Simulation platform for autonomous exploration of asteroid

Abstract

The application relates to the technical field of deep space exploration, and provides a simulation platform for autonomous asteroid exploration. The simulation platform comprises an environment construction process, an exploration behavior organization process, a behavior verification process, a behavior execution process and a feedback generation process. The environment construction process is used for constructing a simulation environment; the exploration behavior organization process is used for abstracting the on-orbit capability of a spacecraft and its load into exploration behaviors, and constructing an exploration behavior system composed of multiple subdivided exploration behaviors; the behavior verification process is used for performing pre-execution feasibility verification on each subdivided exploration behavior to be verified, and generating a verified exploration behavior sequence; the behavior execution process is used for executing the verified exploration behavior sequence and updating state information or generating behavior products; and the feedback generation process is used for generating feedback data. The application can avoid that exploration behaviors which do not meet the near-asteroid exploration constraints directly enter the execution process, and supports closed-loop simulation verification of the whole autonomous asteroid exploration mission.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, and in particular to a simulation platform for autonomous asteroid exploration. Background Technology

[0002] Starting in 2025, a series of asteroid exploration missions will be launched, including near-Earth asteroid sample return, asteroid flyby observation, and asteroid resource and dynamics surveys. These missions are typically characterized by their great distance from Earth, highly irregular shapes, complex center-of-mass distribution, large topographic relief, and uneven surface albedo. Furthermore, due to the extremely limited prior information about the target asteroids before the mission, their true physical environment, gravitational field distribution, surface structure, and even brightness models often need to be updated and remodeled continuously during the exploration process.

[0003] Currently, close-range asteroid exploration missions generally employ a "space-ground joint closed-loop control" approach. This involves a ground center repeatedly rehearsing and planning key operations such as trajectory adjustments, formation flying, hovering, and descent of the probe, continuously updating commands through remote communication with the probe. However, due to the long planning cycle, significant communication latency, and rapid changes in the deep-space environment, this approach results in lengthy exploration cycles, complex operations, and low efficiency. As the complexity of asteroid missions continues to increase, enhancing the autonomous control capabilities of spacecraft in near-asteroid environments has become a key area of ​​widespread concern. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a simulation platform for autonomous asteroid exploration, in order to solve the problem of how to support the closed-loop verification of the entire process of autonomous asteroid close-range exploration missions and improve the feasibility verification capability of exploration behavior in complex asteroid environments.

[0005] In a first aspect, this invention provides a simulation platform for autonomous asteroid exploration, which forms an autonomous exploration mission simulation chain through an environment construction process, an exploration behavior organization process, a behavior verification process, a behavior execution process, and a feedback generation process.

[0006] The environment construction process includes: reading the predefined environment configuration and constructing the simulation environment based on the environment configuration; the simulation environment includes at least the target asteroid environment, the spacecraft's initial state, observation conditions, and observation payloads;

[0007] The exploration behavior organization process is used to abstract the on-orbit capabilities of spacecraft and their payloads into exploration behaviors, and to construct an exploration behavior system consisting of multiple subdivided exploration behaviors; wherein, each subdivided exploration behavior corresponds to a preset behavior verification configuration;

[0008] The behavior verification process is used to determine the applicable verification dimension, the required state information, the target asteroid environment model and constraint parameters based on the corresponding behavior verification configuration for each sub-exploration behavior in the sequence of exploration behaviors to be verified, and to obtain the current state information corresponding to the required state information. Based on the current state information, the target asteroid environment model and constraint parameters, a pre-execution feasibility verification is performed to generate the behavior verification results corresponding to each sub-exploration behavior.

[0009] The behavior execution process is used in a simulation environment to acquire subdivided exploration behaviors one by one in the execution order of the verified exploration behavior sequence, determine the corresponding execution logic based on the subdivided exploration behavior identifier, and use the behavior parameters of the subdivided exploration behavior as the input of the corresponding execution logic to execute the corresponding subdivided exploration behavior; during the execution process, the behavior execution process updates the state information maintained by the simulation platform or generates at least one of the behavior products corresponding to the subdivided exploration behavior, and the behavior products include one or more of the following: observation data, analysis results, and state query results;

[0010] The feedback generation process is used to extract a subset of state information corresponding to the current subdivided exploration behavior from the state information maintained by the simulation platform, and generate feedback data by combining the behavior verification results and behavior products of the current subdivided exploration behavior. The feedback data is then output to the external autonomous planning system through the feedback interface to support the external autonomous planning system in generating subsequent exploration behavior requests.

[0011] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0012] (1) This invention constructs an autonomous exploration task simulation link consisting of environment construction, behavior organization, behavior verification, behavior execution and feedback generation, and feeds back the behavior verification results, status information and behavior products to the external autonomous planning system in a unified manner to support the external autonomous planning system in generating subsequent exploration behavior requests, thereby realizing closed-loop verification of the entire autonomous exploration task.

[0013] (2) This invention abstracts the spacecraft and its payload capabilities into exploration behavior, realizes the simulation capability call through a unified behavior description method, reduces the coupling between the autonomous detection algorithm and the underlying simulation model, and improves the flexibility of autonomous detection mission verification.

[0014] (3) The present invention introduces a behavior verification process before the execution of the exploration behavior. Based on the behavior verification configuration corresponding to the subdivided exploration behavior, the reachability, observability and resource feasibility are verified in combination with the spacecraft status, target asteroid environment model and constraint parameters. This can prevent exploration behaviors that do not meet the exploration constraints from directly entering the execution process and improve the effectiveness of simulation verification of autonomous exploration missions.

[0015] (4) This invention achieves standardized interaction between the autonomous detection system and the simulation platform by unifying the behavior description format, behavior registration mechanism and unified feedback data, and supports flexible expansion of exploration behavior, reducing the adaptation complexity of different autonomous detection algorithms to the simulation platform. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the simulation link of a simulation platform for autonomous asteroid exploration provided in an embodiment of the present invention. Detailed Implementation

[0018] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0019] The following will describe in detail, with reference to the accompanying drawings, a simulation platform for autonomous asteroid exploration according to an embodiment of the present invention.

[0020] As mentioned above, the current "space-ground combined closed-loop control" approach for close-range asteroid exploration suffers from drawbacks such as long exploration cycles, complex operations, and low efficiency. With the increasing complexity of asteroid missions, enhancing the autonomous control capabilities of spacecraft in near-asteroid environments has become a key area of ​​international concern.

