program is executable on a processor to implement the method for determining the autonomous wake-up time of a lunar rover.

[0015] Additional aspects and advantages of the present application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced.

[0017] Figure 1 A flowchart of a method for determining the autonomous wake-up time of a lunar rover provided by an embodiment of the present application; Figure 2 A flowchart of another method for determining the autonomous wake-up time of a lunar rover provided by an embodiment of the present application; Figure 3 A schematic diagram of a fitting curve of the square of the distance between the sun and the moon and time provided by an embodiment of the present application; Figure 4 A structural schematic diagram of a device for determining the autonomous wake-up time of a lunar rover provided by an embodiment of the present application; Figure 5 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] The principles and features of the present application are described below, and the examples are only used to explain the present application, and are not used to limit the scope of the present application.

[0019] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0020] The solution provided in this invention can be applied to any application scenario that requires determining the autonomous wake-up time of a lunar rover. This invention provides a possible implementation method, such as... Figure 1 The diagram shows a flowchart of a method for determining the autonomous wake-up time of a lunar rover. This method can be executed by any electronic device, such as a terminal device, or by a terminal device and a server. For ease of description, the method provided in this embodiment will be described below using a terminal device as the execution subject. Figure 1 The flowchart shown indicates that the method may include the following steps: S10: Obtain historical wake-up time data and solar altitude angle prediction of the lunar rover at the current moment; S20, determine the current wake-up interval based on historical wake-up time data and solar altitude angle forecast; S30, based on the current wake-up interval and the pre-built relational model, determine the required incident angle sequence of the lunar rover at the current moment. The relational model is used to describe the correspondence between different time points and different solar incident angles. S40, based on the solar altitude angle forecast and the lunar rover's hibernation attitude parameters, generate the actual incident angle sequence corresponding to the current wake-up interval; S50 determines the autonomous wake-up time of the lunar rover based on the required incident angle sequence and the actual incident angle sequence.

[0021] This invention obtains historical wake-up time data and solar altitude angle predictions from the lunar rover and determines the current wake-up interval accordingly. It then generates a required incidence angle sequence by combining a pre-constructed relationship model describing the correspondence between time and solar incidence angle. Simultaneously, it generates an actual incidence angle sequence using solar altitude angle predictions and dormant attitude parameters. Finally, by comparing the two sequences, the autonomous wake-up time is determined. This invention achieves fully autonomous wake-up time determination based on dynamic correction of historical data and accurate calculation of orbit predictions. It effectively improves the prediction accuracy and system autonomy of the wake-up time, reduces dependence on ground telemetry and control, and can adapt to complex on-orbit environments such as solar array performance decay and periodic changes in the lunar-solar distance, ensuring reliable wake-up of the lunar rover during long-term missions.

[0022] The technical problems to be solved by the present application are: a lunar rover autonomous wake-up time calculation method based on irradiance demand inversion is designed, the influence of the distance factor on the irradiance demand is explored and verified through historical wake-up data, the performance decay factor change is evaluated and the future performance decay factor value is automatically calculated, the relationship curve between the wake-up time and the demand incident angle is obtained, the intersection with the actual incident angle curve in the specified time interval in the dormant posture is obtained, and the long-term on-orbit wake-up time of the lunar rover is automatically and accurately calculated.

[0023] In this embodiment, referring to Figure 2 , the provided lunar rover autonomous wake-up time determination method can include the following steps: S10, obtaining historical wake-up time data and solar elevation angle prediction of the lunar rover at the current time; The historical wake-up time data refers to a set of multi-dimensional parameters recorded by the lunar rover during the past lunar day cycle when the sleep-wake process is completed, including but not limited to: the exact time stamp of each wake-up event, the solar elevation angle value corresponding to the time stamp, the actual incident angle of the solar wing surface sunlight, the solar wing power measurement value, the lunar distance calculation value, and the corresponding lunar day number and mission elapsed time.

[0024] The solar elevation angle prediction refers to a set of space-time data calculated in advance based on the orbital mechanics model, describing the continuous change of the sun relative to the position of the lunar rover within the wake-up interval, including: the solar elevation angle, the solar azimuth angle at different time points, and the lunar distance corresponding to each time point.

