Spacecraft control information determination method, apparatus, device, medium, and product

Abstract

The application discloses a spacecraft control information determination method, device, equipment, medium and product, and relates to the technical field of spacecrafts. The method obtains first state information, constraint information, control input information and second state information of an associated spacecraft of the spacecraft; determines a constraint violation value according to the first state information and the constraint information; determines a degradation value according to the constraint violation value, the first state information and the control input information; when the degradation value or the control input information exceeds a set threshold value, adjusts a degradation reference trajectory according to the constraint violation value and the degradation value, and determines target control input information in combination with the first state information and the second state information; otherwise, determines updated control input information according to the first state information, the second state information and the constraint violation value, and determines the target control input information according to the first state information, the constraint violation value and the updated control input information. The embodiment of the application realizes the determination of the control input information in the case that the constraints cannot be satisfied simultaneously.

Description

Technical Field

[0001] This application belongs to the field of spacecraft technology, and in particular relates to a method, apparatus, equipment, medium and product for determining spacecraft control information. Background Technology

[0002] With the development of spacecraft cooperative technology, multi-spacecraft cooperative maneuvering places higher demands on the safety and reliability of the system under complex constraints. In actual missions, spacecraft must simultaneously meet multiple constraints such as field-of-view limitations, collision avoidance constraints, antenna pointing constraints, and actuator capability limitations, and on this basis, achieve high-precision cooperative control.

[0003] Existing multi-spacecraft cooperative control methods are typically based on relative motion dynamics models, combined with optimal control, model predictive control, and other methods, to solve for control inputs under given constraints, thereby regulating the relative states of multiple spacecraft. Furthermore, for multi-constraint problems, existing methods often transform constraints into inequality conditions and embed them into optimization or control frameworks to ensure that the system operation meets various constraint requirements. However, existing methods rely on the premise that feasible solutions always exist for the constraints, i.e., the system state and control inputs can simultaneously satisfy all constraints. In real-world mission environments, due to factors such as multi-source constraint coupling, environmental disturbances, and limited actuator capabilities, spacecraft systems may encounter situations where constraints cannot be simultaneously satisfied or control inputs are unreachable, leading to infeasible solutions for control input information, resulting in control failure or a significant degradation in system performance. Summary of the Invention

[0004] This application provides a method, apparatus, device, medium, and product for determining spacecraft control information, in order to solve the problem that existing methods have no feasible solution for control input information when constraints cannot be simultaneously satisfied or control input is unreachable, leading to control failure or significant degradation of system performance.

[0005] In a first aspect, embodiments of this application provide a method for determining spacecraft control information, the method comprising: Acquire the spacecraft's first state information, constraint information, control input information, and the second state information of the spacecraft's associated spacecraft; Determine the constraint violation value of the spacecraft based on the first state information and constraint information; The degradation value of the spacecraft is determined based on the first state information, control input information, and constraint violation values; If the degradation value exceeds the first preset threshold or the control input information exceeds the second preset threshold, the spacecraft's preset reference trajectory is adjusted according to the constraint violation value and the degradation value to obtain the degradation reference trajectory, and the target control input information is determined according to the first state information, the second state information and the degradation reference trajectory. If the degradation value does not exceed the first set threshold and the control input information does not exceed the second set threshold, the updated control input information is determined based on the first state information, the second state information and the constraint violation value, and the target control input information is determined based on the first state information, the constraint violation value and the updated control input information.

[0006] Secondly, embodiments of this application provide a device for determining spacecraft control information, the device comprising: The acquisition module is used to acquire the spacecraft's first state information, constraint information, control input information, and the second state information of the spacecraft's associated spacecraft; The determination module is used to determine the constraint violation value of the spacecraft based on the first state information and constraint information; The determination module is also used to determine the degradation value of the spacecraft based on the first state information, control input information, and constraint violation value; The determination module is also used to adjust the spacecraft's preset reference trajectory according to the constraint violation value and the degradation value to obtain a degradation reference trajectory when the degradation value exceeds the first preset threshold or the control input information exceeds the second preset threshold, and to determine the target control input information according to the first state information, the second state information and the degradation reference trajectory; The determination module is further configured to determine updated control input information based on the first state information, the second state information, and the constraint violation value, and to determine target control input information based on the first state information, the constraint violation value, and the updated control input information, provided that the degradation value does not exceed the first set threshold and the control input information does not exceed the second set threshold.

[0007] Thirdly, embodiments of this application provide a terminal device, which includes: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the method for determining spacecraft control information as described in the first aspect.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the spacecraft control information determination method as described in the first aspect.

[0009] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the spacecraft control information determination method as described in the first aspect.

