Detection task planning method, device, equipment, medium and product

Abstract

The invention relates to a detection task planning method and device, equipment, a medium and a product, and the method comprises the steps: screening a first observation target of which the absolute value of the yellow latitude is greater than a solar avoidance angle from to-be-observed targets, and obtaining a target observation set; determining a first observation parameter of each first observation target in the target observation set, and determining first observation time consumption of the spacecraft formation for each first observation target based on the first observation parameter; determining a first observation sequence on the sun-earth translation point task orbit based on the first observation time consumption; wherein the first observation sequence is a sequence in which the beam combiner observes the first observation target according to a yellow channel nearest principle; processing the first observation sequence through a convex optimization algorithm to obtain a target sequence serial plan; wherein the target sequence serial planning is used for indicating the light collector to be matched with the beam combiner to observe the first observation target under the optimal fuel track. According to the invention, distributed detection of a plurality of targets by the spacecraft formation can be realized.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of space science exploration, and in particular, to a method and device for planning an exploration mission, a medium and a product. BACKGROUND

[0002] A space astronomical telescope system is an important infrastructure for space science research. It can significantly improve the observation efficiency and has great significance for human exploration of the universe because it has no atmospheric interference, higher resolution than ground systems, can observe wavelengths such as ultraviolet and X-ray that cannot be covered by ground systems, can monitor targets continuously for a long time, and can break through the limitations of the Earth's rotation and atmospheric conditions.

[0003] In related technologies, a single-star telescope system mainly adjusts the attitude of a spacecraft to calibrate different target light paths, which cannot adapt to the dynamic baseline reconstruction required for distributed formation multi-target observation. Therefore, the method of adjusting the attitude of the spacecraft in related technologies is not suitable for distributed exploration missions. In view of this, there is an urgent need to propose a method for planning an exploration mission to meet the distributed exploration of multiple targets by a spacecraft. SUMMARY

[0004] The present disclosure provides a method and device for planning an exploration mission, a medium and a product.

[0005] According to a first aspect of the present disclosure, a method for planning an exploration mission is provided, the method comprising: selecting, from the to-be-observed targets, a first observation target whose absolute value of the declination is greater than a solar avoidance angle, to obtain a target observation set; determining a first observation parameter of each first observation target in the target observation set, and determining a first observation time consumption of each first observation target by the spacecraft formation based on the first observation parameter; wherein the spacecraft formation comprises one combiner and at least two light collectors; determining a first observation sequence on a sun-synchronous orbit based on the first observation time consumption; wherein the first observation sequence is an observation sequence of the first observation targets by the combiner according to the principle of the nearest longitude; processing the first observation sequence by a convex optimization algorithm to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collectors observe the first observation targets in cooperation with the combiner under a fuel-optimal trajectory.

[0006] Further, the step of selecting, from the to-be-observed targets, a first observation target whose absolute value of the declination is greater than a solar avoidance angle, to obtain a target observation set, comprises: obtaining the right ascension of each to-be-observed target; converting the right ascension of the to-be-observed target into the declination; Eliminate the to-be-observed target whose absolute value of ecliptic latitude is greater than the solar avoidance angle, and obtain a first observation target after elimination, and determine the target observation set based on the first observation target.

[0007] Further, the determination of the first observation parameter of each first observation target in the target observation set comprises: According to the astronomical characteristics and resolution requirements of each first observation target in the target observation set, the first observation parameter of each first observation target is determined, wherein the first observation parameter at least includes: sampling times, sampling time and baseline length.

[0008] Further, the determination of the first observation sequence on the Earth-Sun libration point mission orbit based on the first observation time consumption comprises: Determination of the equivalent ecliptic latitude of the combiner on the Earth-Sun libration point mission orbit; According to the equivalent ecliptic latitude and the first observation time consumption, the first observation sequence on the Earth-Sun libration point mission orbit is determined.

[0009] Further, the determination of the equivalent ecliptic latitude of the combiner on the Earth-Sun libration point mission orbit comprises: Obtaining the position direction vector of the combiner; Determination of the equivalent declination of the combiner on the Earth-Sun libration point mission orbit based on the position direction vector; Converting the equivalent declination into the equivalent ecliptic latitude.

[0010] Further, the determination of the first observation sequence on the Earth-Sun libration point mission orbit according to the equivalent ecliptic latitude and the first observation time consumption comprises: Calculating the first absolute value of the difference between the ecliptic latitude of the first observation target and the equivalent ecliptic latitude; Determining the first observation target corresponding to the minimum absolute value in the first absolute value as the first observation target in the first observation sequence; Recursing the Earth-Sun libration point mission orbit to the end time of the first observation time consumption corresponding to the first observation target, and calculating the second absolute value of the difference between the ecliptic latitude of the remaining first observation target and the equivalent ecliptic latitude; Determining the first observation target corresponding to the minimum absolute value in the second absolute value as the second observation target in the first observation sequence; Repeating the above steps until the complete first observation sequence is obtained.

[0011] Further, the processing of the first observation sequence by the convex optimization algorithm to obtain the target sequence serial planning comprises: establishing a fuel optimal control model according to the first observation sequence; iteratively solving the discretized dynamic equation in the fuel optimal control model according to a convex optimization algorithm to obtain a sequence serial planning of the light collector; wherein the sequence serial planning at least comprises a relative motion state sequence, a thrust control instruction sequence and a fuel consumption mass sequence; determining a first relative distance between the light collectors at different time instants based on the sequence serial planning; if the first relative distance is greater than a preset safety distance, determining the sequence serial planning as a target sequence serial planning.

[0012] Further, the method further comprises: if the first relative distance is less than the preset safety distance, adjusting the launch time and the arrival time of the light collector on the LEO mission orbit; determining an adjusted sequence serial planning of the light collector based on the launch time and the arrival time; calculating a second relative distance between the light collectors at different time instants based on the adjusted sequence serial planning; repeating the above steps until the second relative distance is greater than the preset safety distance, and determining the adjusted sequence serial planning as the target sequence serial planning.

[0013] Further, after the first observation sequence is processed by the convex optimization algorithm to obtain the target sequence serial planning, the method further comprises: verifying whether the target sequence serial planning satisfies a second condition; wherein the second condition is that the target sequence serial planning satisfies a mission time constraint, a fuel consumption constraint and a sun avoidance angle constraint; in a case where the target sequence serial planning does not satisfy the second condition, determining a second observation parameter of each first observation target in the target observation set; wherein the second observation parameter is a parameter obtained by adjusting the first observation parameter; determining a second observation sequence on the LEO mission orbit based on the second observation parameter; processing the second observation sequence by the convex optimization algorithm to obtain an updated target sequence serial planning.