[0021] Autonomous asteroid exploration involves multiple core technologies, including relative navigation, visual perception, terrain feature recognition, six-degree-of-freedom dynamics modeling, attitude stabilization and orbital maneuver control, path planning, and mission decision-making. Therefore, it relies heavily on high-fidelity simulation and verification platforms. These platforms must not only accurately simulate the six-degree-of-freedom dynamics and propulsion system response of spacecraft, but also reproduce deep-space scenarios such as irregular gravitational fields, microgravity environments, and lighting conditions of asteroids, enabling the algorithms to be verified under near-real-world mission conditions.

[0022] As asteroid exploration missions become increasingly complex, spacecraft need stronger autonomous exploration capabilities to adapt to the challenges of high communication latency, environmental uncertainty, and long mission cycles in deep space. Verifying autonomous exploration capabilities is a crucial step in mission development, typically requiring thorough testing and evaluation of relevant algorithms and mission procedures using simulation platforms.

[0023] Existing simulation platforms primarily target applications such as dynamics simulation, orbit control simulation, and environmental modeling, focusing on high-fidelity simulation capabilities of spacecraft motion and the space environment. However, when verifying autonomous exploration missions, it is often necessary to jointly verify multiple aspects such as navigation, sensing, control, and mission execution. Existing simulation platforms still lack sufficient support for the entire process of autonomous exploration missions, thus increasing the complexity of autonomous exploration algorithm verification and testing.

[0024] Therefore, a simulation platform is needed for autonomous asteroid exploration missions to support the unified organization, execution, and feedback of exploration behaviors in autonomous exploration missions, and to provide a closed-loop simulation verification environment for autonomous decision-making systems.

[0025] In view of this, embodiments of the present invention provide a simulation platform for autonomous asteroid exploration. The platform forms an autonomous exploration mission simulation link through the environment construction process, exploration behavior organization process, behavior verification process, behavior execution process, and feedback generation process, thereby supporting the closed-loop verification of the entire process of autonomous asteroid close-range exploration missions and improving the feasibility verification capability of exploration behavior in complex asteroid environments.

[0026] Figure 1 This is a schematic diagram of the simulation link of a simulation platform for autonomous asteroid exploration provided in an embodiment of the present invention. Figure 1 As shown, the simulation platform forms an autonomous exploration task simulation chain through the environment construction process, the exploration behavior organization process, the behavior verification process, the behavior execution process, and the feedback generation process;

[0027] The environment construction process includes: reading the predefined environment configuration and constructing the simulation environment based on the environment configuration; the simulation environment includes at least the target asteroid environment, the spacecraft's initial state, observation conditions, and observation payloads;

[0028] The exploration behavior organization process is used to abstract the on-orbit capabilities of spacecraft and their payloads into exploration behaviors, and to construct an exploration behavior system consisting of multiple subdivided exploration behaviors; wherein, each subdivided exploration behavior corresponds to a preset behavior verification configuration;

[0029] The behavior verification process is used to determine the applicable verification dimension, the required state information, the target asteroid environment model and constraint parameters based on the corresponding behavior verification configuration for each sub-exploration behavior in the sequence of exploration behaviors to be verified, and to obtain the current state information corresponding to the required state information. Based on the current state information, the target asteroid environment model and constraint parameters, a pre-execution feasibility verification is performed to generate the behavior verification results corresponding to each sub-exploration behavior.

[0030] The behavior execution process is used in a simulation environment to acquire subdivided exploration behaviors one by one in the execution order of the verified exploration behavior sequence, determine the corresponding execution logic based on the subdivided exploration behavior identifier, and use the behavior parameters of the subdivided exploration behavior as the input of the corresponding execution logic to execute the corresponding subdivided exploration behavior; during the execution process, the behavior execution process updates the state information maintained by the simulation platform or generates at least one of the behavior products corresponding to the subdivided exploration behavior, and the behavior products include one or more of the following: observation data, analysis results, and state query results;

[0031] The feedback generation process is used to extract a subset of state information corresponding to the current subdivided exploration behavior from the state information maintained by the simulation platform, and generate feedback data by combining the behavior verification results and behavior products of the current subdivided exploration behavior. The feedback data is then output to the external autonomous planning system through the feedback interface to support the external autonomous planning system in generating subsequent exploration behavior requests.

[0032] In some embodiments of the present invention, a predefined environment configuration is used. Including the configuration of the target asteroid Track environment configuration Lighting environment configuration Observation payload configuration .

[0033] Among them, the target asteroid configuration This includes the target asteroid type, morphological model, scale parameters, rotation parameters, and orbital parameters; orbital environment configuration. This includes the initial orbital state of the spacecraft, the initial orbital state of the target asteroid, and relative motion constraints; lighting environment configuration. This includes the type of light source, the direction of illumination, and the intensity of illumination; the configuration of the observation payload. This includes the load type, installation location, and load operating parameters.

[0034] The environment construction process includes loading the corresponding target asteroid resources from the resource library according to the target asteroid configuration, setting the initial orbital state of the spacecraft and the initial orbital state of the target asteroid according to the orbital environment configuration, setting the illumination conditions according to the illumination environment configuration, and setting the corresponding observation payloads according to the observation payload configuration, so as to form a simulation environment for autonomous exploration missions to be executed.

[0035] This simulation environment is used to provide state information, target asteroid environment model, observation conditions, and observation payload conditions for subsequent behavior verification and execution processes.

[0036] In other words, the environment construction process reads predefined environment configurations, constructs the target asteroid environment based on these configurations, initializes spacecraft state information, and sets observation conditions and payloads to form a simulation environment. This simulation environment provides state information, the target asteroid environment model, observation conditions, and observation payload conditions for subsequent behavior verification and execution processes. Specifically, the target asteroid configuration includes the target asteroid type, shape model, scale parameters, rotation parameters, and orbital parameters; the orbital environment configuration includes the spacecraft's initial orbital state, the target asteroid's initial orbital state, and relative motion constraints; the illumination environment configuration includes the light source type, illumination direction, and illumination intensity; and the observation payload configuration includes the payload type, installation location, and payload operating parameters.

[0037] Specifically, the predefined environment configuration corresponding to the task is first loaded through the environment building process.

[0038] In one example, the target asteroid configuration can specify the target asteroid as Bennu, and set its shape model, rotation parameters, and orbital parameters; the orbital environment configuration sets the spacecraft's initial orbital state to a close observation orbit 20km above the target asteroid's surface, and sets the target asteroid's initial orbital state; the illumination environment configuration specifies the light source type as parallel light to simulate sunlight, and sets the sunlight direction and intensity; the observation payload configuration includes the installation location and operating parameters of the visible light camera payload, and the installation location and operating parameters of the lidar payload.

