Space exploration satellite autonomous task planning method and device based on computing power constraint, equipment and medium

Abstract

The application generally relates to the technical field of space exploration satellites, and specifically discloses a space exploration satellite autonomous task planning method and device based on computing power constraints, equipment and a medium. The method comprises the following steps: obtaining initial orbit information of a target space exploration satellite and attribute information of three target exploration star regions corresponding to the target space exploration satellite; constructing a sun avoidance angle constraint equation and an earth avoidance angle constraint equation for each target exploration star region according to an initial star region orientation; generating at least one candidate exploration task based on the computing power constraints of the target space exploration satellite according to the sun avoidance angle constraint equation and the earth avoidance angle constraint equation between the target space exploration satellite and the three target exploration star regions; and determining a target exploration task of the target space exploration satellite at each time according to the at least one candidate exploration task, which can effectively solve problems such as waste of high-value scientific exploration resources and excessive consumption of ground system resources under the condition of low on-board computing power.

Description

Technical Field

[0001] This disclosure generally relates to the field of space exploration satellite technology, and specifically to a method, apparatus, equipment and medium for autonomous mission planning of space exploration satellites based on computing power constraints. Background Technology

[0002] Space exploration is typically characterized by long mission durations, complex constraints, and frequent mission switching. Traditional telemetry, tracking, and command (TT&C) and mission planning mechanisms cannot effectively switch missions within the TT&C area, and long-term ground-based planning consumes significant resources. Among related technologies, autonomous mission planning suffers from reduced computational accuracy due to long-term orbit recursion and severe computing power shortages. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the existing technology, it is desirable to provide a method, device, equipment and medium for autonomous mission planning of space exploration satellites based on computing power constraints, which can effectively solve the problems of waste of high-value scientific exploration resources and excessive consumption of ground system resources under the condition of low on-board computing power.

[0004] In a first aspect, embodiments of this application provide a method for autonomous mission planning of space exploration satellites based on computational constraints, including:

[0005] The initial orbital information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite are obtained. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system.

[0006] Based on the initial star field orientation, solar avoidance angle constraint equations and Earth avoidance angle constraint equations are constructed for each of the target detection star fields;

[0007] Based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target exploration star regions, at least one candidate exploration mission is generated based on the computing power constraint of the target space exploration satellite. Each exploration mission includes the corresponding target exploration star region, exploration start time, and exploration end time.

[0008] Based on at least one of the candidate detection missions, the target detection mission of the target space exploration satellite at each time is determined.

[0009] In some embodiments, the step of constructing solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each target detection star field based on the initial star field azimuth includes:

[0010] Obtain the first star region orientation of the Sun in the equatorial inertial coordinate system and the second star region orientation of the Earth in the equatorial inertial coordinate system, respectively;

[0011] Based on the initial star field azimuth and the first star field azimuth corresponding to each target detection star field, a solar avoidance angle constraint equation corresponding to the target detection star field is constructed; and based on the initial star field azimuth and the second star field azimuth corresponding to each detection star field, an Earth avoidance angle constraint equation corresponding to the target detection star field is constructed.

[0012] In some embodiments, generating at least one candidate exploration mission based on the computational power constraints of the target space exploration satellite, according to the solar avoidance angle constraint and the Earth avoidance angle constraint between the target space exploration satellite and the three target exploration satellite domains, includes:

[0013] For the target space exploration satellite and each target exploration domain, the sampling period of the target exploration domain is determined according to the Earth avoidance angle constraint equation;

[0014] Based on the sampling period, and according to the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation, the real-time avoidance angle value and the real-time avoidance angle change trend of the target space exploration satellite relative to the target exploration star field are determined; the real-time avoidance angle value includes the real-time solar avoidance angle value and the real-time Earth avoidance angle value, and the avoidance angle change trend includes the real-time solar avoidance angle change trend and the real-time Earth avoidance angle change trend.

[0015] The candidate detection task is determined based on the real-time avoidance angle value and the real-time avoidance angle change trend.

[0016] In some embodiments, the trend of the avoidance angle change is the first derivative of the real-time avoidance angle value under the sampling period.

