A sea rocket recovery method, device, equipment and storage medium

Abstract

This invention discloses a method, apparatus, equipment, and storage medium for marine rocket recovery, applied in the field of rocket recovery. The method acquires wave data of the recovery operation area using sensors, and determines predicted wave data for the marine recovery operation point based on this wave data. The predicted wave data is then input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the vessel under the predicted wave data. Based on the predicted wave data and the predicted deck motion range, risk assessment results are determined for each recovery time point within the rocket recovery window. Finally, based on the risk assessment results, the target launch time point of the rocket is determined within the rocket launch window. This invention improves the accuracy of wave prediction by collecting wave data of the recovery operation area and predicting the predicted wave data for the rocket recovery point at future times, thereby providing reliable guidance for rocket recovery decisions.

Description

Technical Field

[0001] This invention relates to the field of rocket recovery, and in particular to a method for recovering rockets at sea, a device for recovering rockets at sea, electronic equipment, and a computer-readable storage medium. Background Technology

[0002] Marine rocket recovery requires completing critical actions within a very short landing window. The operational area often experiences both distant swells and local wind and waves simultaneously. The arrival time and size of wave crests at the rocket recovery point are uneven. If a large wave crest occurs precisely in the critical few seconds of landing, it amplifies deck movement, impacting rocket recovery safety and efficiency. Currently, this field of marine rocket recovery mainly relies on single-point wave monitoring or large-scale weather forecasting. These methods have significant limitations: single-point monitoring can often only detect local waves a few minutes in advance, but cannot predict the arrival time of wave groups 20 kilometers away; large-scale wave weather forecasts typically have a time resolution of several hours or more, which is insufficient to meet the 10-second accuracy requirement of the rocket landing window, and cannot directly correlate this forecast data with the ship's motion response, thus failing to provide quantitative, unified, and executable operational instructions for rocket recovery command decisions. Summary of the Invention

[0003] The purpose of this invention is to provide a method, device, electronic equipment, and computer-readable storage medium for marine rocket recovery, applicable to the field of rocket recovery. This method improves the accuracy of wave prediction by collecting wave data from the sea area where the recovery operation is being carried out and predicting the wave data of the rocket recovery point at future times based on the wave data, thereby providing reliable guidance for rocket recovery decisions.

[0004] To solve the above-mentioned technical problems, the present invention provides a method for recovering rockets at sea, comprising: Acquire wave data of the sea area where the recovery operation is to be carried out by sensors, and determine the predicted wave data of the sea recovery operation point based on the wave data; The predicted wave data is input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. Based on the predicted wave data and the predicted deck motion range, the risk assessment results for each recovery time point within the rocket recovery window are determined. Based on the risk assessment results, the target launch time of the rocket is determined within the rocket launch window.

[0005] Optionally, determining the predicted wave data for the offshore recovery operation site based on the wave data includes: The wave arrival time is determined based on the distance of the sensor from the offshore recovery operation point and the wave propagation speed. The predicted wave data for the offshore recovery operation site is determined based on the wave arrival time and the wave data; the wave data includes: significant wave height, main period, and main wave direction.

[0006] Optionally, the predicted wave data is input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data, including: The ship parameters of the rocket recovery vessel are obtained, and the motion response model in the simulation software is used to simulate the predicted wave data and the ship parameters to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. Alternatively, seakeeping test data of a scale model of a rocket recovery vessel can be obtained, and the motion response model can be constructed based on the seakeeping test data. The predicted wave data can be input into the motion response model to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

[0007] Optionally, based on the predicted wave data and the predicted deck motion range, the risk assessment results for each recovery time point within the rocket recovery window are determined, including: Determine the wave safety threshold and the deck motion safety threshold; Based on the predicted wave data and the wave safety threshold, the first risk assessment result for each recovery time point within the rocket recovery window is determined. Based on the predicted deck motion range and the deck motion safety threshold, the second risk assessment result for each recovery time point within the rocket recovery window is determined; The risk assessment results for each recovery time point within the rocket recovery window are determined based on the first risk assessment results and the second risk assessment results.