[0039] The simulation platform loads the Bennu asteroid topography resources according to the above environment configuration, and constructs the orbital environment, lighting environment and observation payload environment of the spacecraft relative to the Bennu asteroid to form a simulation environment for the execution of autonomous exploration missions.

[0040] In some embodiments of the present invention, the exploration behavior organization process can receive one or more exploration behavior requests sent by an external autonomous planning system through an exploration behavior call interface, determine the corresponding subdivided exploration behavior according to the subdivided exploration behavior identifier in each exploration behavior request, and construct a sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received.

[0041] The exploration behaviors include orbit control behaviors, observation control behaviors, environmental analysis behaviors, and status access behaviors. The orbit control behaviors are used to support spacecraft position adjustments and area transfers; the observation control behaviors are used to support observation payload control and observation data acquisition; the environmental analysis behaviors are used to support target identification, environmental feature analysis, and observation result processing; and the status access behaviors are used to support the acquisition of spacecraft status information, resource status information, and historical mission status information.

[0042] Furthermore, the orbit control behavior, observation control behavior, environmental analysis behavior, and state access behavior each include one or more independently invoked subdivided exploration behaviors, which serve as the basic execution units in the exploration behavior organization process.

[0043] In some implementations, the subdivision exploration behavior is registered according to a predefined behavior registration format when it is connected to the simulation platform. The behavior registration format includes at least the subdivision exploration behavior identifier, behavior parameter conventions, behavior verification configuration, and behavior function description.

[0044] Among them, the behavior parameter convention is used to define one or more of the following: behavior parameter name, data type, parameter unit, coordinate system, value range, and whether it is required for the corresponding subdivided exploration behavior; the behavior verification configuration is used to define one or more of the following: the verification dimension applicable to the corresponding subdivided exploration behavior, the state information required for verification, the target asteroid environment model on which it depends, and the constraint parameters; the registered subdivided exploration behaviors form a set of callable subdivided exploration behaviors.

[0045] After completing the registration of subdivided exploration behaviors, the simulation platform can receive behavior description acquisition requests sent by external autonomous planning systems through the behavior description acquisition interface, and respond to the behavior description acquisition requests by providing the external autonomous planning systems with structured behavior descriptions corresponding to one or more registered subdivided exploration behaviors.

[0046] This structured behavior description It can be represented as: ,in, Indicates detailed exploration behavior identification, Indicate parameter conventions, Indicates behavior verification configuration, This describes the behavioral function so that the external autonomous planning system can determine the calling parameters and applicable verification requirements for the corresponding subdivided exploration behavior.

[0047] The exploration behavior organization process receives exploration behavior requests sent by external autonomous planning systems through the exploration behavior call interface using a unified behavior request format. The exploration behavior request includes at least a subdivided exploration behavior identifier and a set of behavior parameters.

[0048] Uniform Action Request Format It can be represented as: ,in, The subdivision of the exploration behavior is identified and used to determine the subdivision of the exploration behavior to be invoked from the set of invotable subdivisions. This is a set of behavioral parameters used to describe the specific execution conditions of the detailed exploration behavior.

[0049] Upon receiving one or more exploration behavior requests, the exploration behavior organization process determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in each request, and constructs a sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests were received. in, The sequence of exploratory behaviors to be verified. Indicates the first A segmented exploration behavior to be verified. greater than or equal to 1 and less than or equal to 1 Positive integers.

[0050] In other words, the exploration behavior organization process is used to abstract the on-orbit capabilities of spacecraft and their payloads into exploration behaviors, and to construct an exploration behavior system composed of multiple subdivided exploration behaviors. Exploration behaviors include orbit control behaviors, observation control behaviors, environmental analysis behaviors, and status access behaviors.

[0051] Among them, orbit control behavior is used to support spacecraft position adjustment and regional transfer; observation control behavior is used to support observation payload control and observation data acquisition; environmental analysis behavior is used to support target identification, environmental feature analysis and observation result processing; and status access behavior is used to support the acquisition of spacecraft status information, resource status information and historical mission status information.

[0052] Various exploration behaviors include one or more independently invoked sub-exploration behaviors, which serve as the basic execution unit in the exploration behavior organization process. When a sub-exploration behavior is connected to the simulation platform, it is registered according to a predefined behavior registration format. The behavior registration format includes at least a sub-exploration behavior identifier, behavior parameter conventions, behavior verification configuration, and behavior function description. Behavior parameter conventions define one or more of the following for the behavior parameters corresponding to the sub-exploration behavior: parameter name, data type, parameter unit, coordinate system, value range, and whether it is required. Behavior verification configuration defines one or more of the following for the corresponding sub-exploration behavior: verification dimension, verification required state information, target asteroid environment model it depends on, constraint parameters, and verification failure handling methods.

[0053] After completing the registration of subdivided exploration behaviors, the simulation platform receives behavior description retrieval requests from the external autonomous planning system through the behavior description retrieval interface, and responds to the behavior description retrieval requests by providing the external autonomous planning system with structured behavior descriptions corresponding to one or more registered subdivided exploration behaviors. The structured behavior descriptions are represented as follows: ,in Indicates detailed exploration behavior identification, Indicate parameter conventions, Indicates behavior verification configuration, This describes the behavioral function so that the external autonomous planning system can determine the calling parameters and applicable verification requirements for the corresponding subdivided exploration behavior;

[0054] The external autonomous planning system determines the sub-exploration behavior identifier, parameter requirements, and applicable verification requirements for the sub-exploration behavior to be invoked based on the structured behavior description, and sends the exploration behavior request through the exploration behavior invocation interface according to the unified behavior request format. The exploration behavior request is represented as follows: ,in, The subdivision of the exploration behavior is identified and used to determine the subdivision of the exploration behavior to be invoked from the set of invotable subdivisions. This is a set of behavioral parameters used to describe the execution conditions of the detailed exploration behavior.

[0055] Upon receiving one or more exploration behavior requests, the exploration behavior organization process determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in each request, and constructs a sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received. The sequence of exploration behaviors to be verified can be represented as follows: , Indicates the first A segmented exploration behavior to be verified.

[0056] Specifically, before the task is executed, the simulation platform completes the registration of detailed exploration behaviors.