[0017] In some embodiments, determining the target detection mission of the target space exploration satellite at each time step based on at least one of the candidate detection missions includes:

[0018] For each candidate detection task, the detection period of the candidate detection task is determined based on the detection start time and the detection end time;

[0019] If the detection time periods corresponding to any two candidate detection tasks overlap at least partially, then it is determined that the two candidate detection tasks conflict.

[0020] The two candidate detection tasks are conflict-resolved to obtain the target detection tasks of the target space exploration satellite at each time.

[0021] In some embodiments, the conflict resolution of the two candidate detection tasks to obtain the target detection tasks of the target space exploration satellite at each time step includes:

[0022] Identify the first detection period corresponding to the candidate detection task with higher detection priority, and take the candidate detection task with higher detection priority as the target detection task corresponding to the first detection period;

[0023] Identify the candidate detection task with lower detection priority in a second detection period outside the first detection period, and designate the candidate detection task with lower detection priority as the target detection task corresponding to the second detection period.

[0024] Secondly, embodiments of this application provide an autonomous mission planning device for space exploration satellites based on computing power constraints, comprising:

[0025] The acquisition module is used to acquire the initial orbit information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system.

[0026] The construction module is used to construct solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each of the target detection star regions based on the initial star region orientation.

[0027] The generation module is used to generate at least one candidate detection task based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target detection star regions, and based on the computing power constraint of the target space exploration satellite. Each detection task includes the target detection star region to be detected, the detection start time, and the detection end time.

[0028] A determination module is used to determine the target detection mission of the target space exploration satellite based on at least one of the candidate detection missions.

[0029] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in embodiments of this application.

[0030] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in embodiments of this application.

[0031] Fifthly, embodiments of this application provide a computer program product, including a computer program, characterized in that, when the computer program is executed by a processor, it implements the method described in embodiments of this application.

[0032] This application proposes a method, apparatus, equipment, and medium for autonomous mission planning of space exploration satellites based on computing power constraints. The method acquires the initial orbital information of the target space exploration satellite and the attribute information of three target exploration star regions corresponding to the target space exploration satellite. Based on the initial star region azimuth, it constructs solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each target exploration star region. Based on the solar avoidance angle constraint equations and the Earth avoidance angle constraint equations between the target space exploration satellite and the three target exploration star regions, it generates at least one candidate exploration mission based on the computing power constraints of the target space exploration satellite. Based on at least one candidate exploration mission, it determines the target exploration mission of the target space exploration satellite at each time. This method can significantly reduce onboard computing power consumption while ensuring the target space exploration satellite's exploration mission, thereby effectively eliminating the target space exploration satellite's dependence on ground-based telemetry and control, and ensuring the long-term stable operation of the target space exploration satellite.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 A flowchart illustrating an embodiment of the autonomous mission planning method for space exploration satellites based on computational constraints provided in this application is shown.

[0036] Figure 2 A schematic diagram of an equatorial inertial coordinate system provided in an embodiment of this application;

[0037] Figure 3 The relationship between the angle between the geocenter and the target star field is provided for specific embodiments of this application;

[0038] Figure 4 Results of autonomous scientific exploration mission switching provided for specific embodiments of this application

[0039] Figure 5 This paper shows a schematic diagram of the structure of an autonomous mission planning device for space exploration satellites based on computing power constraints, according to an embodiment of this application.

[0040] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device or server according to embodiments of this application is shown. Detailed Implementation

[0041] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] To further illustrate the technical solutions provided in the embodiments of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation instruction steps as shown in the following embodiments or drawings, the method may include more or fewer operation instruction steps based on conventional or non-creative effort. In steps where there is no logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual processing or when the device executes the method, it may be executed sequentially or in parallel according to the method shown in the embodiments or drawings.

[0044] It should be noted that the acquisition or use of data in the embodiments of this application requires the user's consent. The relevant data can only be obtained after the user's authorization and permission, and the acquisition or use of the data complies with the laws and regulations of the relevant regions.

[0045] Please refer to Figure 1 , Figure 1 A flowchart illustrating an embodiment of the autonomous mission planning method for space exploration satellites based on computational constraints is shown. Figure 1 As shown, the method includes:

[0046] Step 101: Obtain the initial orbital information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system.