[0014] According to a second aspect of the present disclosure, a device for detecting a mission planning is provided, and the device comprises: a screening module configured to screen first observation targets with an absolute value of a yellow latitude greater than a sun avoidance angle from observation targets to obtain a target observation set; The first determining module is configured to determine a first observation parameter of each first observation target in the target observation set, and determine a first observation time of the spacecraft formation on each first observation target based on the first observation parameter; wherein the spacecraft formation comprises one combiner and at least two light collectors. The second determining module is configured to determine a first observation sequence on a geosynchronous transfer orbit based on the first observation time; wherein the first observation sequence is an observation sequence of the combiner on the first observation targets according to a principle of the nearest longitude. The first processing module is configured to process the first observation sequence by a convex optimization algorithm to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collectors observe the first observation targets in cooperation with the combiner under a fuel-optimal trajectory.

[0015] According to a third aspect of the present disclosure, an electronic device is provided. The electronic device comprises a memory and a processor, the memory has a computer program stored thereon, and the processor implements the method described above when executing the program.

[0016] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium has a computer program stored thereon, and the program is executed by a processor to implement the method described above.

[0017] According to a fifth aspect of the present disclosure, a computer program product is provided. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the method described above.

[0018] The method, device, equipment, medium and product provided by the embodiments of the present disclosure, in the embodiments of the present disclosure, first, the first observation targets with the absolute value of the yellow latitude greater than the solar avoidance angle are selected from the observation targets to obtain a target observation set; then, the first observation parameter of each first observation target in the target observation set is determined, and the first observation time of the spacecraft formation on each first observation target is determined based on the first observation parameter; wherein the spacecraft formation comprises one combiner and at least two light collectors; then, the first observation sequence on a geosynchronous transfer orbit is determined based on the first observation time; wherein the first observation sequence is an observation sequence of the combiner on the first observation targets according to the principle of the nearest longitude; finally, the first observation sequence is processed by a convex optimization algorithm to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collectors observe the first observation targets in cooperation with the combiner under a fuel-optimal trajectory.

[0019] It can be known from the above description that the technical scheme of the present disclosure can strictly screen the first observation target meeting the light shielding constraint through the comparison mechanism of the absolute value of the ecliptic latitude and the solar avoidance angle, thereby constructing an effective target observation set, excluding the unfeasible observation target from the source, and improving the rigor of the detection task planning method. The first observation parameter of each first observation target in the target observation set can be used to accurately estimate the first observation time of the spacecraft formation for each observation target, and can provide a quantitative basis for subsequent target sequence serial planning. The first observation sequence is recursively generated by the longitude nearest principle according to the dynamic characteristics of the sun-earth libration point task orbit and the real-time orbit position of the beam combiner, and the first observation sequence makes the observation task ordering closely fit the orbit motion law, which can significantly reduce the observation window period, thereby improving the efficiency of the detection task planning method. The first observation sequence is processed by the convex optimization algorithm, the reconstruction path of the light collector under the optimal fuel trajectory can be planned, and the global fuel consumption minimization of multi-target serial observation can be realized under the premise of meeting the spacecraft formation collision constraint, thereby realizing the efficient cooperative detection of different sky area targets by the distributed formation under the sun-earth libration point orbit, and providing a planning scheme with scientificity and engineering practicability for the spacecraft formation detection task. BRIEF DESCRIPTION OF DRAWINGS

[0020] In the following description of exemplary embodiments in conjunction with the accompanying drawings, more details, features and advantages of the present disclosure are disclosed, in which: Figure 1 A flowchart of a detection task planning method provided for an exemplary embodiment of the present disclosure is shown; Figure 2 A flowchart of a detection task planning method provided for another exemplary embodiment of the present disclosure is shown; Figure 3 A flowchart of a detection task planning method provided for another exemplary embodiment of the present disclosure is shown; Figure 4 A schematic diagram of a target sequence serial planning result provided for an exemplary embodiment of the present disclosure is shown; Figure 5 A functional module schematic block diagram of a detection task planning device provided for an exemplary embodiment of the present disclosure is shown; Figure 6 A structural block diagram of an electronic device provided for an exemplary embodiment of the present disclosure is shown; Figure 7 A structural block diagram of a computer system provided for an exemplary embodiment of the present disclosure is shown; Figure 8 A structural block diagram of a computer program product provided for an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein; rather, these embodiments are provided so as to more completely and thoroughly understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure.

[0022] It should be understood that each of the steps recited in the method embodiments of the present disclosure can be performed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0023] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Related terms are defined as follows. It should be noted that the concepts mentioned in the present disclosure are merely for distinguishing different apparatuses, modules or units, and are not intended to limit the functions of these apparatuses, modules or units.

[0024] It should be noted that the modification of "one" or "multiple" mentioned in the present disclosure is illustrative rather than limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more". The names of the messages or information exchanged between the plurality of apparatuses in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0025] It can be understood that, before using the technical solutions disclosed in the embodiments of the present disclosure, the type, use range, use scenario, etc. of the personal information involved in the present disclosure should be informed to the user and the authorization of the user should be obtained in a proper manner according to relevant laws and regulations.

[0026] For example, when responding to the active request of the user, the user is sent prompt information to explicitly prompt the user that the operation requested to be performed will require obtaining and using the personal information of the user. Thus, the user can voluntarily choose whether to provide the personal information to the software or hardware such as electronic device, application program, server or storage medium, etc. performing the operation of the technical solutions of the present disclosure according to the prompt information.

[0027] As an optional but non-limiting implementation, in response to receiving the active request of the user, the manner of sending the prompt information to the user may be, for example, a pop-up window manner, in which the prompt information may be presented in a textual manner. In addition, the pop-up window may also carry a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device. It can be understood that the above notification and user authorization process is only illustrative and does not limit the implementation of the present disclosure, and other manners that meet the relevant laws and regulations can also be applied to the implementation of the present disclosure.

[0028] In one embodiment, as shown in Figure 1 A detection task planning method is provided, comprising the following steps: Step 101: selecting a first observation target with an absolute value of the ecliptic latitude greater than a solar avoidance angle from the observation targets to be observed, to obtain a target observation set.

[0029] Here, the execution subject can select a first observation target with an absolute value of the ecliptic latitude greater than a solar avoidance angle from the observation targets to be observed, to obtain a target observation set, wherein the observation targets to be observed can be high-resolution imaging targets, such as red giant star surface structures and binary star system orbits, and the observation targets to be observed can also be wide-spectrum feature analysis targets, such as active galactic nuclei and exoplanet atmospheres. It should be noted that the specific content of the observation targets to be observed is not limited here.