[0057] Under the category of orbit control behavior, the registered observation point transfer behavior is OrbitTransfer, and the hovering and maintaining behavior is HoverMaintain. OrbitTransfer is used to control the spacecraft to transfer to a designated target area, and its behavior parameters include one or more of the following: target position, target coordinate system, and allowable arrival time. HoverMaintain is used to maintain the relative position of the spacecraft in the vicinity of a designated area, and its behavior parameters include target position and holding time.

[0058] For the OrbitTransfer behavior, its behavioral verification configuration includes reachability verification and resource feasibility verification. The reachability verification requires state information including the spacecraft's current orbital state, attitude state, velocity state, and fuel state. The target asteroid environment model it relies on includes the Bennu asteroid topography model, rotation parameters, and peri-field dynamics model. Constraint parameters include preset maneuverability, safe distance, and allowable arrival time. The resource feasibility verification requires state information including fuel state and payload operational status. Constraint parameters include fuel safety thresholds.

[0059] Under the observation control behavior category, register the image acquisition behavior CaptureImage and the continuous observation behavior ContinuousObservation. CaptureImage is used to acquire images of the target area, and its behavior parameters include camera parameters and the observation target; ContinuousObservation is used to continuously acquire observation data, and its behavior parameters include the observation period, the time interval between single observations, and the observation duration.

[0060] For the ContinuousObservation behavior, its behavior verification configuration includes observability verification and resource feasibility verification. The observability verification requires state information including the spacecraft's relative position, attitude state, and observation payload operational status. The target asteroid environment model it relies on includes the Bennu asteroid topography model, rotation parameters, and illumination environment model. Constraint parameters include the observation payload's field of view, attitude pointing range, and illumination condition thresholds. The resource feasibility verification requires state information including payload operational status and data storage status. Constraint parameters include data storage security thresholds.

[0061] Under the environmental analysis behavior category, the following behaviors are registered: TargetDetection, RotationInversion, and PointCloudScan. TargetDetection identifies target region features, and its behavior parameters include the image data to be processed. RotationInversion retrieves the rotation characteristics of the target asteroid based on time-series observation data, and its behavior parameters include the observation sequence and time information. PointCloudScan constructs a point cloud model of the target region, and its behavior parameters include the scanning area and scanning resolution.

[0062] Under the category of status access behavior, register the status query behavior QueryState and the history query behavior QueryHistory. QueryState is used to retrieve current status information, and its behavior parameters include the status type; QueryHistory is used to retrieve historical execution records, and its behavior parameters include the query range.

[0063] For each sub-exploration behavior, the sub-exploration behavior identifier, behavior parameter conventions, behavior validation configuration, and behavior function description are registered according to a predefined behavior registration format. After registration, a set of callable sub-exploration behaviors is formed. Upon completion of registration, the simulation platform receives behavior description retrieval requests from external autonomous planning systems via a behavior description retrieval interface, and responds by providing the external autonomous planning system with structured behavior descriptions corresponding to one or more registered sub-exploration behaviors. .

[0064] After completing the registration of detailed exploration behaviors, the sequence of exploration behaviors to be verified can be constructed. This specifically includes:

[0065] After the task begins, the external autonomous planning system sends an exploration behavior request to the simulation platform through the exploration behavior call interface, based on the task objectives: ;in, This includes one or more of the following: target transfer point location, target coordinate system, and allowable arrival time.

[0066] Then a hover-hold behavior request is generated: ;in, This includes the target location and the duration of the hold.

[0067] After completing the hovering, generate a request for continuous observation behavior: ;in, This includes the observation period, the time interval between single observations, and the duration of the observation.

[0068] The exploration behavior organization process determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in the above exploration behavior request, and constructs the sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received: The sequence of behaviors to be verified is then output to the behavior verification process.

[0069] In some embodiments of the present invention, the state information constitutes a state information set: ,in, Represents a set of state information. Represents the set of spacecraft status information, Represents a set of resource status information. This represents a set of status information during the exploration process;

[0070] Spacecraft status information includes orbital status information, attitude status information, and velocity status information; resource status information includes fuel status information, payload status information, and data storage status information; exploration process status information includes information on executed exploration actions and historical exploration records.

[0071] In some implementations, the behavior verification process may include:

[0072] According to the order of the subdivided exploration behaviors in the sequence of exploration behaviors to be verified, the feasibility of each subdivided exploration behavior is pre-executed in sequence.

[0073] For the current segmented exploration behavior, a pre-execution feasibility verification is performed based on the current state information obtained from the state information set maintained by the simulation platform, or based on the predicted state information corresponding to the previous verified segmented exploration behavior.

[0074] When the current subdivision exploration behavior passes the pre-execution feasibility verification, the predicted state information after the execution of the current subdivision exploration behavior is determined according to the behavior parameters of the current subdivision exploration behavior, and the predicted state information is used as the state information when the next subdivision exploration behavior is pre-execution feasibility verified.

[0075] The detailed exploration actions that pass the pre-execution feasibility verification will be written into the verified exploration action sequence in the order they are arranged: ; Indicates the first A segmented exploration behavior to be verified. greater than or equal to 1 and less than or equal to 1 Positive integers;

[0076] The behavior verification result includes at least a verification status identifier, which is used to indicate whether the corresponding sub-exploration behavior is in an executable or non-executable state. For sub-exploration behaviors in an non-executable state, a verification failure message is generated, and the sub-exploration behavior is not written into the verified exploration behavior sequence.

[0077] That is, the behavior verification process is used to read the corresponding behavior verification configuration based on the subdivided exploration behavior identifier of the subdivided exploration behavior to be verified, determine the applicable verification dimension, required state information, target asteroid environment model and constraint parameters based on the behavior verification configuration, and perform pre-execution feasibility verification on the subdivided exploration behavior to be verified.

[0078] Furthermore, the feasibility verification of the behavior verification process includes one or more of the following: reachability verification, observability verification, and resource feasibility verification.

[0079] The reachability verification includes: based on the spacecraft's current orbital state, attitude state, velocity state, fuel state, and the target area corresponding to the subdivided exploration behavior, combined with the morphological model, rotation parameters, and peri-field dynamics of the target asteroid, determining whether the spacecraft can reach the target area under the constraints of preset maneuverability, safe distance, and allowable arrival time.

[0080] Observability verification includes: determining whether the target area meets the field of view coverage, attitude pointing, shape occlusion and illumination conditions within the corresponding observation time, based on the target area location, the target asteroid topography model, the spacecraft's relative position, the spacecraft's attitude state, the observation payload's field of view parameters and the illumination environment parameters.