[0025] S20, determining the current wake-up interval according to the historical wake-up time data and the solar elevation angle prediction; The current wake-up interval refers to the time interval in which the autonomous wake-up time of the lunar rover is located, specifically, one implementation of the above S20 is: S201, determining the solar elevation angle range corresponding to the historical wake-up interval according to the historical wake-up time data; The historical wake-up interval refers to the time interval corresponding to the autonomous wake-up time when each lunar rover wake-up event occurs, which is obtained by statistical analysis of the historical wake-up time data. Generally, the time interval corresponding to each wake-up event is almost the same, and thus the range of the corresponding solar elevation angle can be determined based on the historical wake-up interval.

[0026] S202, determining the current wake-up interval corresponding to the solar elevation angle corresponding to the historical wake-up interval from the solar elevation angle prediction.

[0027] The essence of S202 is to determine the time period corresponding to the solar elevation angle range based on the historical wake-up interval from the solar elevation angle forecast as the current wake-up interval.

[0028] As an example, the current wake-up interval can be represented as: ; Wherein, is the time point corresponding to the solar elevation angle of 0°, that is, the time of first sighting of the sun, is the time point corresponding to the solar elevation angle of 10°, and the current wake-up interval L contains the autonomous wake-up time T according to the historical wake-up time data, and the time length is about 24 earth hours.

[0029] S30, according to the current wake-up interval and the pre-constructed relationship model, determining the required incident angle sequence corresponding to the lunar rover at the current time, the relationship model is used to describe the corresponding relationship between different time points and different solar incident angles; corresponding Figure 2 The required incident angle sequence is calculated in the middle; Wherein, the required incident angle sequence includes the solar incident angle corresponding to multiple time points, specifically, the required incident angle sequence corresponding to the lunar rover at the current time is determined according to the current wake-up interval and the pre-constructed relationship model, including: S301, according to the current wake-up interval and the preset sampling interval (such as 1s or 10s), determining multiple time points, that is, sampling the current wake-up interval based on the preset sampling interval to obtain multiple time points; S302, according to the multiple time points corresponding to the current wake-up interval, determining the solar incident angle corresponding to each time point through the relationship model; S303, taking the solar incident angle corresponding to all time points as the required incident angle sequence .

[0030] Wherein, the time point in the present scheme refers to the lunar time.

[0031] Wherein, the relationship model (the required incident angle model shown in the above Figure 2 ) is constructed based on the following way: The lunar rover adopts the way of rated power light self-wakeup. When the power generated by the -Y solar wing meets the wake-up power, the wake-up circuit is triggered to self-wakeup. The power generated by the lunar rover solar wing corresponds to the irradiance demand, which is affected by the solar elevation angle, the change of the distance between the sun and the moon, and the self-attenuation. Among them, the periodic change of the distance between the sun and the moon causes the spatial transmission attenuation of electromagnetic wave to change, resulting in the oscillation change of the irradiance intensity per unit area of the solar wing. The surface area formula of the sphere is: Wherein, r is the radius of the sphere, thus, in the case of constant radiant energy per unit time, the irradiance per unit area is inversely proportional to .

[0032] In the Sun-Earth system and the Earth-Moon system, the Earth as a planet of the solar system runs on an elliptical orbit with the Sun as the focal point, and the Moon as a satellite of the Earth runs on an elliptical orbit with the Earth as the focal point. The formula for the distance of the orbiting celestial body from the center of the focal point is: Wherein, a is the semi-major axis of the elliptical orbit, is the true anomaly.

[0033] The distance between the Sun and the Moon can be expressed as the distance between the Sun and the Earth and the distance between the Moon and the Earth vector sum.

[0034] Wherein, is the angle between the line connecting the Sun and the Moon and the line connecting the Sun and the Earth.

[0035] Thus we get: Wherein, is the semi-major axis of the Sun-Earth system, 149600000km, is the eccentricity of the Sun-Earth system, 0.0167; is the semi-major axis of the Moon-Earth system, 385000km, is the eccentricity of the Moon-Earth system, 0.0541.

[0036] Wherein, , . Thus, can be simplified as a constant K, can be simplified as , and M is a constant.

[0037] In the Moon-Earth system, the lunar day is influenced by the Earth's revolution, the Moon's revolution, and the Moon's rotation period, with a period of 29.5 days. However, the solar elevation angle at the time of awakening is fixed at about 5°-9°, so the angle between the line connecting the Sun and the Moon and the line connecting the Sun and the Earth at the time of awakening can be considered as a constant value.