[0008] Optionally, the method further includes: The wave prediction deviation is determined based on the measured wave data and the predicted wave data. Determine the deck motion prediction deviation based on the measured deck motion range and the predicted deck motion range; The positioning error is corrected based on the wave prediction deviation and the deck motion prediction deviation.

[0009] Optionally, acquire wave data of the sea area where the recovery operation is being carried out, obtained from sensor data, including: The raw wave data of the recovery operation area is obtained by wave measurement array sensors deployed based on the dominant swell direction; The original wave data is filtered in real time, delayed, and outlier removed to obtain the wave data.

[0010] Optionally, the risk assessment results may include: recommendation, caution, and suspension.

[0011] To solve the above-mentioned technical problems, the present invention provides a marine rocket recovery device, comprising: The first module is used to acquire wave data of the sea area where the recovery operation is carried out by the sensor, and to determine the predicted wave data of the sea recovery operation point based on the wave data. The second module is used to input the predicted wave data into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. The third module is used to determine the risk assessment results of each recovery time point within the rocket recovery window based on the predicted wave data and the predicted deck motion range. The fourth module is used to determine the target launch time of the rocket within the rocket launch window based on the risk assessment results.

[0012] To solve the above-mentioned technical problems, the present invention provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to implement the above-described method for recovering marine rockets when executing the computer program.

[0013] To address the aforementioned technical problems, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the aforementioned method for recovering marine rockets.

[0014] As can be seen, this invention acquires wave data of the recovery operation area using sensors, determines predicted wave data for the recovery operation point based on this wave data, inputs the predicted wave data into the motion response model of the rocket recovery vessel, obtains the predicted deck motion range of the rocket recovery vessel under the predicted wave data, determines the risk assessment results for each recovery time point within the rocket recovery window based on the predicted wave data and the predicted deck motion range, and determines the target launch time point of the rocket within the rocket launch window based on the risk assessment results. This invention improves the accuracy of wave prediction by collecting wave data of the recovery operation area and predicting the predicted wave data for the rocket recovery point at future times, thereby providing reliable guidance for rocket recovery decisions. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 A flowchart of a method for recovering a marine rocket provided in an embodiment of the present invention; Figure 2 This is a functional closed-loop diagram of a marine rocket recovery method provided in an embodiment of the present invention; Figure 3 This is an example of a marine rocket recovery process provided in an embodiment of the present invention; Figure 4 An example diagram of wave roses at a marine recovery site provided in an embodiment of the present invention; Figure 5 This is a structural block diagram of a marine rocket recovery device provided in an embodiment of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] At sea, rocket recovery requires critical actions to be completed within a very short landing window. The operating area often has both distant swells and local wind and waves, and the arrival time and size of wave crests are not uniform. If a large wave crest occurs in the critical few seconds of landing, it will amplify deck movement and affect the safety and efficiency of rocket recovery.

[0019] Currently, this field mainly relies on single-point wave monitoring or large-scale weather forecasting. These methods have significant limitations: single-point monitoring can often only detect local waves a few minutes in advance, but cannot predict the arrival time of wave groups 20 kilometers away; the time resolution of large-scale wave weather forecasts is usually more than several hours, which is difficult to meet the accuracy requirements of 10 seconds for rocket landing windows, and it is even more impossible to directly correlate these forecast data with the motion response of ships, thus failing to provide quantitative, unified, and executable operational instructions for command and decision-making.

[0020] This invention aims to address the shortcomings of existing technologies by providing a systematic and closed-loop operational guidance solution, specifically addressing the following issues: accurately predicting wave intensity, main period, main direction, and probability of abnormal wave peaks approaching the rocket recovery point several tens of minutes in advance; establishing a linkage model between wave forecasting and ship motion response to quantitatively assess the stability of the recovery ship's deck and update iteratively in real time; and generating intuitive operational guidance instructions (recommendation / caution / pause) based on the quantitative assessment results, which are automatically mapped to the ignition window, improving decision-making efficiency and cross-functional collaboration consistency.