[0047] It should be noted that before each target space probe satellite is deployed, it is configured with target detection domains to be explored; that is, the target space probe satellite is a probe satellite used to explore target detection domains. In this embodiment, each target space probe satellite is configured with three target detection domains, meaning that after deployment, the target space probe satellite is used to explore relevant information in three target detection domains. The detection priority is the priority of the target space probe satellite in exploring the three target detection domains, so as to facilitate conflict resolution when there are time conflicts in the detection of target detection domains.

[0048] It should also be noted that, such as Figure 2As shown, in the Earth-Centered Inertial (ECI) coordinate system, distant star regions (such as the center of the Milky Way, Cygnus X-1, Crab Nebula, etc.) have fixed positions on the human-observable timescale, and their spatial orientation is uniquely determined by right ascension (RA) and declination (Dec).

[0049] For example, suppose the first The right ascension of the probe star region is Declination is Then the unit pointing vector (i.e., the initial star field orientation) of this star field in the equatorial inertial coordinate system is:

[0050]

[0051] in, Let the initial star field orientation of the k-th target detection star field in the equatorial inertial frame be given. Let the right ascension of the k-th probe region be... Let be the declination of the k-th probe region.

[0052] Step 102: Based on the initial star field orientation, formulate the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation for each target detection star field.

[0053] It should be noted that, because optical detection equipment cannot be directly exposed to the sun during observation to avoid saturation or damage, engineering requires a certain angle between the direction of the detection satellite and the direction of the sun, serving as a solar avoidance angle constraint, such as 60°. Similarly, to ensure that the observation line of sight is not obstructed by the Earth and to avoid interference from Earth radiation with the detection results, engineering requires a certain angle between the direction of the detection satellite and the direction of the Earth, serving as an Earth avoidance angle constraint. Therefore, to ensure that the target space exploration satellite can reliably conduct satellite field detection, it is necessary to construct solar avoidance angle constraints and Earth avoidance angle constraints for each target detection satellite field, ensuring that the target space exploration satellite can detect the target detection satellite field within the spatiotemporal range under the solar avoidance angle constraints and Earth avoidance angle constraints.

[0054] In a feasible embodiment, based on the initial star field azimuth, solar avoidance angle constraint equations and Earth avoidance angle constraint equations are constructed for each target detection star field, including: obtaining the first star field azimuth of the Sun in the equatorial inertial coordinate system and the second star field azimuth of the Earth in the equatorial inertial coordinate system; constructing the solar avoidance angle constraint equation corresponding to the target detection star field based on the initial star field azimuth and the first star field azimuth corresponding to each target detection star field, and constructing the Earth avoidance angle constraint equation corresponding to the target detection star field based on the initial star field azimuth and the second star field azimuth corresponding to each detection star field.

[0055] In some embodiments, the solar longitude can be calculated by determining the mean solar time, obliquity of the ecliptic, and solar eccentricity based on the Julian century number. Then, the solar longitude is transformed from the ecliptic coordinate system to the equatorial inertial coordinate system to obtain the unit pointing vector of the sun in the equatorial inertial system (i.e., the first star region azimuth). Specifically, it can be expressed as:

[0056]

[0057] in, This represents the first star region orientation of the Sun in the equatorial inertial coordinate system. The ecliptic longitude of the sun. It is the angle between the obliquity of the ecliptic and the obliquity of the sun.

[0058] Furthermore, based on the initial star field azimuth and the first star field azimuth, the solar avoidance angle constraint equation corresponding to the target detection star field is constructed, then:

[0059]

[0060] in, Let be the solar avoidance angle corresponding to the k-th target detection star field at time t. Let t be the position of the Sun in the first star region in the equatorial inertial coordinate system at time t. Let be the initial star field orientation of the k-th target detection star field in the equatorial inertial frame.

[0061] In other words, in this embodiment of the application, the solar avoidance angle constraint corresponding to the target detection star field is that the solar avoidance angle should be ≥60°, that is, the constraint requires that the angle between the direction of the detection star field and the direction of the sun should not be less than 60°.