[0038] Thus, the above formula can be simplified as Therefore, the square of the distance presents a sinusoidal variation, and thus the irradiance per unit area also presents a sinusoidal variation.

[0039] In addition, the performance degradation of the solar wing itself affects the energy conversion efficiency, and the degradation characteristic presents a linear trend. Considering the above factors, according to the influence relationship between the lunar distance factor and the solar wing degradation factor, a relationship model about the wake-up incident angle Y (the solar incident angle Y at the wake-up time) and the time point X can be established as follows: wherein, is a linear part of the solar wing degradation, is a distance factor oscillation part caused by the lunar distance change.

[0040] Read the latest historical wake-up time data, fit the relationship curve of the monthly daytime (time point) X and the wake-up incident angle Y to obtain , , , , , the relationship model of the wake-up incident angle Y and the time point X.

[0041] As an example, the fitting curve of the lunar distance square and the time relationship can be seen in Figure 3 .

[0042] S40, according to the solar elevation angle prediction and the hibernation posture parameter of the lunar rover, the actual incident angle sequence corresponding to the current wake-up interval is generated ; the actual incident angle sequence is generated as shown in Figure 2 ; wherein, the hibernation posture parameter refers to the spatial orientation and configuration parameter set that the lunar rover autonomously adjusts and locks before entering the lunar night hibernation, at least including the vehicle heading angle, the solar wing installation inclination angle, the solar wing installation azimuth angle and the local slope compensation angle, the parameters remain fixed and unchanged during the hibernation, used to convert the solar position data in the solar elevation angle prediction into the actual incident angle on the surface of the solar wing during the lunar day wake-up stage, to ensure the consistency of the geometric reference of the wake-up calculation and the historical data.

[0043] Optionally, the solar elevation angle prediction includes the solar elevation angle and the solar azimuth angle corresponding to different time points, and the hibernation posture parameter at least includes the vehicle heading angle, the solar wing installation inclination angle and the solar wing installation azimuth angle. An implementation of the above S40 is as follows: S401, according to the solar elevation angle and the solar azimuth angle corresponding to different time points in the solar elevation angle prediction, a solar incident vector in the lunar surface coordinate system is constructed, the solar incident vector refers to a unit direction vector describing the propagation direction of the sunlight in the lunar coordinate system; S402, construct a solar wing normal vector in a body coordinate system of the lunar rover according to the hibernation posture parameter; S403, convert the solar wing normal vector from the body coordinate system of the lunar rover to a lunar horizontal coordinate system, and obtain a solar wing normal vector in the lunar horizontal coordinate system after conversion; S404, perform a vector dot product operation on the solar incident vector and the solar wing normal vector in the lunar horizontal coordinate system, obtain a cosine value of the included angle of the two vectors, and then obtain the actual incidence angle of the sunlight relative to the solar wing surface at each time point through the inverse cosine function; S405, arrange the actual incidence angles corresponding to each time point in the current wake-up interval in time sequence to form an actual incidence angle sequence.

[0044] Wherein, the time point corresponding to each solar incident angle (also referred to as incident angle for short) in the actual incidence angle sequence is the same as the time point corresponding to each solar incident angle in the demand incidence angle sequence, that is, the same time point in the current wake-up interval can correspond to two solar incident angles.

[0045] S50, determine the autonomous wake-up time of the lunar rover according to the demand incidence angle sequence and the actual incidence angle sequence. Corresponding Figure 2 The intersection point shown in the above is obtained, and the intersection point is the time point corresponding to the difference satisfying the preset condition.

[0046] Optionally, one implementation of the above S50 is: For each same time point in the demand incidence angle sequence and the actual incidence angle sequence, determine the difference between the two solar incident angles corresponding to each same time point; Determine the time point corresponding to the difference satisfying the preset condition among all differences as the autonomous wake-up time of the lunar rover.

[0047] Wherein, the preset condition can be that the difference is less than a set value.

[0048] Through the scheme of the application, the following beneficial effects are obtained: The application discloses a lunar rover autonomous wake-up time calculation method based on irradiation intensity demand inversion. First, a solar wing power generation power model containing a sun-moon distance, a solar incident angle and a performance attenuation factor is constructed, second, a distance factor caused by electromagnetic wave transmission attenuation due to sun-moon distance change is determined, then a linear attenuation factor of the solar wing long-term attenuation is determined, a fitting function of the wake-up time and the demand incidence angle is established based on the distance factor and the attenuation factor, each parameter is solved through actual wake-up data fitting, then the wake-up demand incidence angle of a given wake-up interval is obtained, the intersection point of the actual incidence angle curve in the specified wake-up time interval under the determined hibernation posture is obtained, and finally the autonomous wake-up time is obtained.