[0030] In one possible embodiment, selecting a first observation target with an absolute value of the ecliptic latitude greater than a solar avoidance angle from the observation targets to be observed, to obtain a target observation set, comprises the following steps: Obtaining the declination of each observation target to be observed; Converting the declination of the observation target to be observed into the ecliptic latitude; Eliminating the observation target to be observed with an absolute value of the ecliptic latitude greater than the solar avoidance angle, obtaining the first observation target after elimination, and determining the target observation set based on the first observation target.

[0031] Specifically, first, the execution subject obtains the number of observation targets to be observed, the right ascension and declination of each observation target to be observed, and the solar avoidance angle and other information; then, the execution subject converts the right ascension and declination of the observation target to be observed into the ecliptic longitude and latitude; finally, the execution subject eliminates the observation target to be observed with an absolute value of the ecliptic latitude greater than the solar avoidance angle, obtains the first observation target after elimination, and determines the target observation set based on the first observation target.

[0032] In one possible embodiment, first, the execution subject obtains the number of observation targets to be observed, the right ascension and declination, and the task constraint conditions and other information, then the execution subject converts the right ascension and declination of the observation target to be observed into the ecliptic longitude and latitude wherein the formula used in the conversion process is:​

[0033] in, The right ascension of the target to be observed. The declination of the target to be observed. The ecliptic longitude of the target to be observed. The ecliptic latitude of the target to be observed. It is the angle between the obliquity of the ecliptic and the obliquity of the sun.

[0034] Finally, the executing entity determines the solar avoidance angle based on the task constraints. The ecliptic latitude of the target to be observed The absolute value is greater than the solar avoidance angle. The target to be observed is eliminated, resulting in the first observation target. Based on the first observation target, the target observation set is determined. That is, the executing entity selects the target to be observed from the target to be observed. The target to be observed is eliminated because the spacecraft's sunshade cannot block solar radiation from the target at any time, meaning that the target cannot be observed throughout the entire mission cycle. Therefore, the target to be observed needs to be eliminated. The target obtained after elimination is the first observation target, and the executing entity will form the first observation target into a target observation set.

[0035] Step 102: Determine the first observation parameters of each first observation target in the target observation set, and determine the first observation time of the spacecraft formation for each first observation target based on the first observation parameters.

[0036] Here, the executing entity selects the first observation target whose absolute value of ecliptic latitude is greater than the solar avoidance angle from the target to be observed. After obtaining the target observation set, the first observation parameters of each first observation target in the target observation set can be determined, and the first observation time of the spacecraft formation for each first observation target can be determined based on the first observation parameters. The spacecraft formation includes: a beam combiner and at least two light collectors. The beam combiner is the primary star of the spacecraft formation. The beam combiner receives the light beam from the light collector, synthesizes the light signal through an interferometer, and performs coherent processing on the synthesized signal to generate a high-resolution astronomical image. The light collector is the secondary star of the spacecraft formation. The light collector can be a deployed large reflector that independently captures the light of the target celestial body. The light collector forms a specific baseline length through position maneuvering and accurately transmits the collected light beam to the beam combiner through a laser link.

[0037] In one possible embodiment, determining the first observation parameters of each first observation target in the target observation set includes: Based on the astronomical characteristics and resolution requirements of each first observation target in the target observation set, the first observation parameters for each first observation target are determined.

[0038] Specifically, the execution subject screens the first observation targets with the absolute value of the ecliptic latitude greater than the solar avoidance angle from the observation targets to be observed, obtains the target observation set, and then determines the first observation parameters of each first observation target according to the astronomical characteristics and resolution requirements of each first observation target in the target observation set, wherein the first observation parameters at least include the sampling times, the sampling time and the baseline length, wherein the baseline length refers to the projection of the line connecting the two light collectors on the plane with the vector pointing to the first observation target as the normal vector.

[0039] In a possible embodiment, the execution subject screens the first observation targets with the absolute value of the ecliptic latitude greater than the solar avoidance angle from the observation targets to be observed, obtains the target observation set, and the target observation set contains the celestial body 1, the celestial body 2 and the celestial body 3, for example, wherein the astronomical characteristics of the celestial body 1 is a binary star system, and the star magnitude of the celestial body 1 is greater than 20, the distance to the combiner is 6234 km, and the resolution requirement is the minimum resolvable angle > 0.1, and the execution subject determines the first observation parameters of the celestial body 1 as the sampling times T, the sampling time S and the baseline length B according to the astronomical characteristics and the resolution requirement of the celestial body 1. It should be noted that the first observation parameters can include more types of parameters in addition to the sampling times, the sampling time and the baseline length, which are not limited here.

[0040] Here, after the execution subject determines the first observation parameters of each first observation target in the target observation set, the first observation time of the spacecraft formation on each first observation target can be determined based on the first observation parameters.

[0041] In a possible embodiment, after the execution subject determines the first observation parameters of each first observation target in the target observation set, the sampling phase change time of the first observation target can be obtained according to the sampling times, the sampling time and the baseline length in the first observation parameters, and the execution subject can calculate the first observation time of the first observation target after obtaining the sampling phase change time, and the formula is: the first observation time = the sampling times × (the sampling time + the sampling phase change time).

[0042] Step 103, determining the first observation sequence on the sun-synchronous orbit based on the first observation time.

[0043] Here, after the execution subject determines the first observation parameters of each first observation target in the target observation set and determines the first observation time of the spacecraft formation on each first observation target based on the first observation parameters, the first observation sequence can be determined on the sun-synchronous orbit based on the first observation time, wherein the first observation sequence is the observation sequence of the first observation targets according to the principle of the nearest longitude by the combiner.

[0044] In a possible embodiment, as Figure 2As shown, determining the first observation sequence on the geosynchronous transfer orbit based on the first observation time consumption comprises the following steps: Step 201, determining the equivalent yellow latitude of the beam combiner on the geosynchronous transfer orbit.

[0045] Here, after the execution subject determines the first observation time consumption of the spacecraft formation to each first observation target based on the first observation parameter, the equivalent yellow latitude of the beam combiner on the geosynchronous transfer orbit can be determined.

[0046] In a possible embodiment, the execution subject determines the geosynchronous transfer orbit, and the specific steps are as follows: establishing the z-axis amplitude of the Halo orbit, obtaining the third-order approximate analytical solution of the Halo orbit under the Circular Restricted Three-Body Problem (CRTBP) by the Linstedt-Poincare method, and then obtaining the Halo orbit initial value under the CRTBP model which is not easy to diverge by using the differential correction method. It should be noted that, in order to obtain an orbit that meets the engineering feasibility under high-precision dynamics, the initial value and the orbit entry time are introduced, and the two-layer differential correction method is used to ensure the long-term stability of the orbit under the high-precision dynamics model: the first layer correction is to fix the position of the target point, and the state quantity at a certain node is taken as the initial value. The motion equation under the real force model is numerically integrated until the next time node, and the velocity pulse required for shooting is calculated by differential correction. The essence of the first layer correction is to adjust the velocity vector at the node, and the purpose is to make the corrected orbit coincide with the target position at the next time node. In this way, the velocity discontinuity at each node can be obtained; the purpose of the second layer correction is to minimize the velocity discontinuity at each time node in the first step, and the variables that can be adjusted in the second layer correction include the state quantity at each node and the node time. After the second layer correction, the velocity discontinuity at the node of the obtained orbit is reduced compared with before the correction. In this way, the first layer correction calculates the velocity discontinuity value, and the second step minimizes the velocity discontinuity value, until the velocity discontinuity value meets a certain accuracy requirement, i.e., the loop is stopped.