[0062] In other embodiments, based on the satellite position and attitude information output in real time by the on-board navigation equipment configured on the target space exploration satellite, the unit pointing vector (i.e., the second satellite orientation) of the Earth's center of mass in the equatorial inertial frame can be obtained. Specifically, this can be expressed as:

[0063]

[0064] in, This represents the second star region orientation of Earth's center of mass in the equatorial inertial frame. , , These are the components of the Earth's center of mass in the three axes of the equatorial inertial frame, as output by the navigation device.

[0065] Furthermore, based on the initial and second star field azimuths, the Earth avoidance angle constraint equation corresponding to the target detection star field is constructed, resulting in:

[0066]

[0067] Where is the Earth's avoidance angle corresponding to the k-th star field at time t. Let t be the orientation of the Earth's center of mass in the second star region within the equatorial inertial frame. Let be the initial star field orientation of the k-th target detection star field in the equatorial inertial frame.

[0068] In other words, in this embodiment of the application, the Earth avoidance angle constraint corresponding to the target detection star field is that the Earth avoidance angle should be ≥120°, that is, the constraint requires that the angle between the direction of the detection star field and the direction of the Earth should not be less than 120°.

[0069] Step 103: Based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target exploration star regions, generate at least one candidate exploration mission based on the computing power constraint of the target space exploration satellite. Each exploration mission includes the corresponding target exploration star region, exploration start time and exploration end time.

[0070] It should be noted that, under the near-Earth circular orbit assumption, the position vector of the target space exploration satellite in the equatorial inertial frame can be expanded into a function of the orbital elements, thus deriving the analytical approximate expression for the Earth avoidance angle:

[0071]

[0072] in, The position vector of the target space exploration satellite in the equatorial inertial frame. For the orbital radius, Right ascension of the ascending node, For the track inclination angle, It represents the latitude argument.

[0073] Further analysis yields the Earth avoidance angle for the k-th target detection star region. This can be expressed as an argument of latitude. The cosine function form:

[0074]

[0075] in, , , , , They are respectively The three components, and For the first The combination coefficients corresponding to the target detection star field are determined by the orbital elements and the star field azimuth, and are constants under given orbital and star field conditions.

[0076] Further simplification yields:

[0077]

[0078] in, The amplitude coefficient ( ), The phase angle (degrees) It is the arctangent function in the four quadrants.

[0079] It should be noted that the amplitude coefficient determines the range of change of the Earth's avoidance angle; the phase angle determines the phase shift of the Earth's avoidance angle as the latitude amplitude changes.

[0080] It can be seen that, in a circular orbit, the cosine of the Earth's avoidance angle varies with the latitude angle. It exhibits an approximate cosine function variation, that is... It itself exhibits an approximate sine wave shape (due to...) Nonlinearity of the function It is not a pure sine wave, but its waveform is symmetrical about the crests and troughs.

[0081] Since onboard computers typically operate at only a few hundred MHz and are limited by power consumption, they cannot run at full capacity for extended periods. Traditional methods require high-precision numerical integration of orbital motion equations to predict the visible window for the next few hours or even days. The computational load increases with the length of the prediction time domain, and errors accumulate over time. Therefore, this application proposes a candidate exploration mission generation strategy based on the computational constraints of the target space exploration satellite.

[0082] Specifically, for the target space exploration satellite and each target exploration region, the sampling period of the target exploration region is determined according to the Earth avoidance angle constraint equation; based on the sampling period, the real-time avoidance angle value and real-time avoidance angle change trend of the target space exploration satellite relative to the target exploration region are determined according to the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation; and candidate exploration missions are determined according to the real-time avoidance angle value and real-time avoidance angle change trend.

[0083] Among them, the real-time avoidance angle value includes the real-time solar avoidance angle value and the real-time earth avoidance angle value, and the avoidance angle change trend includes the real-time solar avoidance angle change trend and the real-time earth avoidance angle change trend.

[0084] In other words, the sampling period is determined based on the aforementioned amplitude coefficient law of the Earth's avoidance angle. The time step is fixed in seconds, and the solar avoidance angle and the earth avoidance angle are calculated at each sampling time t to obtain the real-time solar avoidance angle value and the earth avoidance angle value respectively.