[0010] This application provides a method, apparatus, device, medium, and product for determining spacecraft control information. The method first acquires the spacecraft's first state information, control input information, constraint information, and the second state information of associated spacecraft, providing a data foundation for subsequent steps. By calculating constraint violation values ​​reflecting constraint violations, and combining these with the first state information reflecting actual operational deviations and the control input information reflecting control load levels, a degradation value reflecting the severity of spacecraft operation and conflicts is obtained. When the degradation value exceeds a first preset threshold, or the control input information exceeds a second preset threshold, it indicates that it is difficult to balance constraint requirements and control execution capabilities under the current environment. Therefore, the original reference trajectory of the spacecraft is adjusted to generate a degraded reference trajectory, and the target control input information is re-determined based on the degraded reference trajectory, reducing the difficulty of constraint satisfaction at the trajectory level. When the degradation value does not exceed the first preset threshold and the control input information does not exceed the second preset threshold, it indicates that the system is in a stable and adjustable operating condition. By combining its own first state information, the second state information of the associated spacecraft, and the constraint violation value, the updated control input information is determined by comprehensively considering the cooperative relationship between spacecraft and the constraint deviation. The updated control input information is then further adjusted based on the first state information and the constraint violation value, ultimately determining the target control input information. This embodiment of the application achieves the determination of control input information when constraints cannot be simultaneously satisfied or control inputs are unattainable, thereby improving control effectiveness and system performance. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating the method for determining spacecraft control information provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the method for determining degradation values ​​provided in an embodiment of this application; Figure 3 This is a flowchart illustrating the method for determining target control input information provided in an embodiment of this application; Figure 4 This is a flowchart illustrating an overall method for determining spacecraft control information provided in an embodiment of this application. Figure 5 This is a schematic diagram of the structure of the spacecraft control information determination device provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0013] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0014] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply 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 limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0015] With the development of complex missions such as on-orbit servicing, distributed observation, and space assembly, multi-spacecraft cooperative maneuvering places higher demands on the safety and reliability of systems under complex constraints. In practical missions, spacecraft must simultaneously satisfy multiple constraints, including field-of-view limitations, collision avoidance constraints, antenna pointing constraints, and actuator capability limitations, and achieve high-precision cooperative control based on these constraints. Existing multi-spacecraft cooperative control methods are typically based on relative motion dynamics models, combined with optimal control and model predictive control methods, to solve for control inputs under given constraints in order to adjust the relative states of multiple spacecraft. For multi-constraint problems, existing methods generally transform constraints into inequality conditions and embed them into optimization or control frameworks to ensure that the system operation meets various constraint requirements. However, the above methods usually rely on the premise that feasible solutions to the constraints always exist, i.e., the system state and control input can simultaneously satisfy all constraints. In complex mission environments, due to the influence of multi-source constraint coupling, environmental disturbances, and actuator capability limitations, the system may encounter situations where constraints cannot be simultaneously satisfied or control inputs are unreachable, leading to an infeasible control problem, resulting in control failure or a significant degradation in system performance.

[0016] Specifically, (1) Existing multi-spacecraft collaborative control methods are usually designed based on the premise that all constraints can be satisfied simultaneously. When the coupling effect of multi-source constraints leads to the absence of constraint intersection or the unreachability of control input, existing methods are difficult to obtain feasible solutions, which can easily lead to control failure or system operation interruption. They cannot adapt to the situation where constraint conflicts are inevitable in complex mission environments. (2) When constraints cannot be fully satisfied, existing methods often restore feasibility by adjusting fixed weights or manually relaxing some constraints. However, they lack unified quantitative indicators to describe the system performance loss and the degree of constraint violation. It is difficult to achieve dynamic trade-off between performance and constraints based on the system's operating state, resulting in a lack of consistency and adjustability in control strategies. (3) Existing control methods usually rely on preset control strategies or offline planning results and lack a mechanism for decision adjustment based on the real-time operating state of the system. Under conditions of constraint conflict or limited control capabilities, it is impossible to adaptively adjust the control objectives and control strategies according to the degree of system degradation, making it difficult to ensure the continuous and stable operation of the system. (4) In multi-spacecraft collaborative scenarios, there are coupling relationships between spacecraft. Local state changes may affect the overall control effect. Existing methods lack adjustment mechanisms for the direction of constraint tension in controlling resource allocation, making it difficult to prioritize key constraints and thus affecting the overall collaborative control performance of the system. In summary, existing technologies struggle to achieve stable system operation and controllable performance adjustment under complex constraint conditions and when constraint conflicts are unavoidable.

[0017] To address the problems of existing technologies, embodiments of this application provide a method, apparatus, device, medium, and product for determining spacecraft control information. The method first acquires the spacecraft's first state information, control input information, constraint information, and the second state information of associated spacecraft, providing a data foundation for subsequent steps. By calculating constraint violation values ​​reflecting constraint violations, and combining these with the first state information reflecting actual operational deviations and the control input information reflecting control load levels, a degradation value reflecting the severity of spacecraft operation and conflicts is obtained. When the degradation value exceeds a first preset threshold, or the control input information exceeds a second preset threshold, it indicates that it is difficult to balance constraint requirements and control execution capabilities under the current environment. Therefore, the original reference trajectory of the spacecraft is adjusted to generate a degraded reference trajectory, and the target control input information is re-determined based on the degraded reference trajectory, reducing the difficulty of constraint satisfaction at the trajectory level. When the degradation value does not exceed the first preset threshold and the control input information does not exceed the second preset threshold, it indicates that the system is in a stable and adjustable operating condition. By combining its own first state information, the second state information of the associated spacecraft, and the constraint violation value, the updated control input information is determined by comprehensively considering the cooperative relationship between spacecraft and the constraint deviation. The updated control input information is then further adjusted based on the first state information and the constraint violation value, ultimately determining the target control input information. This embodiment of the application achieves the determination of control input information when constraints cannot be simultaneously satisfied or control inputs are unattainable, thereby improving control effectiveness and system performance.

[0018] The method for determining spacecraft control information provided in the embodiments of this application will be described below.

[0019] Figure 1 A flowchart illustrating a method for determining spacecraft control information according to an embodiment of this application is shown. Figure 1 As shown, the method may include the following steps: S101 to S105.

[0020] S101, acquire the spacecraft's first state information, constraint information, control input information, and the second state information of the spacecraft's associated spacecraft.