[0049] The method for calculating the autonomous wake-up time of a lunar rover based on the inversion of irradiance demand proposed in this invention can effectively predict the long-term decay of solar arrays based on historical wake-up data, and realize the fully autonomous calculation of the autonomous wake-up time of the lunar rover, avoiding the need for manual selection of relevant parameters.

[0050] Based on and Figure 1 Using the same principle as the method shown, this embodiment of the invention also provides an autonomous wake-up time determination device 20 for a lunar rover, such as... Figure 4 As shown, the autonomous wake-up time determination device 20 of the lunar rover may include an acquisition module 210, a current wake-up interval determination module 220, a required incident angle sequence determination module 230, an actual incident angle sequence determination module 240, and an autonomous wake-up time determination module 250, wherein: The acquisition module 210 is used to acquire the historical wake-up time data and solar altitude angle prediction of the lunar rover at the current moment; The current wake-up interval determination module 220 is used to determine the current wake-up interval based on historical wake-up time data and solar altitude angle forecast; The demand incident angle sequence determination module 230 is used to determine the demand incident angle sequence of the lunar rover at the current moment based on the current wake-up interval and the pre-built relational model. The relational model is used to describe the correspondence between different time points and different solar incident angles. The actual incident angle sequence determination module 240 is used to generate the actual incident angle sequence corresponding to the current wake-up interval based on the solar altitude angle prediction and the hibernation attitude parameters of the lunar rover. The autonomous wake-up time determination module 250 is used to determine the autonomous wake-up time of the lunar rover based on the required incident angle sequence and the actual incident angle sequence.

[0051] Optionally, when determining the current wake-up interval based on historical wake-up time data and solar altitude angle forecast, the aforementioned current wake-up interval determination module 220 is specifically used for: Based on historical wake-up time data, determine the range of solar altitude angles corresponding to the historical wake-up intervals; The current wake-up interval is determined from the solar altitude angle forecast, corresponding to the solar altitude angle of the historical wake-up interval.

[0052] Optionally, when the aforementioned demand incident angle sequence determination module 230 determines the demand incident angle sequence of the lunar rover at the current moment based on the current wake-up interval and the pre-built relational model, it is specifically used for: Based on the current wake-up interval and the preset sampling interval, multiple time points are determined; Based on multiple time points corresponding to the current wake-up interval, the solar incidence angle corresponding to each time point is determined through a relational model. The solar incident angles corresponding to all time points are taken as the demand incident angle sequence.

[0053] Optionally, the solar elevation angle prediction includes the solar elevation angles and the solar azimuth angles corresponding to different time points, and the hibernation posture parameters at least include a vehicle body heading angle, a solar wing installation inclination angle, and a solar wing installation azimuth angle. When the actual incident angle sequence determination module 240 generates the actual incident angle sequence corresponding to the current wake-up interval according to the solar elevation angle prediction and the hibernation posture parameters of the lunar rover, it is specifically used for: According to the solar elevation angles and the solar azimuth angles corresponding to different time points in the solar elevation angle prediction, a solar incident vector in a lunar horizontal coordinate system is constructed. According to the hibernation posture parameters, a solar wing normal vector in a body coordinate system of the lunar rover is constructed. The solar wing normal vector is converted from the body coordinate system of the lunar rover to the lunar horizontal coordinate system, and the solar wing normal vector in the lunar horizontal coordinate system is obtained after the conversion. The vector dot product operation is performed on the solar incident vector and the solar wing normal vector in the lunar horizontal coordinate system, the cosine value of the included angle between the two vectors is obtained, and then the actual incident angle of the sunlight relative to the solar wing surface at each time point is obtained through the inverse cosine function. The actual incident angles corresponding to each time point in the current wake-up interval are arranged in time sequence to form the actual incident angle sequence.

[0054] Optionally, when the autonomous wake-up time determination module 250 determines the autonomous wake-up time of the lunar rover according to the demand incident angle sequence and the actual incident angle sequence, it is specifically used for: For each same time point in the demand incident angle sequence and the actual incident angle sequence, the difference between the two solar incident angles corresponding to each same time point is determined. The time points corresponding to all differences that meet the preset condition are determined as the autonomous wake-up time of the lunar rover.