[0085] Then, based on the real-time solar avoidance angle value, the Earth avoidance angle value, and the sampling period, the first derivative of the forward difference approximation is performed to obtain the real-time solar avoidance angle change trend and the real-time Earth avoidance angle change trend.

[0086] It should be understood that the signs (positive or negative) of the real-time solar avoidance angle and the real-time Earth avoidance angle indicate whether the avoidance angle is currently increasing or decreasing: a positive derivative indicates that the avoidance angle is increasing, meaning that the direction of the star field is moving away from the constraint boundary; a negative derivative indicates that the avoidance angle is decreasing, meaning that the direction of the star field is approaching the constraint boundary. In other words, by judging the trend of the avoidance angle through the sign of the derivative, we can predict whether it will reach the constraint boundary and its direction (entering or exiting the observable window) in the future.

[0087] In a preferred embodiment, the start and end times of the candidate detection mission can be calculated based on the real-time avoidance angle value, the real-time avoidance angle change trend, the amplitude coefficient of the Earth avoidance angle, the orbital information of the target space exploration satellite, and the initial azimuth of the target detection star field.

[0088] Step 104: Determine the target detection mission of the target space exploration satellite at each time based on at least one candidate detection mission.

[0089] In other words, after acquiring at least one candidate probe mission, the target probe mission for the target space exploration satellite at each time can be determined based on the information of the candidate probe mission. For example, if there is only one candidate probe mission at a given time, that candidate probe mission is directly taken as the target probe mission.

[0090] In one possible embodiment, for each candidate detection task, the detection period of the candidate detection task is determined according to the detection start time and detection end time; if the detection periods corresponding to any two candidate detection tasks overlap at least partially, it is determined that the two candidate detection tasks conflict; conflict resolution is performed on the two candidate detection tasks to obtain the target detection task of the target space exploration satellite at each time.

[0091] In other words, if there are two candidate detection missions within a detection period, it is necessary to resolve the conflict between the two missions so that the target space detection satellite can determine the observation sequence to be executed.

[0092] Specifically, the first detection period corresponding to the candidate detection task with higher detection priority is identified, and the candidate detection task with higher detection priority is taken as the target detection task corresponding to the first detection period; the second detection period outside the first detection period is identified, and the candidate detection task with lower detection priority is taken as the target detection task corresponding to the second detection period.

[0093] In other words, when there are two candidate detection tasks in the same detection period, priority is given to the detection task corresponding to the target detection field with higher detection priority, so as to ensure that the target with higher scientific value is observed first; and the corresponding detection task is carried out when there are remaining observable periods in the target detection field with lower detection priority, so as to maximize the use of all available observation windows and avoid the waste of observation resources due to simply discarding low priority tasks.

[0094] For example, for any two target detection star regions i and j, when At that time, that is The observation period falls entirely within Within the observation period:

[0095] like Then the higher priority one will be executed. Discard low-priority ones ;

[0096] like Then execute first. ,exist Switching to Execution, in Switch back to the moment Continue execution until .

[0097] when And when the two time periods do not overlap:

[0098] High-priority candidate detection missions will be executed around the clock;

[0099] If a low-priority task still has a remaining observable period after a high-priority task has been completed, then that remaining period will be executed.

[0100] It should be understood that compared to integer programming methods that require solving for the global optimum, the computational complexity of this rule is extremely low—it only involves a few time comparisons and priority comparisons, without requiring the solution of any optimization problem. For a scenario with three target probe domains, there are at most three pairs of overlapping task relationships that need to be determined, and the decision is made in constant time. This ensures that high-priority tasks are not completely "covered" and lost by low-priority tasks, while also ensuring that in partially overlapping scenarios, the unobstructed periods of low-priority tasks are still utilized, rather than being completely discarded.

[0101] In a preferred embodiment, after conflict resolution, an ordered sequence of observation tasks (arranged in chronological order) is generated as the final target detection task:

[0102]

[0103] in, For target detection mission sequence (ordered set). This represents the total number of observation missions retained after conflict resolution. The sequence of exploration missions is arranged chronologically, with each mission including a satellite region identifier, observation start time, observation end time, and priority information. This sequence can be directly used to drive the attitude control subsystem of the target space exploration satellite to perform corresponding attitude maneuvers and payload power-on / off operations.