[0021] The first state information refers to the spacecraft's own motion state, such as position, velocity, attitude angle, and angular velocity. Constraint information refers to the conditions that must be met during the mission. Control input information refers to the control quantities currently applied to the spacecraft, such as thrust and torque. Associated spacecraft refer to other spacecraft that this spacecraft is cooperating with within the same multi-spacecraft system. The second state information refers to the motion state of the associated spacecraft.

[0022] In some embodiments, the current motion state of the spacecraft, i.e., the first state information, the constraint information of various constraints that must be followed in the mission, and the current output of the spacecraft's actuators, i.e. the control input information, can be obtained through the spacecraft's sensors and communication links. At the same time, the motion state of other spacecraft that have a cooperative relationship with this spacecraft can be obtained through communication between spacecraft, so as to provide the original data basis for subsequent constraint violation judgment and degradation decision.

[0023] This application embodiment simultaneously acquires its own state, constraints, current control inputs, and the state of associated spacecraft, enabling subsequent steps to assess the degree of constraint violation, system degradation level, and cooperative coupling relationship under a unified spatiotemporal reference. This avoids decision blind spots caused by missing information and provides complete information support for control decisions when constraints conflict.

[0024] In some embodiments, the relative attitude state of a multi-spacecraft system is obtained. Control input Including task constraint information, multi-source constraints are uniformly represented as a set of constraint functions: in, Indicates the first The residual function of a constraint, when This indicates that the constraint has been violated. This step transforms the multi-source constraints into a computable functional form, providing a foundation for subsequent decision-making.

[0025] S102, determine the constraint violation value of the spacecraft based on the first state information and constraint information.

[0026] Among them, the constraint violation value is a numerical value that quantitatively describes the degree to which the current state deviates from the constraint satisfaction. It can be a scalar or a vector.

[0027] In some embodiments, the obtained first state information of the spacecraft can be substituted into the constraint function defined by the constraint information to calculate the deviation of the current state from the constraint boundary, thereby obtaining a constraint violation value used to characterize the severity of the current constraint violation by the system.

[0028] This application's embodiments convert the qualitative assessment of whether a constraint is met into a continuously computable quantitative indicator, enabling subsequent control to make degradation control decisions based on constraint violation values ​​that represent the severity of constraint violations.

[0029] S103 determines the spacecraft's degradation value based on the first state information, control input information, and constraint violation value.

[0030] The degradation value reflects the degree to which the spacecraft's current operating state deviates from the normal state; the larger the value, the more severe the system performance degradation.

[0031] In some embodiments, the mission execution error reflected in the spacecraft's first state information, the energy consumption or marginal cost reflected in the control input information, and the degree of deviation reflected in the constraint violation value are fused and calculated using a preset comprehensive cost function to obtain a scalar degradation value. This degradation value simultaneously reflects the combined effects of mission performance loss, resource consumption, and constraint conflict.

[0032] The embodiments of this application unify the previously difficult-to-compare state errors, energy consumption, and constraint violations under a single dimension, enabling the system to judge the current health status of operation with a single value, providing a decision basis for subsequent threshold comparisons and mode switching, and avoiding subjective trade-offs between multiple objectives.

[0033] In some embodiments, when calculating the degradation value, a degradation trend value can be obtained based on the degree of change over time, and this degradation trend value can be introduced when calculating the degradation value. This allows the calculation of the degradation value to consider not only the current instantaneous degree of degradation, but also whether the degradation has intensified or slowed down. As a result, the degradation value calculated based on the degradation trend value can trigger degradation decisions in advance before the constraint conflict intensifies, thereby improving the timeliness of the decision.

[0034] S104, if the degradation value exceeds the first preset threshold or the control input information exceeds the second preset threshold, adjust the spacecraft's preset reference trajectory according to the constraint violation value and the degradation value to obtain the degradation reference trajectory, and determine the target control input information according to the first state information, the second state information and the degradation reference trajectory.

[0035] The first threshold is the safety boundary for the degradation value; exceeding it indicates the system is in a severe conflict state. The second threshold is the upper limit for control input information; exceeding it indicates the spacecraft's capabilities are nearing saturation. The preset reference trajectory is the nominal path the spacecraft is expected to follow in the original mission plan. The degraded reference trajectory is a new trajectory replanned after relaxing constraints or reducing requirements.

[0036] In some embodiments, when the calculated degradation value is greater than a preset first threshold, or when the current control input information is close to or exceeds the actuator capability limit, i.e., exceeds a second threshold, the system determines that the collaborative performance cannot be restored through conventional adjustments within the original mission framework, and therefore initiates a degradation mode: First, based on the current constraint violation value and degradation value, the original preset reference trajectory is corrected to generate a degraded reference trajectory with reduced constraints; then, using this degraded reference trajectory as the new tracking target, and combining the first state information of this spacecraft and the second state information of associated spacecraft, a set of achievable target control input information is recalculated.

[0037] In one example, the spacecraft degradation value reaches 1.2 (threshold is 1.0), and the thruster commands are close to saturation. The constraint of "maintaining a distance of 50m from satellite B" in the original reference trajectory can be relaxed to 70m, and the "orbiting angular velocity of 0.5° / s" can be reduced to 0.3° / s to generate a degradation trajectory. Then, based on its own state and the state of the associated spacecraft, model predictive control is used to recalculate the control input to obtain the target control input information.

[0038] In the embodiments of this application, when system conflicts are severe or actuator capabilities are insufficient, the mission expectations are proactively reduced instead of blindly pursuing the original goal, thereby preserving control feasibility and avoiding spacecraft control failure due to the lack of feasible solutions; thus, the control problem regains a feasible solution, and the spacecraft system can continue to operate stably while sacrificing some performance, achieving controllable degradation.