[0081] The resource feasibility verification is based on the resource consumption information of the corresponding subdivided exploration behavior. It predicts one or more of the following: fuel status, payload working status, and data storage status after the execution of the subdivided exploration behavior, and determines whether the predicted resource status meets the corresponding resource safety threshold.

[0082] In some implementations, when the subdivision exploration behavior to be verified does not meet the corresponding pre-execution feasibility verification conditions, the behavior verification process determines the subdivision exploration behavior to be verified as unexecutable and generates verification failure information. The verification failure information includes at least an unexecutable state identifier and a replanning trigger identifier, and includes one or more of the constraint conflict type and constraint conflict parameters. The subdivision exploration behavior to be verified is not written into the verified exploration behavior sequence. The feedback generation process writes the subdivision exploration behavior identifier, verification failure information and corresponding state information subset of the subdivision exploration behavior to be verified into the feedback data, and outputs it to the external autonomous planning system through the feedback interface.

[0083] In other words, the behavior verification process is used to determine the applicable verification dimension, the required state information, the target asteroid environment model, and constraint parameters for each sub-entry in the sequence of exploration behaviors to be verified, based on the corresponding behavior verification configuration. The behavior verification process obtains the current state information corresponding to the required state information from the state information set maintained by the simulation platform, and performs a pre-execution feasibility verification of the sub-entry exploration behaviors to be verified in conjunction with the target asteroid environment model and constraint parameters.

[0084] The simulation platform maintains a set of state information, which can be represented as: ,in, Represents the set of spacecraft status information, Represents a set of resource status information. It represents a set of state information during the exploration process; the behavioral output includes one or more of the following: observation data, analysis results, and state query results.

[0085] The behavior verification process follows the order of the sub-exploration behaviors in the sequence of exploration behaviors to be verified, and performs pre-execution feasibility verification on each sub-exploration behavior in turn. Specifically, the current state information obtained from the state information set maintained by the simulation platform is determined as the initial verification state information; for the current sub-exploration behavior in the sequence of exploration behaviors to be verified, a pre-execution feasibility verification is performed based on the initial verification state information or based on the predicted state information corresponding to the previous sub-exploration behavior that passed the pre-execution feasibility verification.

[0086] Pre-execution feasibility verification includes one or more of the following: reachability verification, observability verification, and resource feasibility verification. Reachability verification is used to determine whether the spacecraft can reach the target area within a preset maneuverability, safe distance, and allowable arrival time, based on the spacecraft's current orbital state, attitude state, velocity state, fuel state, and target area, combined with the target asteroid's topography model, rotation parameters, and peri-field dynamics. Observability verification is used to determine whether the target area meets the field-of-view coverage, attitude pointing, topography occlusion, and illumination conditions within the corresponding observation time, based on the target area's location, the target asteroid's topography model, the spacecraft's relative position, the spacecraft's attitude state, the observation payload's field-of-view parameters, and the illumination environment parameters. Resource feasibility verification is used to predict one or more of the following after executing a subdivided exploration action, based on the resource consumption information corresponding to that action, and to determine whether the predicted resource state meets the corresponding resource safety threshold.

[0087] The behavior verification process determines one or more of the following based on the verification results: the executable status, constraint conflict information, executable parameter range, and replanning trigger identifier for the corresponding subdivided exploration behavior. The subdivided exploration behaviors that pass the corresponding feasibility verification conditions then form a verified sequence of exploration behaviors. .

[0088] Specifically, the simulation platform can maintain a set of state information. ,in, Represents the set of spacecraft status information, Represents a set of resource status information. This represents a set of exploration process status information. In this embodiment, spacecraft status information includes orbital status information, attitude status information, and velocity status information; resource status information includes fuel status information, payload status information, and data storage status information; exploration process status information includes information on executed exploration actions and historical exploration records. At the start of verification, the current status information maintained by the simulation platform is determined as the initial verification status information.

[0089] The behavior verification process performs pre-execution feasibility checks on each sub-behavior in the order of the sequence of exploration behaviors to be verified. For different types of sub-behaviors, the behavior verification process determines the applicable verification dimensions based on the corresponding behavior verification configuration. Pre-execution feasibility checks are then performed on each sub-behavior sequentially.

[0090] For the OrbitTransfer behavior, the behavior verification process obtains the spacecraft's current orbital state, attitude state, velocity state, and fuel state according to the behavior verification configuration corresponding to OrbitTransfer. It also combines the Bennu asteroid topography model, rotation parameters, and peri-field dynamics model to determine whether the spacecraft can reach the target transfer point under the preset maneuverability, safe distance, and allowable arrival time conditions.

[0091] Meanwhile, the resource feasibility verification predicts the fuel status after orbit transfer based on the resource consumption information corresponding to the OrbitTransfer behavior, and determines whether the predicted fuel status meets the fuel safety threshold.

[0092] When the OrbitTransfer action meets the corresponding reachability and resource feasibility verification conditions, the OrbitTransfer action is written into the verified exploration action sequence. Based on the target location, allowable arrival time conditions, and other action parameters of the OrbitTransfer action, the predicted state information after the OrbitTransfer action is executed is determined. The predicted state information may include the spacecraft's relative position, attitude, velocity, and fuel status after the transfer.

[0093] For the HoverMaintain behavior, the behavior verification process uses the predicted state information corresponding to the OrbitTransfer behavior as the state information for pre-execution feasibility verification of the HoverMaintain behavior. Based on the target position and holding time of the HoverMaintain behavior, the feasibility of the spacecraft maintaining a relative positional relationship near the designated area is verified. Simultaneously, based on the holding time and corresponding resource consumption information, the fuel status and payload operating status are predicted, and it is determined whether the predicted resource status meets the corresponding resource safety threshold.

[0094] When the HoverMaintain behavior meets the corresponding feasibility verification conditions, the HoverMaintain behavior is written into the verified exploration behavior sequence, and the predicted state information after hovering is determined based on the behavior parameters of the HoverMaintain behavior. The predicted state information may include one or more of the following: spacecraft relative position state, attitude state, fuel state, and payload operating state.

[0095] For the ContinuousObservation behavior, the behavior verification process uses the predicted state information corresponding to the HoverMaintain behavior as the state information when performing pre-execution feasibility verification of the ContinuousObservation behavior. It obtains the spacecraft's relative position, attitude state, observation payload working state, and data storage state, and combines the target area position, Bennu asteroid topography model, rotation parameters, and illumination environment model to determine whether the target area meets the observation payload's field of view coverage conditions, attitude pointing conditions, topography occlusion conditions, and illumination conditions within the corresponding observation time.