[0047] In this way, the geosynchronous transfer orbit under the high-precision dynamics model can be obtained. In the mission period, the beam combiner (primary star) always runs along the mission orbit, and the light collector (secondary star) performs formation reconstruction around the primary star according to the baseline length and array required by the sampling demand, thereby saving the cost of maintaining the mission orbit and improving the formation stability.

[0048] In a possible embodiment, determining the equivalent yellow latitude of the beam combiner on the geosynchronous transfer orbit comprises the following steps: Obtaining the position and direction vector of the beam combiner; Determining the equivalent declination of the beam combiner on the geosynchronous transfer orbit based on the position and direction vector; Converting the equivalent declination into the equivalent yellow latitude.

[0049] Specifically, after determining the geosynchronous transfer orbit, the execution body first acquires the position and direction vector of the combiner; then, the execution body determines the equivalent declination of the combiner on the geosynchronous transfer orbit based on the position and direction vector; finally, the execution body converts the equivalent declination into the equivalent right ascension.

[0050] In a possible embodiment, first, the execution body acquires the position and direction vector (x, y) of the combiner in the real-time geocentric J2000 inertial system through the geosynchronous transfer orbit; then, the execution body inversely solves the position and direction vector (x, y) to obtain the equivalent right ascension and declination of the combiner The calculation process is as follows:

[0051] It should be noted that if the value returned by the arctan function is in , it needs to be adjusted to . After the execution body inversely solves the position and direction vector (x, y) to obtain the equivalent right ascension and declination of the combiner , the equivalent right ascension and declination can be converted into the equivalent right ascension and declination . The specific calculation method is the same as the method for converting the right ascension and declination of the target to be observed into the right ascension and declination , and will not be described here.

[0052] Step 202: determining a first observation sequence on the geosynchronous transfer orbit according to the equivalent declination and the first observation time consumption.

[0053] Here, after the execution body determines the equivalent declination of the combiner on the geosynchronous transfer orbit, the execution body can determine a first observation sequence on the geosynchronous transfer orbit according to the equivalent declination and the first observation time consumption.

[0054] In a possible embodiment, determining a first observation sequence on the geosynchronous transfer orbit according to the equivalent declination and the first observation time consumption includes the following steps: calculating the first absolute value of the difference between the declination of the first observation target and the equivalent declination; determining the first observation target corresponding to the minimum absolute value in the first absolute value as the first observation target in the first observation sequence; recursing the geosynchronous transfer orbit to the end time of the first observation time consumption corresponding to the first observation target, and calculating the second absolute value of the difference between the declination of the remaining first observation target and the equivalent declination; determining the first observation target corresponding to the minimum absolute value in the second absolute value as the second observation target in the first observation sequence; The above steps are repeatedly performed until a complete first observation sequence is obtained.

[0055] Specifically, after determining the equivalent latitude of the beam combiner on the sun-synchronous point task orbit, the executing subject first determines the first observation target corresponding to the minimum absolute value in the first absolute value as the first observation target in the first observation sequence; then, the executing subject extrapolates the sun-synchronous point task orbit to the end time of the first observation duration corresponding to the first observation target, and calculates the second absolute value of the difference between the latitudes of the remaining first observation targets and the equivalent latitude; then, the first observation target corresponding to the minimum absolute value in the second absolute value is determined as the second observation target in the first observation sequence; finally, the executing subject repeatedly performs the above steps until a complete first observation sequence is obtained.

[0056] In a possible embodiment, first, the executing subject determines the first observation target corresponding to the minimum absolute value in the first absolute value as the first observation target in the first observation sequence, that is, the executing subject selects the first observation target as the target closest to the equivalent longitude of the beam combiner, that is, the minimum. For example, the executing subject selects the first observation target as the celestial body A, and the first observation duration of the celestial body A is 12 hours; then, the executing subject extrapolates the sun-synchronous point task orbit to the end time of the first observation duration corresponding to the first observation target, and calculates the second absolute value of the difference between the latitudes of the remaining first observation targets and the equivalent latitude. For example, the executing subject extrapolates the sun-synchronous point task orbit by 12 hours, and calculates the second absolute value of the difference between the latitudes of the remaining first observation targets and the equivalent latitude on the sun-synchronous point task orbit after extrapolation by 12 hours. The executing subject determines the first observation target corresponding to the minimum absolute value in the second absolute value as the second observation target in the first observation sequence. For example, the second observation target can be the celestial body B; finally, the executing subject repeatedly performs the above steps until a complete first observation sequence is obtained. The first observation sequence is the order in which the first observation targets are observed by the beam combiner according to the principle of the closest longitude. For example, the first observation sequence can be: celestial body A- celestial body B- celestial body C- celestial body D.

[0057] It should be noted that the executing subject has passed the sun avoidance angle constraint test in the process of determining the first observation sequence. If there is no observation target meeting the requirement within the constraint condition range, the executing subject extrapolates the sun-synchronous point task orbit of the beam combiner until an observation target meeting the constraint condition appears.

[0058] In step 104, the first observation sequence is processed by a convex optimization algorithm to obtain a target sequence serial planning.

[0059] Here, after the execution subject determines the first observation sequence on the geosynchronous orbit based on the first observation time consumption, the first observation sequence can be processed by a convex optimization algorithm to obtain a target sequence serial planning, where the target sequence serial planning is used to indicate that the concentrator observes the first observation target in cooperation with the beam combiner under the fuel optimal trajectory.

[0060] In a possible embodiment, processing the first observation sequence by the convex optimization algorithm to obtain the target sequence serial planning includes the following steps: establishing a fuel optimal control model according to the first observation sequence; solving the discretized dynamics equation in the fuel optimal control model iteratively according to the convex optimization algorithm to obtain the sequence serial planning of the concentrator; determining the first relative distance between the concentrators at different time instants based on the sequence serial planning; if the first relative distance is greater than a preset safety distance, determining the sequence serial planning as the target sequence serial planning.