[0039] In some embodiments, when generating a degraded reference trajectory, a multi-level degradation strategy can be adopted. Different levels of degradation are selected based on the magnitude of the degradation value exceeding the threshold. Each level corresponds to a set of preset adjustment parameters, thereby enabling the spacecraft to select the most appropriate degradation magnitude according to the severity of the conflict, avoiding excessive or insufficient degradation.

[0040] S105, if the degradation value does not exceed the first set threshold and the control input information does not exceed the second set threshold, determine the updated control input information based on the first state information, the second state information and the constraint violation value, and determine the target control input information based on the first state information, the constraint violation value and the updated control input information.

[0041] The updated control input information is the control quantity calculated by a conventional controller or predictive model without changing the reference trajectory. The target control input information is the final control quantity applied after constraint violation gradient adjustment.

[0042] In some embodiments, when the degradation value does not exceed a first threshold and the control input does not exceed a second threshold, the current operating condition of the spacecraft is considered to be within a normal adjustable range, and no degradation trajectory adjustment is required. First, based on the first state information of this spacecraft, the second state information of associated spacecraft, and the constraint violation value, an updated control input is calculated in conjunction with a preset cooperative control law. Then, the updated control input is further corrected using the first state information and the constraint violation value, so that the control quantity can actively alleviate constraint violations while satisfying the mission, and finally obtain the target control input information.

[0043] The embodiments of this application add constraint violation gradient adjustment on the basis of conventional cooperative control, so that the system can actively change in the direction of reducing constraint violations even in a light conflict state that has not yet triggered degradation, thereby suppressing the escalation of conflict and delaying the degradation process.

[0044] In some embodiments, when calculating the updated control input information, a weighted coupling based on the constraint violation values ​​of associated spacecraft can be introduced. When the constraint violation value of an associated spacecraft is high, the weight corresponding to the updated control input information of this spacecraft can be increased, so that the adjustment intensity is greater when the conflict is more severe. This enables spacecraft in a multi-spacecraft system to coordinate to deal with local conflicts, improving overall robustness.

[0045] In summary, this application acquires multi-source information including its own state, constraints, control inputs, and the states of associated spacecraft, laying the foundation for subsequent evaluation; it transforms constraints into continuously differentiable violation values, making quantitative evaluation possible; it unifies state errors, energy consumption, and constraint violations into degradation values, achieving a single-index characterization of the spacecraft's operational normality; it actively degrades the reference trajectory when degradation is severe or control saturation occurs, ensuring the problem is solvable and achieving orderly performance degradation; and it suppresses deterioration and maintains stability during minor conflicts through gradient adjustment. The entire process forms an adaptive decision-making closed loop, capable of outputting reasonable control inputs even without a globally feasible solution, thereby avoiding control failure and ensuring the continuity and safety of multi-spacecraft collaborative missions.

[0046] In some embodiments, constraint information includes constraint thresholds for constraints across multiple dimensions, and constraint violation values ​​include constraint violation values ​​for constraints across multiple dimensions. Determining the constraint violation value of the spacecraft based on the first state information and the constraint information may include: For each dimension of constraint, the deviation value of the constraint in that dimension is determined based on the constraint threshold and the corresponding first state information, and the constraint violation value of the spacecraft is determined based on the deviation value.

[0047] Here, dimensions represent different types of constraints. The constraint threshold is the allowed boundary value for each dimension's constraint. The deviation value is the amount by which the current state exceeds the constraint threshold. Therefore, the constraint violation value is a comprehensive index obtained by aggregating the deviation values ​​of all dimensions.

[0048] In some embodiments, for each dimension constraint listed in the constraint information, the constraint threshold corresponding to that dimension and the state quantity related to that constraint in the current spacecraft's first state information are first obtained, and the deviation of the current state from the constraint threshold is calculated. For example, if the state is within the allowable range of the constraint, the deviation is 0; otherwise, it is a positive deviation value. Then, the deviation values ​​calculated for all dimensions are fused according to a preset rule to finally obtain a constraint violation value in scalar or vector form. This value quantitatively reflects the severity of the spacecraft's current overall constraint violation.

[0049] The embodiments of this application decompose complex multi-constraint conditions into independent, dimension-by-dimensionally calculable deviation quantities, so that the source of constraint violation can be accurately located to a specific dimension; at the same time, by compressing multi-dimensional information into a single index, a concise input is provided for subsequent degradation value calculation and mode switching, avoiding the complexity of directly processing constraint combinations in high-dimensional space.

[0050] In some embodiments, such as Figure 2 As shown, the degradation value of the spacecraft is determined based on the first state information, control input information, and constraint violation value, which may include: S201 to S204.

[0051] S201, determine the state error cost of the spacecraft based on the first state information and the preset state weight matrix.

[0052] The preset state weight matrix is ​​a pre-defined matrix that reflects the importance of different state components. The state error cost is a calculated value for a single generation, reflecting the overall deviation between the current state and the desired state.

[0053] In some embodiments, this step subtracts the current first state information of the spacecraft from the preset expected state to obtain a state deviation vector. Then, a preset state weight matrix is ​​used to calculate each component of the deviation vector to obtain a scalar state error cost value. This value quantifies the degree of deviation of the current actual motion state from the expected state of the mission. Larger weights in the weight matrix correspond to state components that require higher precision.

[0054] The embodiments of this application compress multidimensional state deviations into a single value, so that subsequent degradation value calculations can consider the importance of different state components on a uniform scale.