[0021] The following combination Figure 1 , Figure 1 A flowchart of a method for recovering a marine rocket provided in an embodiment of the present invention may include: S101: Acquire wave data of the sea area where the recovery operation is to be carried out by the sensor, and determine the predicted wave data of the sea recovery operation point based on the wave data.

[0022] The functional closed-loop diagram of the marine rocket recovery method in this embodiment can be shown as follows: Figure 2 As shown, wave data of the recovery operation area can be collected first by sensors. Specifically, the original wave data of the recovery operation area is obtained by wave measuring array sensors deployed based on the dominant swell direction. The wave measuring array can be a matrix wave measuring array.

[0023] This embodiment does not limit the number of sensors or the arrangement of the sensors. The sensors can communicate wirelessly, via satellite or high frequency bands and have the ability to resume transmission after interruption. Generally, the spacing between sensors is no more than 1 / 4 of the dominant wavelength.

[0024] The system continuously collects sea surface elevation and wave direction data using sensors. Through array signal processing and directional spectrum inversion methods, basic information such as wave height, wave direction, and wave speed are obtained from the wave meter sensors at a single measurement point. Combined with the known relative azimuth and distance of multiple measurement points, the wave directional spectrum, group velocity, phase velocity, and multi-directional energy distribution characteristics are further extracted.

[0025] Furthermore, such as Figure 2 As shown, the collected wave data is input into the data integration and processing module. First, real-time filtering, delay compensation, and outlier removal are performed on the multi-point data. Then, wave data from the offshore recovery operation point is predicted. In this embodiment, the post-collection processing and prediction workflow can be executed by the operation guidance vessel or the land-based guidance base.

[0026] In the real-time filtering, delay compensation, and outlier removal stages, the data from different measuring points are first normalized to unify time and units. Then, a filtering algorithm removes slow background changes and noise. Since both the wave meter and data transmission have delays, the delay of each data stream can be determined, and data alignment is performed based on these delays. Furthermore, outliers are checked, such as numerical mutations, significant differences between the numerical period and the wave period, and missing data from the sensors. These outliers are removed or marked. In this embodiment, missing data can be filled in using interpolation algorithms or directly deleted. Finally, the processed data is checked against the overall wave height. If they match, predictions can be made based on the processed wave data.

[0027] After acquiring the processed wave data, the propagation of the waves can first be deduced using mathematical models to obtain predicted wave data for the offshore recovery operation site. Specifically, the wave arrival time can be determined based on the distance between the sensor and the offshore recovery operation site and the wave propagation speed; based on the wave arrival time and wave data, predicted wave data for the offshore recovery operation site can be determined; the wave data mainly includes: significant wave height H. s (Significant Wave Height), Main Period T p (PeakPeriod) and the main wave direction θ p (Peak Wave Direction).

[0028] The method for calculating significant wave height is as follows: ; In the formula, H s The significant wave height, i.e. the average wave height at sea surface, is represented by m0, which is the sum of wave energy.

[0029] The main cycle is calculated as follows: ; In the formula, T p The main cycle, or peak cycle, is the rhythm of the main wave. π is the mathematical constant pi, and ω is the mathematical constant ω. p This is the frequency at which wave energy is strongest.

[0030] Furthermore, the wave propagation speed can be calculated. In deep water, the energy propagation speed is half the phase velocity. Therefore, the wave propagation speed is calculated as follows: ; In the formula, C g ω is the wave propagation speed, ω is the angular frequency, representing the "speed of wave vibration," that is, the rate of phase change per unit time, and k is the wave number, describing the density of the wave in space, that is, how many ripples are contained per unit distance. This embodiment can determine the effective group velocity based on the wave propagation speed, and calculate the time it takes for the waves to reach the offshore recovery point based on the effective group velocity and the distance between the sensor and the offshore recovery point. ; In the formula, t is the wave arrival time, L is the distance between the sensor and the offshore recovery operation point, and C... g,eff The effective group velocity represents the actual effective speed at which wave energy propagates.