[0061] Specifically, after the execution subject determines the first observation sequence on the geosynchronous orbit based on the first observation time consumption, first, the execution subject establishes a fuel optimal control model according to the first observation sequence; then, the execution subject solves the discretized dynamics equation in the fuel optimal control model iteratively according to the convex optimization algorithm to obtain the sequence serial planning of the concentrator, where the sequence serial planning at least includes: a relative motion state sequence, a thrust control instruction sequence, and a fuel consumption mass sequence; after that, the execution subject determines the first relative distance between the concentrators at different time instants based on the sequence serial planning; finally, if the first relative distance is greater than a preset safety distance, the execution subject determines the sequence serial planning as the target sequence serial planning.

[0062] In a possible embodiment, the execution subject establishes a single-star trajectory planning optimal control problem model, and the fuel optimal trajectory planning problem can be expressed as: finding a control curve such that the spacecraft is transferred from the initial state to the terminal state in the process of fuel optimization, that is, the mass is maximum at the end time:

[0063]

[0064] where T represents the thrust, m represents the mass of the spacecraft, represents the end time of the maneuver.

[0065] Let the dynamics constraint be:

[0066] Since the above formula is The linearization expansion can be satisfied in the vicinity of the constraint:

[0067] where, and is given in advance, and the mass update equation is:

[0068] where, is the specific impulse, is the sea level gravity acceleration, which is a constant.

[0069] For the nonlinear term in the relative motion dynamics equation , the subject performs an initial given mass sequence , uses an iterative convex optimization method, and after each optimization iteration, the obtained mass is used as the of the next iteration for optimization. In order to ensure that the solution obtained after optimization is feasible, a new constraint is added, and the condition for ending the convex optimization iteration is that the state quantity converges to zero:

[0070] where, and are given in advance.

[0071] In order to improve the convergence and robustness of convex optimization, the subject introduces an error term in the terminal state constraint, and the optimal control problem can be expressed as:

[0072] where, The physical meaning of the terminal state error is the terminal state error, so the terminal state error needs to be added as a penalty term to the objective function, where , are positive coefficients. Since the above optimal control problem is a continuous optimization problem, it needs to be discretized when solving. Assuming that the time is discretized into points, the dynamics equation, mass update equation, and constraint condition are discretized using the trapezoidal method, and the specific formula is:

[0073] The transformed problem can be expressed as:

[0074] where, ​For discrete time length, a constraint criterion penalty term is added in the index function to accelerate convergence efficiency.

[0075] Initial end state of the execution subject given the formation reconstruction task With and initial mass, specific impulse and other parameters, set and the value of the discrete parameter M and the initial mass sequence for each concentrator i, solve the optimal control problem by iterative convex optimization method to obtain the solution that meets the convergence condition 、 .

[0076] In one possible embodiment, based on the above example, the execution subject solves the optimal control problem by taking the initial parameters 、 optimized in the above embodiment as the initial parameters, iterates until the convergence condition is met, and outputs the concentrator sequence serial planning, i.e., the fuel consumption mass sequence , the relative motion state sequence and the thrust control instruction sequence .

[0077] In one possible embodiment, after the execution subject iteratively solves the discretized dynamics equation in the fuel optimal control model according to the convex optimization algorithm to obtain the concentrator sequence serial planning, the execution subject performs collision detection on the planning result, i.e., the execution subject determines the first relative distance between the concentrators at different times based on the sequence serial planning. If the first relative distance is always greater than the preset safety distance, it is considered that there is no collision risk, and the execution subject determines the sequence serial planning as the target sequence serial planning, which is used to indicate that the concentrators observe the first observation target under the fuel optimal trajectory in cooperation with the beamformer.

[0078] In another possible embodiment, the target sequence serial planning is obtained by processing the first observation sequence through the convex optimization algorithm, and the method further includes the following steps: If the first relative distance is less than the preset safety distance, adjust the launch time and arrival time of the concentrator on the earth-sun libration point mission orbit; determine the adjusted sequence serial planning of the concentrator based on the launch time and the arrival time; calculate the second relative distance between the concentrators at different times based on the adjusted sequence serial planning; repeat the above steps until the second relative distance is greater than the preset safety distance, and determine the adjusted sequence serial planning as the target sequence serial planning.

[0079] Specifically, the execution subject determines the first relative distance between the light collectors at different time based on the sequence serial planning, if the first relative distance is less than the preset safety distance, it is considered that there is a collision risk, at this time, the execution subject adjusts the sending time and the arrival time of the light collector on the sun-synchronous orbit, and determines the adjusted sequence serial planning of the light collector based on the sending time and the arrival time, after the execution subject determines the adjusted sequence serial planning, the execution subject calculates the second relative distance between the light collectors at different time based on the adjusted sequence serial planning, the execution subject repeatedly executes the above steps until the second relative distance is greater than the preset safety distance, at this time, the adjusted sequence serial planning has no collision risk, and the execution subject determines the adjusted sequence serial planning as the target sequence serial planning.

[0080] The method, device, equipment, medium and product provided by the embodiments of the present disclosure can be used for detecting a task planning method, and the method comprises the following steps: first, selecting a first observation target whose absolute value of the yellow latitude is greater than a solar avoidance angle from the to-be-observed target to obtain a target observation set; then, determining a first observation parameter of each first observation target in the target observation set, and determining a first observation time consumption of the spacecraft formation to each first observation target based on the first observation parameter; wherein, the spacecraft formation comprises one beam combiner and at least two light collectors; then, determining a first observation sequence on the sun-synchronous orbit based on the first observation time consumption; wherein, the first observation sequence is an observation sequence of the beam combiner observing the first observation target according to the principle of the nearest longitude; finally, processing the first observation sequence by a convex optimization algorithm to obtain a target sequence serial planning; wherein, the target sequence serial planning is used to indicate that the light collectors observe the first observation target in cooperation with the beam combiner on the fuel-optimal trajectory.

[0081] It can be known from the above description that the technical scheme of the disclosure can strictly screen the first observation target meeting the light shielding constraint through the comparison mechanism of the absolute value of the ecliptic latitude and the solar avoidance angle, thereby constructing an effective target observation set, excluding the unfeasible observation target from the source, and improving the rigor of the detection task planning method. The first observation parameter of each first observation target in the target observation set can be used to accurately estimate the first observation time of the spacecraft formation for each observation target, thereby providing a quantitative basis for subsequent target sequence serial planning. The first observation sequence is recursively generated by adopting the principle of the nearest longitude according to the dynamic characteristics of the sun-earth libration point task orbit and the real-time orbit position of the beam combiner, and the first observation sequence makes the observation task ordering closely fit the orbit motion law, thereby significantly reducing the observation window period and improving the efficiency of the detection task planning method. The first observation sequence is processed by the convex optimization algorithm, the reconstruction path of the light collector under the optimal fuel trajectory is planned, and the global fuel consumption minimization of multi-target serial observation is realized under the premise of meeting the spacecraft formation collision constraint, thereby realizing the efficient cooperative detection of different sky area targets by the distributed formation under the sun-earth libration point orbit, and providing a planning scheme with scientificity and engineering practicability for the spacecraft formation detection task.