[0055] S202, determine the control energy consumption value of the spacecraft based on the control input information and the preset control weight matrix.

[0056] The preset control weight matrix is ​​used to weight each component of the control input. The control energy consumption cost is a comprehensive index reflecting the energy or magnitude consumed by the current control input.

[0057] In some embodiments, this step treats the current control input information of the spacecraft as a vector, and uses a preset control weight matrix to perform a weighted sum of squares operation on each component of the vector to calculate a scalar control energy consumption cost.

[0058] This application embodiment converts control input into energy consumption cost, quantifies the cost of the current control command, and enables subsequent degradation values ​​to reflect the efficiency of control resource utilization, thereby avoiding unnecessary resource waste during conflict adjustment.

[0059] S203 determines the constraint cost of the spacecraft based on the constraint violation value and the preset constraint weight.

[0060] Among them, the constraint cost value is an indicator that reflects the current constraint violation situation.

[0061] In some embodiments, a scalar constraint cost can be calculated by weighted summation based on the obtained constraint violation values ​​and the weight coefficients pre-set for each constraint. This value quantifies the overall severity of the current system's constraint violation. The greater the weight of the constraint, the higher the proportion of its violation in the cost, thereby guiding subsequent control laws to prioritize the protection of important constraints.

[0062] The embodiments of this application transform constraint violations into numerical values ​​with uniform dimensions, so that the degree of constraint satisfaction can be directly added to the state error and control energy consumption to evaluate the overall performance of the spacecraft.

[0063] S204 determines the spacecraft's degradation value based on the cost of state error, the cost of control energy consumption, and the cost of constraints.

[0064] In some embodiments, the calculated state error cost, control energy consumption cost, and constraint cost are linearly weighted and summed according to preset coefficients to obtain a final scalar degradation value. This degradation value comprehensively reflects the overall operational quality of the spacecraft in terms of mission accuracy, resource consumption, and constraint satisfaction; a larger value indicates a more severe degradation in system performance.

[0065] In some embodiments, the formula for calculating the degradation value is a comprehensive cost function used to describe the system's operating state, which may be: in, Let the performance cost function be... This is the constraint cost function.

[0066] In some embodiments, the performance cost function is used to describe the system state error and control energy consumption, and the calculation formula can be: Where Q is the state weight matrix and R is the control weight matrix.

[0067] In some embodiments, the formula for calculating the constraint cost function can be: in, The penalty function is a continuously differentiable, monotonically increasing function, typically an exponential or quadratic function. The weighting coefficients reflect the degree of influence of different constraints on system stability; the penalty function can be exponential, quadratic, or piecewise.

[0068] This application combines three cost values ​​into a single comprehensive degradation index, providing a single decision-making basis for subsequent threshold judgment and mode switching, avoiding complex manual trade-offs among multiple objectives. Furthermore, the linear weighted form is simple, computationally efficient, and easy to execute online in real time.

[0069] In some embodiments, a system operating state criterion is constructed based on the comprehensive cost function and its rate of change: if If so, the system is in a normal cooperative state; if there is If so, the system is in a conflict resolution state; if Then the system enters a restricted cooperative state. Among them, This is the degradation threshold.

[0070] In some embodiments, such as Figure 3 As shown, the spacecraft's preset reference trajectory is adjusted according to the constraint violation value and degradation value to obtain the degradation reference trajectory, and the target control input information is determined according to the first state information, the second state information and the degradation reference trajectory, which may include: S301 to S303.

[0071] S301 determines the spacecraft's degraded reference trajectory based on constraint violation values, degradation values, preset reference trajectories, and the maximum preset control input value.

[0072] The preset reference trajectory is the ideal motion path planned during the mission design phase. The preset maximum control input value is the maximum value that can be set, determined by the aircraft's performance.

[0073] In some embodiments, when the determination (i.e., the degradation value) exceeds a first threshold or the control input exceeds a second threshold, the original preset reference trajectory is modified based on the current constraint violation value and degradation value, combined with the spacecraft capability upper limit reflected by the preset maximum control input value, to generate a new, more easily achievable degradation reference trajectory. This degradation reference trajectory no longer pursues the optimal performance of the original mission, but rather ensures that a feasible control solution still exists under the existing constraint conflicts.

[0074] This application embodiment transforms an originally infeasible control problem into a feasible one by actively reducing the index requirements of the reference trajectory, thereby avoiding open-loop runaway caused by constraint conflicts or spacecraft capacity saturation. At the same time, the generation of the degenerate trajectory utilizes the current constraint violation value and degradation value, so that the adjustment range matches the severity of the conflict, avoiding excessively conservative or overly aggressive degradation.

[0075] S302, determine the spacecraft's degradation constraint violation value based on the degradation constraint information corresponding to the degradation reference trajectory.

[0076] The degradation constraint information consists of relaxed constraints corresponding to the degradation reference trajectory. The degradation constraint violation value is the degree to which the spacecraft's current first state information violates these relaxed constraints.

[0077] In some embodiments, after obtaining the degraded reference trajectory, this step recalculates the violation value of the current spacecraft first state information relative to these new constraints based on the adjusted constraints implied by the degraded trajectory, i.e., the degraded constraint information. The calculation method is the same as step S102, but the constraint threshold has been relaxed or modified.

[0078] The embodiments of this application re-evaluate constraint violation values ​​under relaxed constraints, enabling the spacecraft to adjust based on actually achievable goals. This prevents the controller from diverging due to failure to meet the original constraints and provides real deviation information for subsequent control strategies, ensuring that the control objectives are always kept within a feasible range.