[0096] Meanwhile, the resource feasibility verification predicts the load working status and data storage status after the execution of the continuous observation behavior based on the resource consumption information corresponding to the ContinuousObservation behavior, and determines whether the predicted resource status meets the corresponding resource safety threshold.

[0097] When the ContinuousObservation behavior meets the observability and resource feasibility verification conditions, the ContinuousObservation behavior is written into the verified exploration behavior sequence, and the corresponding prediction state information is determined according to the observation period, single observation time interval and observation duration of the ContinuousObservation behavior.

[0098] If OrbitTransfer, HoverMaintain, and ContinuousObservation all satisfy the corresponding pre-execution feasibility verification conditions, then the verified exploration behavior sequence can be represented as: .

[0099] When any subdivision exploration behavior to be verified fails to meet the corresponding feasibility verification condition, the behavior verification process determines that the subdivision exploration behavior to be verified as unexecutable and generates verification failure information. The verification failure information includes one or more of the following: constraint conflict type, constraint conflict parameter, and replanning trigger identifier. Subdivision exploration behaviors to be verified that do not meet the corresponding feasibility verification condition are not written into the verified exploration behavior sequence.

[0100] For example, if the OrbitTransfer behavior cannot meet the preset maneuverability requirements or the fuel safety threshold under the current fuel condition, the behavior verification process will determine the OrbitTransfer behavior as unexecutable and generate verification failure information containing the fuel constraint conflict type, corresponding constraint parameters, and replanning trigger identifier. This OrbitTransfer behavior is not written into the verified exploration behavior sequence.

[0101] After verification, the simulation platform can continue the behavior execution process. The behavior execution process acquires sub-exploration behaviors one by one in the execution order of the verified exploration behavior sequence, determines the corresponding execution logic based on the sub-exploration behavior identifier, and passes the behavior parameters of the sub-exploration behavior as input to the execution logic to complete the execution of the corresponding sub-exploration behavior. While executing the corresponding sub-exploration behavior, the behavior execution process updates the state information related to the sub-exploration behavior and / or generates the behavior product corresponding to the sub-exploration behavior. Behavior products include one or more of the following: observation data, analysis results, and state query results.

[0102] Specifically, the behavior execution process obtains the subdivided exploration behaviors one by one in the execution order of the verified exploration behavior sequence, determines the corresponding execution logic based on the subdivided exploration behavior identifier, and passes the behavior parameters in the subdivided exploration behavior as input to the execution logic to complete the execution of the corresponding subdivided exploration behavior.

[0103] For the verified OrbitTransfer behavior, the behavior execution process calls the corresponding orbital motion simulation logic to control the spacecraft to transfer to the target observation area and update the spacecraft's orbital state information, attitude state information, velocity state information and fuel state information.

[0104] For the HoverMaintain behavior that passes the verification, the behavior execution process calls the corresponding hovering simulation logic to keep the spacecraft in a relative positional relationship near the specified area and updates the spacecraft's orbital state information, attitude state information, and fuel state information.

[0105] For ContinuousObservation behaviors that pass the verification, the behavior execution process controls the observation payload to acquire the target area image sequence according to the preset observation period, and updates the payload working status information and data storage status information, while generating the target area image sequence as the corresponding behavior product.

[0106] Furthermore, the simulation platform also includes a feedback generation process. This process extracts a subset of state information related to the current subdivided exploration behavior from the state information set maintained by the simulation platform, and combines this with the subdivided exploration behavior identifier, behavior verification results, and behavior output of the current subdivided exploration behavior to generate feedback data. The feedback data adopts a unified feedback description format: It outputs to the external autonomous planning system through a feedback interface; among which, The sub-exploration behavior identifier represents the current sub-exploration behavior, where, This indicates the behavior verification result of the current segmented exploration behavior. This represents a subset of state information related to the current segmentation exploration behavior. This represents the behavioral output generated during the execution of the current subdivision exploration behavior; when the current subdivision exploration behavior does not meet the corresponding feasibility verification conditions... Including verification failure information, and It may be an empty value or not generated.

[0107] Feedback data is output to an external autonomous planning system via a feedback interface. The external autonomous planning system generates subsequent exploration behavior requests based on the behavior verification results, status information, and behavior products in the feedback data, thus forming a closed-loop simulation process of exploration behavior request generation, behavior verification, behavior execution, and feedback data acquisition.

[0108] In other words, after each sub-exploration behavior has been verified or executed, the feedback generation process extracts a subset of state information related to the current sub-exploration behavior from the state information set, and combines it with the sub-exploration behavior identifier, behavior verification result, and behavior product of the current sub-exploration behavior to generate feedback data: .in, The identifier representing the current segmented exploration behavior. This indicates the behavior verification result of the current segmented exploration behavior. This represents a subset of state information related to the current segmentation exploration behavior. This represents the behavioral output generated during the execution of the current subdivision exploration behavior; when the current subdivision exploration behavior does not meet the corresponding feasibility verification conditions... Including verification failure information, and It may be an empty value or not generated.

[0109] For example, for ContinuousObservation behavior that has passed verification and completed execution, This indicates a further subdivision of the ContinuousObservation behavior as an identifier. This indicates that the behavior meets the corresponding validation conditions. This includes the spacecraft's position relative to the target asteroid, payload operational status, data storage status, and information on exploration activities already performed. This includes target area image sequences generated through continuous observation; for OrbitTransfer actions that fail verification, Including verification failure information, This includes information related to spacecraft orbital status, velocity status, fuel status, and target area constraints related to orbital transfer. The value is null or not generated. The feedback generation process writes the detailed exploration behavior identifiers of the OrbitTransfer behavior, the verification failure information, and the corresponding subset of status information into the feedback data, and outputs it to the external autonomous planning system through the feedback interface.

[0110] In some implementations, the feedback data is sent to an external autonomous planning system after it is generated. The external autonomous planning system determines the current task execution status based on the behavior verification results, a subset of status information, and behavior products in the feedback data.

[0111] In this embodiment, after OrbitTransfer, HoverMaintain, and ContinuousObservation are executed, the external autonomous planning system can generate a rotation characteristic inversion behavior request and a status query behavior request based on the target area image sequence generated by the ContinuousObservation behavior.

[0112] The request for the inversion behavior of the rotation characteristic can be expressed as: ;

[0113] in, This includes time-series observation data and corresponding time information generated from continuous observation activities.