[0082] In one embodiment, as shown in FIG. 3, the method comprises the following steps: Figure 3 After the first observation sequence is processed by the convex optimization algorithm to obtain the target sequence serial planning, the following steps are further included: Step 301: verifying whether the target sequence serial planning meets a second condition.

[0083] In one possible embodiment, after the first observation sequence is processed by the convex optimization algorithm to obtain the target sequence serial planning, the execution subject can verify whether the target sequence serial planning meets a second condition, wherein the second condition is that the target sequence serial planning meets the task time constraint, the fuel consumption constraint and the solar avoidance angle constraint.

[0084] Step 302: determining the second observation parameter of each first observation target in the target observation set in the case that the target sequence serial planning does not meet the second condition.

[0085] In one possible embodiment, in the case that the target sequence serial planning does not meet the second condition, the execution subject determines the second observation parameter of each first observation target in the target observation set, wherein the second observation parameter is the parameter after the adjustment of the first observation parameter. For example, the execution subject can change the sampling times, the sampling time and the baseline length in the first observation parameter, thereby obtaining the adjusted second observation parameter.

[0086] Step 303: determining the second observation sequence on the sun-earth libration point task orbit based on the second observation parameter.

[0087] In a possible implementation, after the execution subject determines the second observation parameters of the first observation targets in the target observation set, the execution subject can determine a second observation sequence on the GTO mission orbit based on the second observation parameters. It should be noted that the specific method for the execution subject to determine the second observation sequence is the same as the method for the execution subject to determine the first observation sequence on the GTO mission orbit based on the first observation parameters in the above-described embodiments, and thus will not be described here.

[0088] In step 304, the second observation sequence is processed by a convex optimization algorithm to obtain an updated target sequence serial planning.

[0089] In a possible implementation, after the execution subject determines the second observation sequence on the GTO mission orbit based on the second observation parameters, the execution subject can process the second observation sequence by a convex optimization algorithm to obtain an updated target sequence serial planning. It should be noted that the specific method for the execution subject to determine the updated target sequence serial planning is the same as the method for the execution subject to process the first observation sequence by a convex optimization algorithm to obtain the target sequence serial planning in the above-described embodiments, and thus will not be described here.

[0090] In this embodiment, first, the execution subject verifies whether the target sequence serial planning satisfies the second condition. Then, the execution subject determines the second observation parameters of the first observation targets in the target observation set when the target sequence serial planning does not satisfy the second condition. After that, the execution subject determines a second observation sequence on the GTO mission orbit based on the second observation parameters. Finally, the execution subject processes the second observation sequence by a convex optimization algorithm to obtain an updated target sequence serial planning.

[0091] As known from the above description, in this embodiment, a verification mechanism is provided. When the target sequence serial planning does not satisfy the second condition, the second observation parameters of the first observation targets in the target observation set are dynamically adjusted, a more optimal second observation sequence is determined again based on the GTO mission orbit, and the new sequence is processed by a convex optimization algorithm to obtain an updated target sequence serial planning. In this embodiment, the adaptability of the mission planning to complex constraint conditions is improved through parameter iteration and sequence optimization, the feasibility of the planning result under the overall constraints such as mission time and fuel consumption is ensured, the optimization problem when the initial planning does not satisfy the condition is effectively solved, a closed-loop feedback planning mechanism is formed, the robustness and reliability of the GTO small-thrust formation distributed detection mission planning are enhanced, and a scientific and reasonable technical path is provided for dynamic adjustment and accurate execution of a multi-target observation mission.

[0092] In one embodiment, to verify the effectiveness of the method of the application in a complex multi-target observation scene, a distributed detection task of the L2 halo orbit is carried out, and specific parameters are as follows: 170 observation targets, a spacecraft thrust amplitude of 0.5 N, a specific impulse of 2000 s, a fuel upper limit of 1000 kg, a maximum mission period of two years, a solar avoidance angle of 60°, and a selected task orbit of the L2 halo orbit of the sun-earth, with a z-axis amplitude of 150,000 km. The above parameters are input into the execution body, and the final result is as shown in Figure 4 Figure 4 An exemplary target sequence serial planning result schematic diagram is shown, 153 observable targets are screened out in the task period, the fuel consumption of a single star does not exceed 60 kg, the scheduled observation task is completed in 2030-2031, and all task constraint requirements are met.

[0093] As can be known from the above description, the technical scheme of the present disclosure eliminates unobservable targets by the solar avoidance angle constraint, constructs a preliminary observation sequence based on the principle of the nearest longitude, and solves the fuel-optimal formation reconstruction path by using a convex optimization algorithm, forming a systematic process of "target screening-sequence planning-trajectory optimization-constraint checking". This method breaks through the technical limitations of traditional single-star observation which only relies on attitude adjustment, solves the collaborative optimization problem of multi-target observation demand, formation reconstruction fuel consumption and task time constraint in distributed detection, and ensures that the spacecraft formation completes the observation task of multi-baseline and multi-sky area targets in a fuel-efficient and time-efficient manner in the sun-earth halo orbit environment, through the task orbit design under the high-precision dynamics model and the collision checking mechanism of the concentrator trajectory, significantly improving the feasibility, robustness and engineering reliability of the space distributed light interference detection task, and providing an innovative technical scheme with scientific rationality and engineering implementability for the task planning of the next generation of space-based distributed detection system.

[0094] In the case of dividing each functional module corresponding to each function, the embodiment of the present disclosure provides a detection task planning device, which can be a server or a chip applied to a server. Figure 5 The functional module schematic diagram of the detection task planning device provided by an exemplary embodiment of the present disclosure is shown in FIG. 5. As shown in FIG. 5, the detection task planning device comprises: Figure 5 A screening module 501 is configured to screen first observation targets with an absolute value of the yellow latitude greater than a solar avoidance angle from the observation targets, to obtain a target observation set; A first determination module 502 is configured to determine first observation parameters of each first observation target in the target observation set, and determine a first observation time of each first observation target by the spacecraft formation based on the first observation parameters; wherein the spacecraft formation comprises one concentrator and at least two concentrators; ​​The second determining module 503 is configured to determine a first observation sequence on a LEO mission orbit based on the first observation time consumption; wherein the first observation sequence is an observation sequence of the combiner for observing the first observation target according to a principle of the closest longitude. The first processing module 504 is configured to process the first observation sequence by a first processing module, i.e., a convex optimization algorithm, to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collector observes the first observation target in cooperation with the combiner on a fuel-optimal trajectory.