[0079] S303 determines the spacecraft's target control input information based on the first state information, the second state information, and the degradation constraint violation value.

[0080] In some embodiments, after obtaining the degraded reference trajectory and the corresponding degradation constraint violation values, the degraded reference trajectory is used as the new tracking target. First state information and second state information are used as feedback inputs, and degradation constraint violation values ​​are used as the adjustment basis to calculate the control input. This allows the spacecraft to track the degraded trajectory as far as possible while satisfying the relaxed constraints, while minimizing any remaining degradation constraint violations. This control input is the final output target control input information.

[0081] The embodiments of this application re-solve the control input under the degenerate trajectory framework, so that the system can maintain closed-loop stability even when mission performance must be reduced, and can actively mitigate the remaining constraint violations; at the same time, since the degenerate trajectory has taken into account the spacecraft's capability limits, the control input will generally not cause spacecraft performance saturation again, thereby improving the feasibility of control.

[0082] In a constrained cooperative state, when the overall system cost function continues to increase and the control input gradually approaches the actuator constraint boundary, the system determines that it has entered a constrained cooperative state. At this time, the multi-spacecraft system can hardly meet all mission constraints and performance objectives simultaneously under the current control capabilities. If the original cooperative mission trajectory is maintained, it may lead to further spread of constraint conflicts and cause system instability.

[0083] In some embodiments, the original collaborative task reference trajectory is used under restricted collaborative conditions. The formula for calculating the new degenerate reference trajectory through degradation reconstruction can be: in: This is the original reference trajectory; This is the reference trajectory after degradation; The system comprehensive cost function; To constrain the degree of violation vector; This represents the current available control capability boundary of the system. This is the trajectory degradation reconstruction function.

[0084] In some embodiments, trajectory degradation reconstruction includes at least one of the following adjustment methods: increasing the relative safe distance between spacecraft; relaxing the relative attitude or pointing accuracy requirements; reducing the formation configuration maintenance accuracy; reducing the cooperative fly-around angular velocity or maneuver frequency; extending the mission maneuver time window; implementing low dynamic maintenance control for some non-critical spacecraft; and reducing the priority of some secondary mission objectives.

[0085] The degenerate reference trajectory satisfies: That is, the cost of constraint conflict in the degraded system is lower than the cost of constraint conflict corresponding to the original task trajectory.

[0086] In some embodiments, to ensure stability during system degradation, the control target is switched to: in: This represents the actual state of the system. This represents the allowable error boundary.

[0087] Based on the degraded reference trajectory, the control input is recalculated according to formula (8). By employing the above methods, the system state gradually evolves towards a region with lower constraint conflicts, maintaining stable system operation while moderately sacrificing some mission performance. This step achieves a dynamic trade-off and orderly degradation between the performance and constraints of the multi-spacecraft system.

[0088] In some embodiments, determining the updated control input information based on the first state information, the second state information, and the constraint violation value may include: The spacecraft's physical state error is determined based on the first state information and the spacecraft's preset reference state information; wherein, the preset reference state information is the desired state at the current moment obtained from the preset reference trajectory; and the physical state error is the deviation vector obtained by subtracting the desired state from the actual state. Based on the main body state error, the second state information, and the preset reference state information of the associated spacecraft corresponding to the second state information, the relative state error between the spacecraft and the associated spacecraft is determined; the relative state error is the difference between the state errors of the main spacecraft and the associated spacecraft. The updated control input information is determined based on the body state error, relative state error, and constraint violation value; wherein, the updated control input information is the preliminary updated control input information.

[0089] In some embodiments, the spacecraft's current first state information is subtracted component-by-component from the desired state information obtained from a preset reference trajectory to obtain a deviation vector describing the degree to which the spacecraft deviates from the ideal trajectory. This deviation vector is the body state error, reflecting the spacecraft's tracking accuracy during mission execution. Furthermore, the spacecraft's body state error is subtracted component-by-component from the body state error of the associated spacecraft determined by the second state information and the preset reference state information of the associated spacecraft, yielding the relative state error between the two. Finally, a preliminary set of control input commands is calculated based on the body state error, the relative state error, and the constraint violation value. The body error term is responsible for tracking the reference trajectory, the relative error term is responsible for maintaining the cooperative relationship, and the constraint violation value is used to adjust the control strength. This calculation result is used to update the control input information.

[0090] This application's embodiments simplify the complex tracking control problem into a clear deviation signal by calculating the spacecraft's state error. This allows the controller to directly adjust the control input based on the error, thereby achieving precise quantitative adjustment of the spacecraft's trajectory tracking. Simultaneously, by directly measuring the cooperative relationship between spacecraft through relative state error, the controller can adjust based on the spacecraft's deviation relative to its neighbors, thus achieving cooperative objectives such as formation keeping and collision avoidance in a distributed communication topology.

[0091] In some embodiments, the formula for calculating the update control input information of the i-th spacecraft can be: in, This refers to the error in the body's state. The relative error with adjacent communicable spacecraft; The coupling gain is dynamically changed with the constraint cost.

[0092] In some embodiments, determining the target control input information based on the first state information, the constraint violation value, and the updated control input information may include: The adjustment and control information is determined based on the first state information and the constraint violation value; the adjustment and control information is the gradient value of the constraint violation value with respect to the first state information; the gradient value is the partial derivative of the constraint violation value with respect to the first state information, which represents the direction and rate of change of the constraint violation value when the state changes slightly; The target control input information is determined based on the updated control input information and the adjusted control information.