[0114] A status query request can be represented as: ;

[0115] in, Includes the query status type parameter.

[0116] The exploration behavior organization process determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in the above exploration behavior request, and constructs the sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received: .

[0117] For the RotationInversion behavior, the behavior validation process performs a pre-execution feasibility check based on its input data requirements, resource needs, and current state information. After passing the validation, the behavior execution process analyzes the changes in the surface features of the target asteroid based on time-series image data obtained from continuous observations, and generates analysis results such as the target asteroid's rotation period and rotation axis parameters. For the QueryState behavior, the behavior execution process reads the corresponding state information from the state information set and generates state query results.

[0118] When the OrbitTransfer action fails the reachability check or resource feasibility check, the external autonomous planning system adjusts the target transfer location, resets the action parameters, or generates a new exploration action request based on the constraint conflict type, constraint conflict parameters, and replanning trigger identifier in the feedback data, and then sends it again to the exploration action organization process through the exploration action call interface.

[0119] When the ContinuousObservation behavior fails the observability check, the external autonomous planning system can adjust the observation target, observation attitude or observation parameters based on the feedback data, and regenerate the exploration behavior request.

[0120] The above process is repeated until the target area observation, rotation characteristic analysis and status query tasks are completed, thus forming a closed-loop simulation process of autonomous exploration task, including exploration behavior request generation, behavior verification, behavior execution and feedback data acquisition.

[0121] The technical solution provided by the embodiments of the present invention can prevent exploration behaviors that do not meet the constraints of near-asteroid exploration from directly entering the execution process, and support closed-loop simulation verification of the entire process of autonomous asteroid exploration mission.

[0122] It should be noted that, in this document, 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0124] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0125] The above embodiments are provided merely for the purpose of describing the present invention and are not intended to limit the scope of the invention. The scope of the invention is defined by the appended claims. Various equivalent substitutions and modifications made without departing from the spirit and principles of the invention should be covered within the scope of the invention.

Claims

1. A simulation platform for autonomous asteroid exploration, characterized in that, The simulation platform forms an autonomous exploration task simulation chain through the environment construction process, the exploration behavior organization process, the behavior verification process, the behavior execution process, and the feedback generation process. The environment construction process includes: reading a predefined environment configuration and constructing a simulation environment based on the environment configuration; the simulation environment includes at least the target asteroid environment, the spacecraft's initial state, observation conditions, and observation payloads; The exploration behavior organization process is used to abstract the on-orbit capabilities of spacecraft and their payloads into exploration behaviors, and to construct an exploration behavior system composed of multiple subdivided exploration behaviors; wherein, each subdivided exploration behavior corresponds to a preset behavior verification configuration; The behavior verification process is used to determine the applicable verification dimension, the required verification state information, the target asteroid environment model and constraint parameters based on the corresponding behavior verification configuration for each sub-exploration behavior in the sequence of exploration behaviors to be verified, and to obtain the current state information corresponding to the required verification state information. Based on the current state information, the target asteroid environment model and the constraint parameters, a pre-execution feasibility verification is performed to generate the behavior verification results corresponding to each sub-exploration behavior. The behavior execution process is used in the simulation environment to obtain subdivided exploration behaviors one by one in the execution order of the verified exploration behavior sequence, determine the corresponding execution logic according to the subdivided exploration behavior identifier, and use the behavior parameters of the subdivided exploration behavior as the input of the corresponding execution logic to execute the corresponding subdivided exploration behavior; the behavior execution process updates the state information maintained by the simulation platform or generates at least one of the behavior products corresponding to the subdivided exploration behavior during the execution process, and the behavior products include one or more of the following: observation data, analysis results, and state query results; The feedback generation process is used to extract a subset of state information corresponding to the current subdivided exploration behavior from the state information maintained by the simulation platform, and generate feedback data by combining the behavior verification results and behavior products of the current subdivided exploration behavior. The feedback data is then output to the external autonomous planning system through the feedback interface to support the external autonomous planning system in generating subsequent exploration behavior requests.

2. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, The predefined environment configuration Including the configuration of the target asteroid Track environment configuration Lighting environment configuration Observation payload configuration ; The target asteroid configuration This includes the target asteroid type, morphological model, scale parameters, rotation parameters, and orbital parameters; the orbital environment configuration. This includes the initial orbital state of the spacecraft, the initial orbital state of the target asteroid, and relative motion constraints; the lighting environment configuration. This includes the type of light source, the direction of illumination, and the intensity of illumination; the configuration of the observation payload. This includes the load type, installation location, and load operating parameters; The environment construction process includes loading the corresponding target asteroid resources from the resource library according to the target asteroid configuration, setting the initial orbital state of the spacecraft and the initial orbital state of the target asteroid according to the orbital environment configuration, setting the illumination conditions according to the illumination environment configuration, and setting the corresponding observation payload according to the observation payload configuration, so as to form the simulation environment for autonomous exploration missions to be executed. The simulation environment is used to provide state information, target asteroid environment model, observation conditions, and observation payload conditions for subsequent behavior verification and execution processes.

3. The simulation platform for autonomous asteroid exploration according to claim 2, characterized in that, The exploration behavior organization process receives one or more exploration behavior requests sent by an external autonomous planning system through an exploration behavior call interface, determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in each exploration behavior request, and constructs a sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received. The exploration behaviors include orbit control behaviors, observation control behaviors, environmental analysis behaviors, and status access behaviors; wherein, the orbit control behaviors are used to support spacecraft position adjustment and area transfer, the observation control behaviors are used to support observation payload control and observation data acquisition, the environmental analysis behaviors are used to support target identification, environmental feature analysis, and observation result processing, and the status access behaviors are used to support the acquisition of spacecraft status information, resource status information, and historical mission status information. The orbit control behavior, observation control behavior, environmental analysis behavior, and state access behavior each include one or more independently invoked subdivided exploration behaviors, which serve as the basic execution units in the organization process of the exploration behavior.

4. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, When the subdivided exploration behavior is connected to the simulation platform, it is registered according to a predefined behavior registration format. The behavior registration format includes at least a subdivided exploration behavior identifier, behavior parameter conventions, behavior verification configuration, and behavior function description. The behavior parameter convention is used to define one or more of the following for the behavior parameter name, data type, parameter unit, coordinate system, value range, and whether it is required for the corresponding subdivided exploration behavior: behavior parameter name, data type, parameter unit, coordinate system, value range, and whether it is required. The behavior verification configuration is used to define one or more of the following for the corresponding subdivided exploration behavior: verification dimension, verification status information, target asteroid environment model, and constraint parameters: the verification dimension, verification status information, target asteroid environment model, and constraint parameters. The registered subdivided exploration behaviors form a set of callable subdivided exploration behaviors.