[0095] In one embodiment, the screening module 501 comprises: The first obtaining unit is configured to obtain the declination of each of the to-be-observed targets. The first converting unit is configured to convert the declination of the to-be-observed target into the right ascension. The eliminating unit is configured to eliminate the to-be-observed target whose absolute value of the right ascension is greater than the solar avoidance angle, and obtain the first observation target after elimination, and determine the target observation set based on the first observation target.

[0096] In one embodiment, the first determining module 502 comprises: The first determining unit is configured to determine the first observation parameter of each of the first observation targets according to the astronomical characteristics and resolution requirements of each of the first observation targets in the target observation set; wherein the first observation parameter at least comprises the sampling times, the sampling time and the baseline length.

[0097] In one embodiment, the second determining module 503 comprises: The second determining unit is configured to determine the equivalent right ascension of the combiner on the LEO mission orbit. The third determining unit is configured to determine the first observation sequence on the LEO mission orbit according to the equivalent right ascension and the first observation time consumption.

[0098] In one embodiment, the second determining module 503 comprises: The second obtaining unit is configured to obtain the position direction vector of the combiner. The fourth determining unit is configured to determine the equivalent declination of the combiner on the LEO mission orbit based on the position direction vector. The second converting unit is configured to convert the equivalent declination into the equivalent right ascension.

[0099] In one embodiment, the second determining module 503 comprises: The first calculating unit is configured to calculate the first absolute value of the difference between the right ascension of the first observation target and the equivalent right ascension. a fifth determining unit, configured to determine a first observation target corresponding to a minimum absolute value in the first absolute values as a first observation target in a first observation sequence; a second calculating unit, configured to recursively calculate the geosynchronous orbit to an ending moment of the first observation time consumption corresponding to the first observation target, and calculate a second absolute value of a difference between a remaining first observation target and the equivalent latitude; a sixth determining unit, configured to determine a first observation target corresponding to a minimum absolute value in the second absolute values as a second observation target in the first observation sequence; a first circulating unit, configured to repeatedly execute the above steps until a complete first observation sequence is obtained.

[0100] In an embodiment, the first processing module 504 comprises: a modeling unit, configured to establish a fuel optimal control model according to the first observation sequence; a third calculating unit, configured to iteratively solve a discretized dynamic equation in the fuel optimal control model according to a convex optimization algorithm to obtain a sequence serial planning of the light collector; wherein the sequence serial planning at least comprises: a relative motion state sequence, a thrust control instruction sequence and a fuel consumption mass sequence; a seventh determining unit, configured to determine a first relative distance between the light collectors at different moments based on the sequence serial planning; an eighth determining unit, configured to determine the sequence serial planning as the target sequence serial planning if the first relative distance is greater than a preset safety distance.

[0101] In an embodiment, the first processing module 504 comprises: an adjusting unit, configured to adjust a departure time and an arrival time of the light collector on the geosynchronous orbit if the first relative distance is less than the preset safety distance; a ninth determining unit, configured to determine an adjusted sequence serial planning of the light collector based on the departure time and the arrival time; a fourth calculating unit, configured to calculate a second relative distance between the light collectors at different moments based on the adjusted sequence serial planning; a first circulating unit, configured to repeatedly execute the above steps until the adjusted sequence serial planning is determined as the target sequence serial planning if the second relative distance is greater than the preset safety distance.

[0102] In an embodiment, the device further comprises: The verification module is configured to verify whether the target sequence serial planning satisfies a second condition; the second condition is that the target sequence serial planning satisfies a task time constraint, a fuel consumption constraint, and a sun avoidance angle constraint. The third determination module is configured to determine second observation parameters of each first observation target in the target observation set, in a case where the target sequence serial planning does not satisfy the second condition; the second observation parameters are parameters obtained by adjusting the first observation parameters. The fourth determination module is configured to determine a second observation sequence on the geodesic point task orbit based on the second observation parameters. The second processing module is configured to process the second observation sequence by using a convex optimization algorithm, to obtain an updated target sequence serial planning.

[0103] The electronic device provided by the example embodiments of the present disclosure includes at least one processor, a memory for storing instructions executable by the at least one processor, and the at least one processor is configured to execute the instructions to implement the above-mentioned method disclosed by the example embodiments of the present disclosure.

[0104] Figure 6 The electronic device provided by the example embodiments of the present disclosure includes at least one processor, a memory for storing instructions executable by the at least one processor, and the at least one processor is configured to execute the instructions to implement the above-mentioned method disclosed by the example embodiments of the present disclosure. Figure 6 As shown in FIG. 6, the electronic device 600 includes at least one processor 601 and a memory 602 coupled to the processor 601, and the processor 601 can execute corresponding steps in the above-mentioned method disclosed by the example embodiments of the present disclosure.

[0105] The processor 601 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip that has the processing capability of signals. Each step in the method disclosed in the embodiments of the present disclosure can be completed by the integrated logic circuit of hardware or the instructions in the form of software in the processor 601. The processor 601 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as hardware code processing for execution, or executed by a combination of hardware and software modules in the code processing. The software module can be located in the memory 602, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, and other mature storage media in the art. The processor 601 reads the information in the memory 602, and completes the steps of the above method in combination with the hardware thereof.

[0106] In addition, various operations / processes according to the present disclosure, when implemented by software and / or firmware, can be loaded from a storage medium or a network to a computer system with a dedicated hardware structure, such as Figure 7 The computer system 700 shown is installed with programs constituting the software, and when various programs are installed, the computer system can perform various functions, including functions such as those described above. Figure 7 A structural block diagram of a computer system provided for an exemplary embodiment of the present disclosure is shown.

[0107] The computer system 700 is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown in the computer system 700, their connections, and their functions, as described herein, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0108] As Figure 7As shown, the computer system 700 includes a computing unit 701 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 702 or a computer program loaded into a random access memory (RAM) 703 from a storage unit 708. Various programs and data required for the operation of the computer system 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0109] A plurality of components in the computer system 700 are connected to the I / O interface 705, including an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 can be any type of device that can input information to the computer system 700, and can receive inputted digital or character information, and generate key signal inputs related to user settings and / or function controls of the electronic device. The output unit 707 can be any type of device that can present information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 708 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 709 allows the computer system 700 to exchange information / data with other devices through a network such as the Internet, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, for example, a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0110] The computing unit 701 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 701 performs various methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure can be implemented as a computer software program tangibly embodied in a machine-readable medium, for example, the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 600 via the ROM 702 and / or the communication unit 709. In some embodiments, the computing unit 701 can be configured to perform the above-described methods disclosed by embodiments of the present disclosure by any other appropriate means, for example, by means of firmware.