[0093] In some embodiments, this step uses the first state information as the independent variable to calculate the gradient of the determined constraint violation value function, obtaining the partial derivative vector of the constraint violation value with respect to the state. This gradient vector points in the direction of the fastest increase in the constraint violation value, and its negative direction is the direction of the fastest decrease in the constraint violation value. This gradient value serves as adjustment control information, guiding the subsequent step on how to correct the control input so that the spacecraft actively moves in the direction that alleviates the constraint violation. The updated control input information calculated in the previous step is superimposed with the adjustment control information to generate the final target control input information. This ensures that while performing its original tracking task, the spacecraft is additionally driven away from the direction of constraint violation, thereby actively mitigating or avoiding constraint violations without significantly sacrificing mission performance.

[0094] In some embodiments, the formula for calculating the target control input information can be: in, The baseline control input is obtained based on performance optimization; * represents the gradient of the constraint cost function with respect to the state; This is a preset adjustment gain matrix. Specifically, in a normal cooperative state, since there are no constraints violated, the gradient of the constraint cost function with respect to the state is 0, and execution can proceed directly. Optimal control.

[0095] In one example, such as Figure 4 As shown, the complete process for determining spacecraft control information may include: According to the overall process shown in the flowchart, firstly, steps S401 and S402 are executed to obtain multi-source constraint information and the current control input. Then, step S403 constructs a constraint margin function to quantify the degree of satisfaction of each constraint. Step S404, based on this, constructs a comprehensive cost function as a unified indicator of system performance and constraint violation. Step S405 calculates the rate of change of this cost function and the margin of the current control input. Then, step S406 determines the system's operating state based on this information: if all constraints are satisfied, the system enters a normal cooperative state (step S407) and solves for the optimal control solution (step S408); if there are constraints... If the constraint is violated and the comprehensive cost function value is less than the set threshold, the system enters the conflict adjustment state S409 and corrects the optimal solution according to the constraint adjustment law in S410. If the comprehensive cost function value exceeds the set threshold or the control input is close to saturation, the system enters the restricted cooperative state S411 and reconstructs and degrades the reference trajectory in S412. After that, the system enters S413 to realize distributed cooperative control, S414 outputs the control input, S415 updates the state of the multi-spacecraft system, and S416 determines whether the termination condition is met. If it is met, the process ends in S417. If it is not met, the system returns to continue the loop.

[0096] Figure 5This application illustrates a spacecraft control information determination device 500, which may include: The acquisition module 501 is used to acquire the first state information, constraint information, and control input information of the spacecraft, as well as the second state information of the spacecraft's associated spacecraft; The determination module 502 is used to determine the constraint violation value of the spacecraft based on the first state information and constraint information; The determination module 502 is also used to determine the degradation value of the spacecraft based on the first state information, control input information, and constraint violation value; The determination module 502 is further configured to adjust the spacecraft's preset reference trajectory according to the constraint violation value and the degradation value to obtain a degradation reference trajectory when the degradation value exceeds the first preset threshold or the control input information exceeds the second preset threshold, and to determine the target control input information according to the first state information, the second state information and the degradation reference trajectory; The determination module 502 is further configured to determine updated control input information based on the first state information, the second state information, and the constraint violation value, and to determine target control input information based on the first state information, the constraint violation value, and the updated control input information, provided that the degradation value does not exceed the first set threshold and the control input information does not exceed the second set threshold.

[0097] In some embodiments, the determining module 502 is further configured to determine the deviation value of the constraint for each dimension based on the constraint threshold and the corresponding first state information, and determine the constraint violation value of the spacecraft based on the deviation value.

[0098] In some embodiments, the determining module 502 is further specifically used for: The state error cost of the spacecraft is determined based on the first state information and the preset state weight matrix. The control energy consumption value of the spacecraft is determined based on the control input information and the preset control weight matrix. The constraint cost of the spacecraft is determined based on the constraint violation value and the preset constraint weights. The degradation value of a spacecraft is determined based on the cost of state error, the cost of control energy consumption, and the cost of constraints.

[0099] In some embodiments, the determining module 502 is further specifically used for: The spacecraft's degraded reference trajectory is determined based on constraint violation values, degradation values, preset reference trajectories, and preset maximum control input values. The degradation constraint violation value of the spacecraft is determined based on the degradation constraint information corresponding to the degradation reference trajectory; The target control input information of the spacecraft is determined based on the first state information, the second state information, and the degradation constraint violation value.

[0100] In some embodiments, the determining module 502 is further specifically used for: The spacecraft's physical state error is determined based on the first state information and the spacecraft's preset reference state information. Based on the main body state error, the second state information, and the preset reference state information of the associated spacecraft corresponding to the second state information, the relative state error between the spacecraft and the associated spacecraft is determined. The updated control input information is determined based on the ontological state error, relative state error, and constraint violation value.

[0101] In some embodiments, the determining module 502 is further specifically used for: The adjustment control information is determined based on the first state information and the constraint violation value; the adjustment control information is the gradient value of the constraint violation value with respect to the first state information. The target control input information is determined based on the updated control input information and the adjusted control information.

[0102] Figure 5 The various modules in the illustrated device can achieve Figure 1 The various steps involved, and the corresponding technical effects achieved, will not be elaborated upon here for the sake of brevity.

[0103] Figure 6 A schematic diagram of the hardware structure of the terminal device provided in an embodiment of this application is shown.

[0104] The terminal device may include a processor 601 and a memory 602 storing computer program instructions.

[0105] Specifically, the processor 601 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0106] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. In one instance, memory 602 may include removable or non-removable (or fixed) media, or memory 602 may be non-volatile solid-state memory. Memory 602 may be internal or external to the integrated gateway disaster recovery device.