5. The simulation platform for autonomous asteroid exploration according to claim 4, characterized in that, After completing the registration of subdivided exploration behaviors, the simulation platform receives a behavior description acquisition request sent by an external autonomous planning system through a behavior description acquisition interface, and responds to the behavior description acquisition request by providing the external autonomous planning system with structured behavior descriptions corresponding to one or more registered subdivided exploration behaviors. The structured behavior description Represented as: ,in, Indicates detailed exploration behavior identification, Indicate parameter conventions, Indicates behavior verification configuration, This describes the behavioral function so that the external autonomous planning system can determine the calling parameters and applicable verification requirements for the corresponding subdivided exploration behavior.

6. The simulation platform for autonomous asteroid exploration according to claim 4, characterized in that, The exploration behavior organization process receives exploration behavior requests sent by an external autonomous planning system through an exploration behavior call interface using a unified behavior request format. The exploration behavior request includes at least a subdivided exploration behavior identifier and a set of behavior parameters. The unified behavior request format Represented as: ,in, The subdivision of exploration behavior is identified and used to determine the subdivision of exploration behavior to be invoked from the set of invotable subdivisions. This is a set of behavioral parameters used to describe the specific execution conditions of the subdivided exploration behavior; Upon receiving one or more exploration behavior requests, the exploration behavior organization process determines the corresponding sub-exploration behavior based on the sub-exploration behavior identifier in each request, and constructs a sequence of exploration behaviors to be verified according to the order in which the exploration behavior requests are received. ;in, The sequence of exploratory behaviors to be verified. Indicates the first A segmented exploration behavior to be verified. greater than or equal to 1 and less than or equal to 1 Positive integers.

7. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, The state information constitutes a state information set: ,in, Represents a set of state information. Represents the set of spacecraft status information, Represents a set of resource status information. This represents a set of state information during the exploration process; The spacecraft status information includes orbital status information, attitude status information, and velocity status information; the resource status information includes fuel status information, payload status information, and data storage status information; the exploration process status information includes information on executed exploration actions and historical exploration records.

8. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, The behavior verification process includes: According to the order of the subdivided exploration behaviors in the sequence of exploration behaviors to be verified, the feasibility of each subdivided exploration behavior is pre-executed in sequence. For the current segmented exploration behavior, a pre-execution feasibility check is performed based on the current state information obtained from the state information set maintained by the simulation platform, or based on the predicted state information corresponding to the previous verified segmented exploration behavior. When the current subdivision exploration behavior passes the pre-execution feasibility verification, the predicted state information after the execution of the current subdivision exploration behavior is determined according to the behavior parameters of the current subdivision exploration behavior, and the predicted state information is used as the state information when the next subdivision exploration behavior is pre-executed for feasibility verification. The detailed exploration actions that have passed the pre-execution feasibility check will be written into the checked exploration action sequence in the order described above: ; This indicates the first step in the validated sequence of exploration behaviors. A segmented exploration behavior, greater than or equal to 1 and less than or equal to 1 Positive integers; The behavior verification result includes at least a verification status identifier, which is used to indicate whether the corresponding sub-exploration behavior is in an executable or non-executable state. For sub-exploration behaviors in an non-executable state, verification failure information is generated, and the sub-exploration behavior is not written into the verified exploration behavior sequence.

9. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, The behavior verification process is used to read the corresponding behavior verification configuration according to the subdivided exploration behavior identifier of the subdivided exploration behavior to be verified, determine the applicable verification dimension, required state information, target asteroid environment model and constraint parameters based on the behavior verification configuration, and perform pre-execution feasibility verification on the subdivided exploration behavior to be verified. The feasibility verification of the behavior verification process includes one or more of the following: reachability verification, observability verification, and resource feasibility verification.

10. The simulation platform for autonomous asteroid exploration according to claim 9, characterized in that, The reachability verification includes: based on the spacecraft's current orbital state, attitude state, velocity state, fuel state, and the target area corresponding to the subdivided exploration behavior, combined with the morphological model, rotation parameters, and peri-field dynamics of the target asteroid, determining whether the spacecraft can reach the target area under the constraints of preset maneuverability, safe distance, and allowable arrival time.

11. The simulation platform for autonomous asteroid exploration according to claim 9, characterized in that, The observability verification includes: determining whether the target area meets the field of view coverage conditions, attitude pointing conditions, shape occlusion conditions, and illumination conditions within the corresponding observation time, based on the target area location, the target asteroid shape model, the spacecraft relative position, the spacecraft attitude state, the observation payload field of view parameters, and the illumination environment parameters.

12. The simulation platform for autonomous asteroid exploration according to claim 9, characterized in that, The resource feasibility verification predicts one or more of the following: fuel status, payload working status, and data storage status after the execution of the corresponding subdivided exploration behavior, based on the resource consumption information of the subdivided exploration behavior, and determines whether the predicted resource status meets the corresponding resource safety threshold.

13. The simulation platform for autonomous asteroid exploration according to claim 9, characterized in that, When the subdivision exploration behavior to be verified does not meet the corresponding pre-execution feasibility verification conditions, the behavior verification process determines the subdivision exploration behavior to be verified as unexecutable and generates verification failure information. The verification failure information includes at least an unexecutable state identifier and a replanning trigger identifier, and includes one or more of the constraint conflict type and constraint conflict parameters; The subdivided exploration behavior to be verified is not written into the verified exploration behavior sequence. The feedback generation process writes the subdivided exploration behavior identifier, verification failure information and corresponding status information subset of the subdivided exploration behavior to be verified into the feedback data, and outputs it to the external autonomous planning system through the feedback interface.

14. The simulation platform for autonomous asteroid exploration according to claim 1, characterized in that, The feedback data adopts a unified feedback description format: It outputs to the external autonomous planning system through a feedback interface; among which, The identifier representing the current segmented exploration behavior. This indicates the behavior verification result of the current segmented exploration behavior. This represents a subset of state information related to the current segmentation exploration behavior. This refers to the behavioral output generated during the execution of the current subdivision exploration behavior; when the current subdivision exploration behavior does not meet the corresponding feasibility verification conditions, the... Including verification failure information, and the It may be an empty value or not generated.

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