[0104] In one specific embodiment, such as Figure 3 and Figure 4 As shown, the digital satellite was designed with a computational frequency of 160MHz and an orbit of 500km altitude with a descending node local time of 6:00 AM, a sun-synchronous orbit. The observation areas were set as the center of the Milky Way (GC), Cyg X-1, and the Crab Nebula. The calculated observation periods that satisfy the solar avoidance constraint are shown in Table 1. Statistical analysis shows that the solar avoidance constraint is a long-period variable, changing with an annual cycle.

[0105] Table 1

[0106]

[0107] Statistics show that the observation periods that satisfy the Earth avoidance constraint are as follows: Figure 3 As shown, the selected time period is from 0:00 AM to 4:00 AM on October 1, 2025. The Earth avoidance constraint is a short-period variable, changing on a daily cycle. The satellite periodic timeout count is statistically analyzed. This indicator reflects whether there is insufficient satellite computing power. During the entire autonomous mission planning simulation period, this telemetry value remained at 0, indicating that the autonomous planning calculation time was reasonable under computing power constraints.

[0108] The autonomous observation missions for the Galactic Center (GC) are prioritized as 3, Cyg X-1 as 2, and Crab Nebula as 1. The calculated satellite autonomous mission switching results are as follows: Figure 4 As shown, the start and end times of each task deviate from the STK simulation values ​​by no more than 1 second; the above errors are all within the allowable range for practical applications and do not lose generality.

[0109] Therefore, when using the above method to autonomously generate satellite observation services, only the satellite azimuth and observation priority information need to be adjusted to adapt to other satellites equipped with this autonomous mission planning algorithm. The mission time accuracy and observation energy efficiency can meet the engineering requirements.

[0110] In summary, the autonomous mission planning method for space exploration satellites based on computational constraints proposed in this application obtains the initial orbital information of the target space exploration satellite and the attribute information of three target exploration star regions corresponding to the target space exploration satellite; based on the initial star region azimuth, solar avoidance angle constraint equations and Earth avoidance angle constraint equations are constructed for each target exploration star region; based on the solar avoidance angle constraint equations and the Earth avoidance angle constraint equations between the target space exploration satellite and the three target exploration star regions, at least one candidate exploration mission is generated based on the computational constraints of the target space exploration satellite; based on at least one candidate exploration mission, the target exploration mission of the target space exploration satellite at each time is determined. This method can significantly reduce onboard computational consumption while ensuring the target space exploration satellite's exploration mission, thereby effectively eliminating the target space exploration satellite's dependence on ground-based telemetry and control, and ensuring the long-term stable operation of the target space exploration satellite.

[0111] It should be noted that although the operation of the method of the present invention is described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in that specific order, or that all the operations shown must be performed in order to achieve the desired result.

[0112] Figure 5 A schematic diagram of the structure of an autonomous mission planning device for space exploration satellites based on computing power constraints, provided in an embodiment of this application, is shown.

[0113] like Figure 5 As shown, the autonomous mission planning device 10 for space exploration satellites based on computing power constraints includes:

[0114] The acquisition module 11 is used to acquire the initial orbit information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system.

[0115] Construction module 12 is used to construct solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each of the target detection star regions based on the initial star region orientation.

[0116] The generation module 13 is used to generate at least one candidate detection task based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target detection star regions, and based on the computing power constraint of the target space exploration satellite. Each detection task includes the target detection star region to be detected, the detection start time, and the detection end time.

[0117] The determination module 14 is used to determine the target detection mission of the target space exploration satellite based on at least one of the candidate detection missions.

[0118] In some embodiments, the construction module 12 is specifically used for:

[0119] Obtain the first star region orientation of the Sun in the equatorial inertial coordinate system and the second star region orientation of the Earth in the equatorial inertial coordinate system, respectively;

[0120] Based on the initial star field azimuth and the first star field azimuth corresponding to each target detection star field, a solar avoidance angle constraint equation corresponding to the target detection star field is constructed; and based on the initial star field azimuth and the second star field azimuth corresponding to each detection star field, an Earth avoidance angle constraint equation corresponding to the target detection star field is constructed.