[0031] In other words, for each wave measured by the sensor, the time it takes for the wave to reach the offshore recovery point from the sensor can be determined based on the wave arrival time. Since the attenuation of the wave during propagation is negligible, the wave data when the wave arrives at the offshore recovery point can be consistent with the wave data measured by the sensor. That is, the predicted wave data can include the wave arrival time, the significant wave height, main period, and main wave direction measured by the sensor.

[0032] S102: Input the predicted wave data into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

[0033] Furthermore, such as Figure 2 As shown, propagation motion modeling and response evaluation can be performed. The predicted wave data is input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

[0034] Specifically, the ship parameters of the rocket recovery vessel can be obtained, and the motion response model in the simulation software can be used to simulate the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

[0035] It is also possible to obtain the seakeeping test data of the scale model of the rocket recovery ship, construct a motion response model based on the seakeeping test data, input the predicted wave data into the motion response model, and obtain the predicted deck motion range of the rocket recovery ship under the predicted wave data.

[0036] After obtaining the predicted wave data, it can be input into the ship's motion response model to calculate the ship's motion in six degrees of freedom, including pitch, roll, heave, etc. The ship's motion response model in this embodiment is not universal but is constructed based on the ship's specific characteristics. This embodiment can obtain the predicted deck motion range by inputting key dimensional parameters such as ship length, beam, depth, block coefficient, and underwater hull form, which can then be calculated by specialized big data hydrodynamic software. Alternatively, experimental data can be directly obtained by conducting seakeeping tests on a scale model of a rocket recovery ship in a water tank, and then processed into response software specifically for that ship type. This software model can output the predicted deck motion range.

[0037] Because the rocket recovery vessel, the operation guidance vessel, and the sensors may have positioning errors, the actual measured wave data and deck motion range may not be consistent with the predicted wave data and predicted deck motion range. Therefore, this embodiment can correct the positioning error based on the wave prediction deviation and the deck motion prediction deviation.

[0038] That is, this embodiment can determine the wave prediction deviation based on the measured wave data and the predicted wave data; determine the deck motion prediction deviation based on the measured deck motion range and the predicted deck motion range; and correct the positioning error based on the wave prediction deviation and the deck motion prediction deviation.

[0039] S103: Risk assessment results for each recovery time point within the rocket recovery window are determined based on predicted wave data and predicted deck motion range.

[0040] Furthermore, such as Figure 2 As shown, this embodiment can predict wave data and the predicted deck motion range, inputting them into the operation guidance module. The operation guidance module uses the risk assessment results for each recovery time point within the rocket recovery window. In this embodiment, the risk assessment results are used to characterize the risk of performing rocket recovery operations at the corresponding time points. The risk assessment results can include: recommended, cautious, and suspended.

[0041] Specifically, firstly, wave safety thresholds and deck motion safety thresholds (such as roll angle thresholds and deck motion peak values) are determined; based on predicted wave data and wave safety thresholds, the first risk assessment results for each recovery time point within the rocket recovery window are determined; based on predicted deck motion ranges and deck motion safety thresholds, the second risk assessment results for each recovery time point within the rocket recovery window are determined; and based on the first and second risk assessment results, the risk assessment results for each recovery time point within the rocket recovery window are determined.

[0042] S104: Determine the target launch time of the rocket within the launch window based on the risk assessment results.

[0043] like Figure 2 As shown, this embodiment can determine the target launch time of the rocket within the rocket launch window based on the risk assessment results. Specifically, it can be confirmed manually. After manual confirmation, it enters the execution phase of the selected optimal time period and completes the future rendezvous with the rocket recovery ship.

[0044] This embodiment determines the target recovery time point from each recovery time point based on the risk assessment results. According to the rocket recovery operation time, the launch time point corresponding to the target recovery time point is determined as the target launch time point. The rocket is launched at the target launch time point and recovered at the target recovery time point.