[0055] The autonomous wake-up time determination device of the lunar rover provided in the embodiments of the present application can execute the autonomous wake-up time determination method of the lunar rover provided in the embodiments of the present application, and the implementation principles are similar. The actions performed by each module and unit in the autonomous wake-up time determination device of the lunar rover in each embodiment of the present application are corresponding to the steps in the autonomous wake-up time determination method of the lunar rover in each embodiment of the present application. The detailed function description of each module of the autonomous wake-up time determination device of the lunar rover can be referred to the description of the corresponding autonomous wake-up time determination method of the lunar rover shown in the foregoing, which will not be described here.

[0056] The autonomous wake-up time determination device of the lunar rover can be a computer program (including program code) running in a computer device, for example, the autonomous wake-up time determination device of the lunar rover is an application software; the device can be used to perform the corresponding steps in the method provided by the embodiments of the present application.

[0057] In some embodiments, the autonomous wake-up time determination device of the lunar rover provided by the embodiments of the present application can be implemented in a combination of software and hardware, for example, the autonomous wake-up time determination device of the lunar rover provided by the embodiments of the present application can be a processor in the form of a hardware decoding processor, which is programmed to perform the autonomous wake-up time determination method of the lunar rover provided by the embodiments of the present application, for example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0058] In some other embodiments, the autonomous wake-up time determination device of the lunar rover provided by the embodiments of the present application can be implemented in software, Figure 4 The autonomous wake-up time determination device of the lunar rover stored in the memory is shown, which can be software in the form of programs and plug-ins, and includes a series of modules, including an acquisition module 210, a current wake-up interval determination module 220, a required incident angle sequence determination module 230, an actual incident angle sequence determination module 240 and an autonomous wake-up time determination module 250, for implementing the autonomous wake-up time determination method of the lunar rover provided by the embodiments of the present application.

[0059] The modules described in the embodiments of the present application can be implemented in software or hardware. Among them, the name of the module does not constitute a limitation of the module itself in some cases.

[0060] Based on the same principles as the methods shown in the embodiments of the present application, the embodiments of the present application also provide an electronic device, which can include but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the method shown in any embodiment of the present application by calling the computer program.

[0061] In one optional embodiment, an electronic device is provided, which can include but is not limited to:Figure 5 As shown, Figure 5 The electronic device 4000 shown includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 can also include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception, etc. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0062] The processor 4001 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the present disclosure. The processor 4001 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0063] The bus 4002 can include a channel for transmitting information between the above-mentioned components. The bus 4002 can be a PCI (Peripheral Component Interconnect, peripheral component interconnect) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 In the figure, only one thick line is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0064] The memory 4003 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0065] The memory 4003 is configured to store application code (computer program) for implementing the scheme of the present application, and the processor 4001 is configured to control the execution. The processor 4001 is configured to execute the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0066] The electronic device can also be a terminal device, Figure 5 The electronic device shown is only an example, and should not limit the functions and use range of the embodiments of the present application.

[0067] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer can execute the corresponding content in the foregoing method embodiments.

[0068] According to another aspect of the present application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform the method provided in the various implementation manners of the above embodiments.

[0069] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0070] It should be understood that the flowchart and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of various embodiments of the present application. In this regard, each block in the flowchart and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0071] The computer readable storage medium of the present application embodiment can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program and / or data used by an instruction execution system, apparatus, or device to create the machine.

[0072] The computer readable storage medium described above bears one or more programs, when the one or more programs are executed by the electronic device, cause the electronic device to execute the method shown in the above embodiment.

[0073] The above description is merely the preferred embodiments of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the disclosed range of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or their equivalent features without departing from the disclosed concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the present application (but not limited to) with similar functions.

Claims

1. A method for determining the autonomous wake-up time of a lunar rover, characterized in that, The method comprises the following steps: acquiring historical wake-up time data of a lunar rover at a current time and a sun elevation angle prediction; determining a current wake-up interval according to the historical wake-up time data and the sun elevation angle prediction; determining a required incident angle sequence corresponding to the lunar rover at the current time according to the current wake-up interval and a pre-constructed relationship model, the relationship model being used to describe the corresponding relationship between different time points and different sun incident angles; generating an actual incident angle sequence corresponding to the current wake-up interval according to the sun elevation angle prediction and a sleep posture parameter of the lunar rover; determining an autonomous wake-up time of the lunar rover according to the required incident angle sequence and the actual incident angle sequence.