[0121] In some embodiments, the generation module 13 is specifically used for:

[0122] For the target space exploration satellite and each target exploration domain, the sampling period of the target exploration domain is determined according to the Earth avoidance angle constraint equation;

[0123] Based on the sampling period, and according to the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation, the real-time avoidance angle value and the real-time avoidance angle change trend of the target space exploration satellite relative to the target exploration star field are determined; the real-time avoidance angle value includes the real-time solar avoidance angle value and the real-time Earth avoidance angle value, and the avoidance angle change trend includes the real-time solar avoidance angle change trend and the real-time Earth avoidance angle change trend.

[0124] The candidate detection task is determined based on the real-time avoidance angle value and the real-time avoidance angle change trend.

[0125] In some embodiments, the trend of the real-time avoidance angle change is the first derivative of the real-time avoidance angle value under the sampling period.

[0126] In some embodiments, the determining module 14 is specifically used for:

[0127] For each candidate detection task, the detection period of the candidate detection task is determined based on the detection start time and the detection end time;

[0128] If the detection time periods corresponding to any two candidate detection tasks overlap at least partially, then it is determined that the two candidate detection tasks conflict.

[0129] The two candidate detection tasks are conflict-resolved to obtain the target detection tasks of the target space exploration satellite at each time.

[0130] In some embodiments, the determining module 14 is specifically used for:

[0131] Identify the first detection period corresponding to the candidate detection task with higher detection priority, and take the candidate detection task with higher detection priority as the target detection task corresponding to the first detection period;

[0132] Identify the candidate detection task with lower detection priority in a second detection period outside the first detection period, and designate the candidate detection task with lower detection priority as the target detection task corresponding to the second detection period.

[0133] It should be understood that the modules or modules described in the autonomous mission planning device 10 for space exploration satellites based on computing power constraints are related to the reference modules. Figure 1 The steps in the described method correspond accordingly. Therefore, the operations and features described above for the method are also applicable to the computationally constrained autonomous mission planning device 10 for space exploration satellites and its included modules, and will not be repeated here. The computationally constrained autonomous mission planning device 10 for space exploration satellites can be pre-implemented in the browser or other secure applications of an electronic device, or it can be loaded into the browser or other secure applications of an electronic device through download or other means. The corresponding modules in the computationally constrained autonomous mission planning device 10 for space exploration satellites can cooperate with the modules in the electronic device to implement the solutions of the embodiments of this application.

[0134] The division of modules or units mentioned in the detailed description above is not mandatory. In fact, according to the embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0135] The following is for reference. Figure 6 , Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the embodiments of this application is shown.

[0136] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the system's operating instructions. CPU 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0137] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0138] Specifically, according to embodiments of this application, the flowchart above refers to... Figure 2 The described process can be implemented as a computer software program. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program contains program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined in the system of this application.

[0139] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0140] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operational instructions of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two connected blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified functions or operational instructions, or using a combination of dedicated hardware and computer instructions.

[0141] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be housed in a processor; for example, a processor can be described as including an acquisition module, a construction module, a generation module, and a determination module. The names of these units or modules do not necessarily limit the specific unit or module itself. For example, the first acquisition module can also be described as "acquiring the initial orbital information of the target space exploration satellite and the attribute information of three target exploration star regions corresponding to the target space exploration satellite, wherein the attribute information includes the initial star region azimuth and exploration priority of the target exploration star region in the equatorial inertial coordinate system."

[0142] In another aspect, this application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments, or may exist independently and not assembled into the electronic device. The aforementioned computer-readable storage medium stores one or more programs that, when used by one or more processors, execute the computationally constrained autonomous mission planning method for space exploration satellites described in this application.

[0143] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for autonomous mission planning of space exploration satellites based on computational constraints, characterized in that, include: The initial orbital information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite are obtained. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system. Based on the initial star field orientation, solar avoidance angle constraint equations and Earth avoidance angle constraint equations are constructed for each of the target detection star fields; Based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target exploration star regions, at least one candidate exploration mission is generated based on the computing power constraint of the target space exploration satellite. Each exploration mission includes the corresponding target exploration star region, exploration start time, and exploration end time. Based on at least one of the candidate detection missions, the target detection mission of the target space exploration satellite at each time is determined.