[0045] A specific example of the rocket recovery process can be found as follows: Figure 3 As shown, the operation guidance module can calculate wave data for the next 30 minutes based on wave data from wave measurement points and redundant measurement points. It ultimately determines that the wave pattern at the 25th minute is most suitable for landing the rocket. Since the rocket's flight time is 15 minutes, setting the target launch time 10 minutes later allows for rocket recovery at the 25th minute. The wave rose diagram of the rocket recovery operation point can be shown below. Figure 4 As shown, N, S, W, and E correspond to North, South, West, and East, respectively. Median is the median wave height, and Mean is the average wave height, all in meters.

[0046] Through the above process, this invention can identify abnormal wave peaks in advance, reducing the risk of encountering large waves during rocket recovery; it unifies decision-making through intuitive hierarchical instructions, improving cross-position collaboration efficiency; it reduces waiting time caused by overly conservative judgments, increasing launch window utilization; and its flexible system structure allows for rapid migration and application across different sea areas and ship types, requiring only adjustment of threshold parameters based on local experience.

[0047] Based on the above embodiments, the present invention improves the accuracy of wave prediction by collecting wave data of the sea area where the rocket recovery operation is carried out and predicting the predicted wave data of the rocket recovery point at future time based on the wave data, thereby providing reliable guidance for rocket recovery decisions.

[0048] The following combination Figure 5 , Figure 5 This is a structural block diagram of a marine rocket recovery device provided in an embodiment of the present invention. The device may include: The first module 100 is used to acquire wave data of the sea area where the recovery operation is carried out by the sensor, and to determine the predicted wave data of the sea recovery operation point based on the wave data. The second module 200 is used to input the predicted wave data into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. The third module 300 is used to determine the risk assessment results of each recovery time point within the rocket recovery window based on predicted wave data and predicted deck motion range. The fourth module 400 is used to determine the target launch time of the rocket within the launch window based on the risk assessment results.

[0049] Based on the above embodiments, the present invention improves the accuracy of wave prediction by collecting wave data of the sea area where the rocket recovery operation is carried out and predicting the predicted wave data of the rocket recovery point at future time based on the wave data, thereby providing reliable guidance for rocket recovery decisions.

[0050] Based on the above embodiments, the first module 100 may include: The first unit is used to determine the wave arrival time based on the distance of the sensor from the offshore recovery operation point and the wave propagation speed; The second unit is used to predict wave data for determining the offshore recovery operation point based on wave arrival time and wave data; the wave data includes: significant wave height, main period, and main wave direction.

[0051] Based on the above embodiments, the second module 200 may include: The third unit is used to obtain the ship parameters of the rocket recovery vessel. Based on the predicted wave data and ship parameters, the motion response model in the simulation software is used to simulate and obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. The fourth unit is used to obtain seakeeping test data for a scale model of the rocket recovery vessel. Based on the seakeeping test data, a motion response model is constructed. The predicted wave data is input into the motion response model to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

[0052] Based on the above embodiments, the third module 300 may include: The fifth unit is used to determine the wave safety threshold and the deck motion safety threshold; The sixth unit is used to determine the first risk assessment results for each recovery time point within the rocket recovery window based on predicted wave data and wave safety thresholds. The seventh unit is used to determine the second risk assessment results for each recovery time point within the rocket recovery window based on the predicted deck motion range and deck motion safety threshold. The eighth unit is used to determine the risk assessment results for each recovery time point within the rocket recovery window based on the results of the first and second risk assessments.

[0053] Based on the above embodiments, the device may further include: The fifth module is used to determine the wave prediction deviation based on measured wave data and predicted wave data; The sixth module is used to determine the deck motion prediction deviation based on the measured deck motion range and the predicted deck motion range; The seventh module is used to correct positioning errors based on wave prediction deviations and deck motion prediction deviations.