[0107] In one example, memory 602 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform operations described with reference to the method determined according to spacecraft control information of this disclosure.

[0108] The processor 601 reads and executes computer program instructions stored in the memory 602 to achieve... Figure 1 The method for determining spacecraft control information in the illustrated embodiment.

[0109] In one example, the terminal device may also include a communication interface 603 and a bus 604. Wherein, for example... Figure 6 As shown, the processor 601, memory 602, and communication interface 603 are connected through bus 604 and complete communication with each other.

[0110] The communication interface 603 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0111] Bus 604 includes hardware, software, or both, that couples components of an end device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 604 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0112] Furthermore, in conjunction with the spacecraft control information determination method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the spacecraft control information determination methods in the above embodiments.

[0113] This application also provides a computer program product, including a computer program, which, when executed, implements any of the spacecraft control information determination methods described in the above embodiments.

[0114] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0115] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or text segments used to perform the required tasks. Programs or text segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Text segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0116] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0117] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0118] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining spacecraft control information, characterized in that, The method includes: Acquire the first state information, constraint information, and control input information of the spacecraft, as well as the second state information of the spacecraft's associated spacecraft; The constraint violation value of the spacecraft is determined based on the first state information and the constraint information; The degradation value of the spacecraft is determined based on the first state information, the control input information, and the constraint violation value; If the degradation value exceeds a first preset threshold or the control input information exceeds a second preset threshold, the spacecraft's preset reference trajectory is adjusted according to the constraint violation value and the degradation value to obtain a degradation reference trajectory, and the target control input information is determined according to the first state information, the second state information, and the degradation reference trajectory. If the degradation value does not exceed a first preset threshold and the control input information does not exceed a second preset threshold, update control input information is determined based on the first state information, the second state information and the constraint violation value, and target control input information is determined based on the first state information, the constraint violation value and the update control input information.

2. The method for determining spacecraft control information according to claim 1, characterized in that, The constraint information includes constraint thresholds for constraints across multiple dimensions, and the constraint violation value includes constraint violation values ​​for constraints across multiple dimensions. Determining the constraint violation value of the spacecraft based on the first state information and the constraint information includes: For each dimension of constraint, the deviation value of the constraint in that dimension is determined based on the constraint threshold and the corresponding first state information, and the constraint violation value of the spacecraft is determined based on the deviation value.

3. The method for determining spacecraft control information according to claim 1, characterized in that, Determining the degradation value of the spacecraft based on the first state information, the control input information, and the constraint violation value includes: The state error cost of the spacecraft is determined based on the first state information and the preset state weight matrix. The control energy consumption value of the spacecraft is determined based on the control input information and the preset control weight matrix. The constraint cost of the spacecraft is determined based on the constraint violation value and the preset constraint weight; The degradation value of the spacecraft is determined based on the state error cost, the control energy consumption cost, and the constraint cost.

4. The method for determining spacecraft control information according to claim 1, characterized in that, The step of adjusting the spacecraft's preset reference trajectory based on the constraint violation value and the degradation value to obtain a degraded reference trajectory, and determining target control input information based on the first state information, the second state information, and the degraded reference trajectory, includes: The spacecraft's degradation reference trajectory is determined based on the constraint violation value, the degradation value, the preset reference trajectory, and the preset maximum control input value. The degradation constraint violation value of the spacecraft is determined based on the degradation constraint information corresponding to the degradation reference trajectory; The target control input information of the spacecraft is determined based on the first state information, the second state information, and the degradation constraint violation value.

5. The method for determining spacecraft control information according to claim 1, characterized in that, The step of determining and updating control input information based on the first state information, the second state information, and the constraint violation value includes: The spacecraft's physical state error is determined based on the first state information and the spacecraft's preset reference state information; The relative state error between the spacecraft and the associated spacecraft is determined based on the main body state error, the second state information, and the preset reference state information of the associated spacecraft corresponding to the second state information. The updated control input information is determined based on the ontological state error, the relative state error, and the constraint violation value.

6. The method for determining spacecraft control information according to claim 1, characterized in that, Determining the target control input information based on the first state information, the constraint violation value, and the updated control input information includes: Adjustment control information is determined based on the first state information and the constraint violation value; the adjustment control information is the gradient value of the constraint violation value with respect to the first state information. The target control input information is determined based on the updated control input information and the adjusted control information.

7. A device for determining spacecraft control information, characterized in that, The device includes: The acquisition module is used to acquire the first state information, constraint information, and control input information of the spacecraft, as well as the second state information of the spacecraft's associated spacecraft; The determination module is used to determine the constraint violation value of the spacecraft based on the first state information and the constraint information; The determination module is further configured to determine the degradation value of the spacecraft based on the first state information, the control input information, and the constraint violation value; The determination module is further configured to, when the degradation value exceeds a first preset threshold or the control input information exceeds a second preset threshold, adjust the spacecraft's preset reference trajectory according to the constraint violation value and the degradation value to obtain a degradation reference trajectory, and determine the target control input information according to the first state information, the second state information and the degradation reference trajectory; The determining module is further configured to, when the degradation value does not exceed a first preset threshold and the control input information does not exceed a second preset threshold, determine updated control input information based on the first state information, the second state information and the constraint violation value, and determine target control input information based on the first state information, the constraint violation value and the updated control input information.

8. A terminal device, characterized in that, The device includes: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the method for determining spacecraft control information as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the method for determining spacecraft control information as described in any one of claims 1-6.

10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the method for determining spacecraft control information as described in any one of claims 1-6.

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