2. The autonomous mission planning method for space exploration satellites based on computational constraints according to claim 1, characterized in that, The step of constructing solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each target detection star region based on the initial star region orientation includes: Obtain the first star region orientation of the Sun in the equatorial inertial coordinate system and the second star region orientation of the Earth in the equatorial inertial coordinate system, respectively; Based on the initial star field azimuth and the first star field azimuth corresponding to each target detection star field, a solar avoidance angle constraint equation corresponding to the target detection star field is constructed; and based on the initial star field azimuth and the second star field azimuth corresponding to each detection star field, an Earth avoidance angle constraint equation corresponding to the target detection star field is constructed.

3. The autonomous mission planning method for space exploration satellites based on computational constraints according to claim 1, characterized in that, The step of generating at least one candidate exploration mission based on the solar avoidance angle constraint and the Earth avoidance angle constraint between the target space exploration satellite and the three target exploration star regions, and based on the computing power constraint of the target space exploration satellite, includes: For the target space exploration satellite and each target exploration domain, the sampling period of the target exploration domain is determined according to the Earth avoidance angle constraint equation; Based on the sampling period, and according to the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation, the real-time avoidance angle value and the real-time avoidance angle change trend of the target space exploration satellite relative to the target exploration star field are determined; the real-time avoidance angle value includes the real-time solar avoidance angle value and the real-time Earth avoidance angle value, and the avoidance angle change trend includes the real-time solar avoidance angle change trend and the real-time Earth avoidance angle change trend. The candidate detection task is determined based on the real-time avoidance angle value and the real-time avoidance angle change trend.

4. The autonomous mission planning method for space exploration satellites based on computational constraints according to claim 3, characterized in that, The trend of the real-time avoidance angle is the first derivative of the real-time avoidance angle value under the sampling period.

5. The autonomous mission planning method for space exploration satellites based on computational constraints according to claim 1, characterized in that, The step of determining the target space exploration satellite's target exploration mission at each time based on at least one of the candidate exploration missions includes: For each candidate detection task, the detection period of the candidate detection task is determined based on the detection start time and the detection end time; If the detection time periods corresponding to any two candidate detection tasks overlap at least partially, then it is determined that the two candidate detection tasks conflict. The two candidate detection tasks are conflict-resolved to obtain the target detection tasks of the target space exploration satellite at each time.

6. The autonomous mission planning method for space exploration satellites based on computational constraints according to claim 5, characterized in that, The process of resolving conflicts between the two candidate detection tasks to obtain the target detection tasks of the target space exploration satellite at each time step includes: Identify the first detection period corresponding to the candidate detection task with higher detection priority, and take the candidate detection task with higher detection priority as the target detection task corresponding to the first detection period; Identify the candidate detection task with lower detection priority in a second detection period outside the first detection period, and designate the candidate detection task with lower detection priority as the target detection task corresponding to the second detection period.

7. A space exploration satellite autonomous mission planning device based on computing power constraints, characterized in that, include: The acquisition module is used to acquire the initial orbit information of the target space exploration satellite and the attribute information of the three target exploration star fields corresponding to the target space exploration satellite. The attribute information includes the initial star field azimuth and exploration priority of the target exploration star field in the equatorial inertial coordinate system. The construction module is used to construct solar avoidance angle constraint equations and Earth avoidance angle constraint equations for each of the target detection star regions based on the initial star region orientation. The generation module is used to generate at least one candidate detection task based on the solar avoidance angle constraint equation and the Earth avoidance angle constraint equation between the target space exploration satellite and the three target detection star regions, and based on the computing power constraint of the target space exploration satellite. Each detection task includes the target detection star region to be detected, the detection start time, and the detection end time. A determination module is used to determine the target detection mission of the target space exploration satellite based on at least one of the candidate detection missions.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the autonomous mission planning method for space exploration satellites based on computing power constraints as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the autonomous mission planning method for space exploration satellites based on computing power constraints as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the autonomous mission planning method for space exploration satellites based on computing power constraints as described in any one of claims 1-6.

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