[0111] The embodiment of the present disclosure further provides a computer readable storage medium, wherein when instructions in the computer readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the above method disclosed by the embodiment of the present disclosure.

[0112] The computer readable storage medium in the embodiment of the present disclosure can be a tangible medium, which can contain or store programs for use by or in connection with an instruction execution system, apparatus or device. The above computer readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. More specifically, the above computer readable storage medium can include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0113] The above computer readable medium can be included in the above electronic device; or can exist separately without being assembled into the electronic device.

[0114] Figure 8 A computer program product 800 is provided for an exemplary embodiment of the present disclosure, and the computer program product 800 includes a computer program 801, wherein the computer program 801 is executed by a processor to implement the above method disclosed by the embodiment of the present disclosure.

[0115] In the embodiments of the present disclosure, computer program code for carrying out operations of the present disclosure can be written in one or more programming languages or combinations of the same, including object oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" programming language or similar programming languages. The program code can be executed completely on a user computer, partially on the user computer and partially on a remote computer, as a separate software package, partially on the user computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer.

[0116] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block 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 may 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 flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0117] The modules, components or units described in the embodiments of the present disclosure can be implemented by software or by hardware. In some cases, the name of the module, component or unit does not constitute a limitation on the module, component or unit itself.

[0118] The functions described above can be performed by one or more hardware logic components. For example, non-limiting examples of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0119] The above description is merely some embodiments of the present disclosure and a description of principles of technology used. It should be understood by those skilled in the art that the disclosed scope of the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and also covers other technical solutions formed by any combinations of the above technical features or equivalent features without departing from the above disclosed concept. For example, the technical solutions formed by replacing the above features with technical features disclosed in the present disclosure (but not limited to) having similar functions.

[0120] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood that the above examples are merely for illustration, and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method of mission planning for a probe, characterized by, The method comprises the following steps: Screening a first observation target with an absolute value of declination greater than a solar avoidance angle from the to-be-observed targets to obtain a target observation set; Determining a first observation parameter of each first observation target in the target observation set, and determining a first observation time consumption of the spacecraft formation to each first observation target based on the first observation parameter; wherein the spacecraft formation comprises a beam combiner and at least two light collectors; Determining a first observation sequence on a sun-synchronous orbit based on the first observation time consumption; wherein the first observation sequence is an observation sequence of the first observation targets observed by the beam combiner according to a principle of the nearest longitude; Processing the first observation sequence by a convex optimization algorithm to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collectors observe the first observation targets in cooperation with the beam combiner under a fuel-optimal trajectory.

2. The method of claim 1, wherein, The method of screening a first observation target with an absolute value of declination greater than a solar avoidance angle from the to-be-observed targets to obtain a target observation set comprises the following steps: Obtaining the right ascension of each to-be-observed target; Converting the right ascension of the to-be-observed target into declination; Removing the to-be-observed target with an absolute value of declination greater than the solar avoidance angle from the to-be-observed targets to obtain a first observation target, and determining the target observation set based on the first observation target.

3. The method of claim 1, wherein, The method of determining a first observation parameter of each first observation target in the target observation set comprises the following steps: Determining the first observation parameter of each first observation target according to the astronomical characteristics and resolution requirements of each first observation target in the target observation set; wherein the first observation parameter at least comprises a sampling number, a sampling time and a baseline length.

4. The method of claim 1, wherein, The method of determining a first observation sequence on a sun-synchronous orbit based on the first observation time consumption comprises the following steps: Determining an equivalent declination of the beam combiner on the sun-synchronous orbit; Determining the first observation sequence on the sun-synchronous orbit according to the equivalent declination and the first observation time consumption.

5. The method of claim 4, wherein, The method of determining an equivalent declination of the beam combiner on a sun-synchronous orbit comprises the following steps: Obtaining a position direction vector of the beam combiner; Determining an equivalent right ascension of the beam combiner on the sun-synchronous orbit based on the position direction vector; Converting the equivalent right ascension into the equivalent declination.

6. The method of claim 4, wherein, The method of determining a first observation sequence on a sun-synchronous orbit according to the equivalent declination and the first observation time consumption comprises the following steps: Calculating a first absolute value of a difference between the declination of the first observation target and the equivalent declination; Determining a first observation target corresponding to a minimum absolute value in the first absolute value as a first observation target in the first observation sequence; Recursively executing the above steps until a complete first observation sequence is obtained. ​ ​ 7. The method of claim 1, wherein, The method further comprises: If the first relative distance is less than the preset safety distance, adjusting the launch time and the arrival time of the light collectors on the LEO mission orbit; determining an adjusted sequence serial planning of the light collectors based on the launch time and the arrival time; calculating a second relative distance between the light collectors at different time instants based on the adjusted sequence serial planning; repeating the above steps until the second relative distance is greater than the preset safety distance, and determining the adjusted sequence serial planning as the target sequence serial planning.

8. The method of claim 7, wherein, After the first observation sequence is processed by the convex optimization algorithm to obtain the target sequence serial planning, the method further comprises: verifying whether the target sequence serial planning satisfies a second condition; wherein the second condition is that the target sequence serial planning satisfies a mission time constraint, a fuel consumption constraint and a solar avoidance angle constraint; in the case that the target sequence serial planning does not satisfy the second condition, determining second observation parameters of each first observation target in the target observation set; wherein the second observation parameters are parameters obtained by adjusting the first observation parameters; determining a second observation sequence on the LEO mission orbit based on the second observation parameters; processing the second observation sequence by the convex optimization algorithm to obtain an updated target sequence serial planning.

9. The method of claim 1, wherein, comprises: a screening module configured to screen, from the to-be-observed targets, first observation targets whose absolute values of the ecliptic latitudes are greater than a solar avoidance angle, to obtain a target observation set; a first determining module configured to determine first observation parameters of each first observation target in the target observation set, and determine, based on the first observation parameters, a first observation time consumption of the spacecraft formation for each first observation target; wherein the spacecraft formation comprises one beam combiner and at least two light collectors; a second determining module configured to determine a first observation sequence on a LEO mission orbit based on the first observation time consumption; wherein the first observation sequence is an observation sequence of the beam combiner for the first observation targets according to a principle of the closest longitude; a first processing module configured to process the first observation sequence by the convex optimization algorithm to obtain a target sequence serial planning; wherein the target sequence serial planning is used to indicate that the light collectors observe the first observation targets in cooperation with the beam combiner under a fuel-optimal trajectory.

10. A mission planning apparatus, characterized by comprising: comprises: at least one processor; ​ ​ ​ 11. An electronic device, comprising: ​ ​ a memory for storing the instructions executable by the at least one processor; wherein the at least one processor is configured to execute the instructions to implement the method of any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enable the electronic device to perform the method of any one of claims 1-9.

13. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the method of any one of claims 1-9.

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