2. The method of claim 1, wherein, The determination of the current wake-up interval according to the historical wake-up time data and the sun elevation angle prediction comprises the following steps: determining a sun elevation angle range corresponding to a historical wake-up interval according to the historical wake-up time data; determining the current wake-up interval corresponding to the sun elevation angle corresponding to the historical wake-up interval from the sun elevation angle prediction.

3. The method of claim 1, wherein, The determination of the required incident angle sequence corresponding to the lunar rover at the current time according to the current wake-up interval and the pre-constructed relationship model comprises the following steps: determining a plurality of time points according to the current wake-up interval and a preset sampling interval; determining a sun incident angle corresponding to each of the time points through the relationship model according to the plurality of time points corresponding to the current wake-up interval; taking the sun incident angles corresponding to all the time points as the required incident angle sequence.

4. The method according to any one of claims 1 to 3, characterized in that, The sun elevation angle prediction comprises sun elevation angles and sun azimuth angles corresponding to different time points, and the sleep posture parameter comprises at least a vehicle body heading angle, a sun wing installation inclination angle and a sun wing installation azimuth angle. The generation of the actual incident angle sequence corresponding to the current wake-up interval according to the sun elevation angle prediction and the sleep posture parameter of the lunar rover comprises the following steps: constructing a sun incident vector in a lunar horizontal coordinate system according to the sun elevation angles and the sun azimuth angles corresponding to different time points in the sun elevation angle prediction; constructing a sun wing normal vector in a body coordinate system of the lunar rover according to the sleep posture parameter; converting the sun wing normal vector from the body coordinate system of the lunar rover to the lunar horizontal coordinate system, and obtaining the sun wing normal vector in the lunar horizontal coordinate system after the conversion; performing a vector dot product operation on the sun incident vector in the lunar horizontal coordinate system and the sun wing normal vector to obtain a cosine value of an included angle between the two vectors, and then calculating the actual incident angle of the sunlight relative to the surface of the sun wing at each time point through an inverse cosine function; arranging the actual incident angles corresponding to the time points in the current wake-up interval in chronological order to form the actual incident angle sequence.

5. The method of claim 4, wherein, The determination of the autonomous wake-up time of the lunar rover according to the required incident angle sequence and the actual incident angle sequence comprises the following steps: determining the difference between two sun incident angles corresponding to each same time point in the required incident angle sequence and the actual incident angle sequence. Determine the time point corresponding to the difference as the autonomous wake-up time of the lunar rover if the difference meets the preset condition.

6. A device for determining the autonomous wake-up time of a lunar rover, characterized in that, The method comprises the steps of: acquiring historical wake-up time data of the lunar rover at a current time and a sun elevation angle forecast; determining a current wake-up interval according to the historical wake-up time data and the sun elevation angle forecast; determining a required incident angle sequence corresponding to the lunar rover at the current time according to the current wake-up interval and a pre-constructed relationship model, the relationship model being used to describe the corresponding relationship between different time points and different sun incident angles; generating an actual incident angle sequence corresponding to the current wake-up interval according to the sun elevation angle forecast and a sleep posture parameter of the lunar rover; determining the autonomous wake-up time of the lunar rover according to the required incident angle sequence and the actual incident angle sequence.

7. The apparatus of claim 6, wherein, When determining the current wake-up interval according to the historical wake-up time data and the sun elevation angle forecast, the current wake-up interval determination module is specifically configured to: determine a sun elevation angle range corresponding to a historical wake-up interval according to the historical wake-up time data; determine the current wake-up interval corresponding to the sun elevation angle corresponding to the historical wake-up interval from the sun elevation angle forecast.

8. The apparatus of claim 6, wherein, When determining the required incident angle sequence corresponding to the lunar rover at the current time according to the current wake-up interval and the pre-constructed relationship model, the required incident angle sequence determination module is specifically configured to: determine a plurality of time points according to the current wake-up interval and a preset sampling interval; determine a sun incident angle corresponding to each of the time points through the relationship model according to the plurality of time points corresponding to the current wake-up interval; take the sun incident angles corresponding to all the time points as the required incident angle sequence.

9. An electronic device, comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-5.

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