[0054] Based on the above embodiments, the first module 100 may include: The eighth unit is used to acquire raw wave data of the recovery operation area by wave measurement array sensors deployed based on the dominant swell direction; Unit 9 is used to perform real-time filtering, delay compensation, and outlier removal on the raw wave data to obtain the final wave data.

[0055] Based on the above embodiments, the risk assessment results include: Recommendation, Caution, and Suspension.

[0056] Based on the above embodiments, the present invention also provides an electronic device, which may include a memory and a processor. The memory stores a computer program, and when the processor invokes the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the device may also include various necessary network interfaces, a power supply, and other components.

[0057] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an execution terminal or processor, can implement the method provided in the embodiments of the present invention; the storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0058] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method of recovering a sea launched rocket, the method comprising: include: The wave data of the recovery operation area is acquired by the sensor, and the predicted wave data of the recovery operation point at sea is determined based on the wave data. The predicted wave data is input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. Based on the predicted wave data and the predicted deck motion range, the risk assessment results for each recovery time point within the rocket recovery window are determined. Based on the risk assessment results, the target launch time of the rocket is determined within the rocket launch window.

2. The method of claim 1, wherein, Based on the wave data, predicted wave data for offshore recovery operation sites is determined, including: The wave arrival time is determined based on the distance of the sensor from the offshore recovery operation point and the wave propagation speed. The predicted wave data for the offshore recovery operation site is determined based on the wave arrival time and the wave data; the wave data includes: significant wave height, main period, and main wave direction.

3. The method of claim 1, wherein, The predicted wave data is input into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data, including: The ship parameters of the rocket recovery vessel are obtained, and the motion response model in the simulation software is used to simulate the predicted wave data and the ship parameters to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. Alternatively, seakeeping test data of a scale model of a rocket recovery vessel can be obtained, and the motion response model can be constructed based on the seakeeping test data. The predicted wave data can be input into the motion response model to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data.

4. The method of claim 1, wherein, Based on the predicted wave data and the predicted deck motion range, the risk assessment results for each recovery time point within the rocket recovery window are determined, including: Determine the wave safety threshold and the deck motion safety threshold; Based on the predicted wave data and the wave safety threshold, the first risk assessment result for each of the recovery time points within the rocket recovery window is determined. Based on the predicted deck motion range and the deck motion safety threshold, the second risk assessment result for each of the recovery time points within the rocket recovery window is determined; The risk assessment results for each recovery time point within the rocket recovery window are determined based on the first risk assessment results and the second risk assessment results.

5. The method of claim 1, wherein, Also includes: The wave prediction deviation is determined based on the measured wave data and the predicted wave data. Determine the deck motion prediction deviation based on the measured deck motion range and the predicted deck motion range; The positioning error is corrected based on the wave prediction deviation and the deck motion prediction deviation.

6. The method of claim 1, wherein, Acquire wave data from the sea area where the recovery operation is being carried out, collected by sensors, including: The raw wave data of the recovery operation area is obtained by wave measuring array sensors deployed based on the dominant swell direction; The original wave data is filtered in real time, delayed, and outlier removed to obtain the wave data.

7. The method of claim 1, wherein, The risk assessment results include: Recommendation, Caution, and Suspension.

8. A marine rocket recovery apparatus, characterized by, include: The first module is used to acquire wave data of the sea area where the recovery operation is carried out by the sensor, and to determine the predicted wave data of the sea recovery operation point based on the wave data. The second module is used to input the predicted wave data into the motion response model of the rocket recovery vessel to obtain the predicted deck motion range of the rocket recovery vessel under the predicted wave data. The third module is used to determine the risk assessment results of each recovery time point within the rocket recovery window based on the predicted wave data and the predicted deck motion range. The fourth module is used to determine the target launch time of the rocket within the rocket launch window based on the risk assessment results.

9. An electronic device, comprising: include: Memory, used to store computer programs; A processor for executing the computer program to implement the marine rocket recovery method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the marine rocket recovery method as described in any one of claims 1 to 7.

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