Decoupled-based spacecraft scheduling and fuel station deployment collaborative mission planning method

Abstract

The application relates to the technical field of dynamic network topology modeling, and particularly discloses a spacecraft scheduling and fuel station deployment collaborative task planning method based on decoupling, which comprises the following steps: establishing a service spacecraft scheduling model; introducing a refueling trigger threshold in the service spacecraft scheduling model; when the current fuel quantity of the service spacecraft is lower than a preset condition, marking the currently serviced target spacecraft as a refueling point, and defining a subsequent target spacecraft as a post-refueling target; based on the refueling point and the post-refueling target, constructing a refueling event, simplifying the original problem into a mixed integer linear programming problem without fuel capacity constraints, and solving to obtain a task scheduling scheme of the service spacecraft; according to the task scheduling scheme, inversely solving a feasible deployment area of a fuel station corresponding to each refueling event; and abstracting fuel station deployment requirements of all refueling events into a set covering model, so as to minimize the number of fuel stations and determine an optimal fuel station deployment combination.

Description

Technical Field

[0001] This invention relates to the field of dynamic network topology modeling technology, specifically to a collaborative mission planning method for spacecraft scheduling and fuel station deployment based on decoupling. Background Technology

[0002] In-orbit refueling technology, by replenishing propellants to spacecraft in orbit, can significantly improve the maneuverability of spacecraft, extend their operational life, and expand their mission coverage, and has become a research hotspot in the aerospace field both domestically and internationally. Depending on the service mode, in-orbit refueling missions can be divided into "one-to-many," "P2P (point-to-point)," "many-to-many," and in-orbit refueling modes based on fuel stations.

[0003] Among them, the on-orbit refueling mode based on fuel stations allows servicing spacecraft to visit fuel stations multiple times during the mission cycle for refueling, thereby achieving long-term, continuous service to multiple target spacecraft and offering high economic benefits. In this mode, the orbital deployment location of the fuel station and the scheduling path of the servicing spacecraft are highly coupled, constituting a complex joint optimization problem.

[0004] Existing research on this problem suffers from the following main technical shortcomings: The model is oversimplified and ignores the orbital phase rendezvous condition: Most existing methods only consider the transfer between orbital planes and assume that the mission time is sufficient. They ignore the precise phase synchronization condition required between the service spacecraft and the target spacecraft at the rendezvous moment, which makes it difficult to execute the planned scheduling scheme efficiently in actual engineering.

[0005] The operating mode of servicing spacecraft is relatively inefficient: When the location of the fuel station is unknown, existing methods usually require servicing spacecraft to adopt a "point-to-point" mode, that is, after completing the refueling task of each target, they must return to the fuel station for refueling before they can carry out subsequent tasks. This results in low mission efficiency and serious fuel waste.

[0006] Service spacecraft are fixedly bound to fuel stations, resulting in poor flexibility: In the traditional mode, fuel stations are fixedly connected to service spacecraft, and service spacecraft can only return to the fuel station they are bound to to refuel. Even if the current mission is closer to other fuel stations, it cannot switch, which limits the overall effectiveness of the on-orbit refueling system.

[0007] Separate treatment of fuel station deployment and servicing spacecraft scheduling: In existing technologies, the fuel station deployment problem is usually simplified to a static site selection model, which does not fully consider the fuel consumption and time window constraints of servicing spacecraft in dynamic mission sequences, resulting in a mismatch between deployment and scheduling schemes.

[0008] Therefore, how to achieve efficient collaborative planning of service spacecraft scheduling and fuel station deployment, and ensure that the planning results conform to the constraints of real orbital dynamics, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0009] To achieve the objectives of this invention, this application provides a decoupled spacecraft scheduling and fuel station deployment collaborative mission planning method, comprising: Step S1: Establish a service spacecraft scheduling model, which is used to determine the allocation relationship and service order between service spacecraft and target spacecraft; Step S2: Introduce a refueling trigger threshold into the service spacecraft scheduling model. When the current fuel level of the service spacecraft is lower than a preset condition, mark the target spacecraft currently being served as a refueling point and define the subsequent target spacecraft as the refueling target. Step S3: Based on the refueling point and the post-refueling target, construct a refueling event, simplify the original problem into a mixed integer linear programming problem without fuel capacity constraints, and solve it to obtain the mission scheduling scheme for the service spacecraft; Step S4: Based on the task scheduling scheme, reverse-engineer the feasible deployment area of ​​the fuel station corresponding to each refueling event; Step S5: Abstract the fuel station deployment requirements of all refueling events into a set coverage model, and determine the optimal fuel station deployment combination with the goal of minimizing the number of fuel stations.

[0010] In some specific embodiments, in step S1, The service spacecraft scheduling model employs a Lambert orbital transfer strategy to achieve precise phase matching between the service spacecraft and the target spacecraft at the rendezvous point.

[0011] In some specific embodiments, in step S2, the preset conditions include: the current fuel level is lower than the amount required to move to the next target, the demand of the next target, and a preset refueling threshold.

[0012] In some specific embodiments, step S3, constructing a refueling event includes defining the complete process of maneuvering the service spacecraft from the refueling point to the fuel station, refueling, and then continuing to maneuver to the refueled target as a refueling event.

[0013] In some specific embodiments, the duration of a single refueling event is determined by a refueling duration threshold for the servicing spacecraft and the time required to maneuver from the refueling point to the refueled target under full load.

[0014] In some specific embodiments, the refueling event consists of three closely connected sequentially: the orbital transfer window from the refueling point to the fuel station, the resupply and parking window at the fuel station, and the orbital transfer window from the fuel station to the refueling target. These three windows form a continuous and inseparable spatiotemporal execution unit.

[0015] In some specific embodiments, when resolving the feasible deployment area of ​​the fuel station in step S4, the following constraints are introduced: The fuel consumption of a service spacecraft maneuvering from a refueling point to a fuel station shall not exceed its current remaining fuel amount; The fuel consumption of a service spacecraft maneuvering to its refueling target after refueling at a refueling station shall not exceed the fuel consumption of maneuvering directly to the refueling target from the same refueling point in a fully loaded state. The time window for each refueling event is strictly matched with the scheduling sequence of the service spacecraft.

[0016] In some specific embodiments, in step S5, the set coverage model takes minimizing the number of fuel stations and fuel consumption as the combined optimization objective.

[0017] In some specific embodiments, in step S5, the servicing spacecraft can freely choose any deployed fuel station for refueling during the mission cycle, and there is no fixed binding relationship between the servicing spacecraft and the fuel station.

[0018] In some specific embodiments, the feasible deployment area of ​​the fuel station is a spatially continuous region obtained by inverse solving of each refueling event based on the double Lambert transfer orbit. This region does not depend on a preset set of discrete candidate stations, but is a geometrically feasible region constrained by the refueling point, the post-refueling target, the upper limit of fuel consumption, and the time window.

[0019] The beneficial effects of the above technical solution are as follows: Compared with the prior art, the present invention has the following beneficial effects: (1) Decoupling modeling to reduce problem complexity: This invention constructs a two-layer planning model to decouple the scheduling problem under the service spacecraft capacity constraint from the fuel station deployment problem. Among them, the service spacecraft scheduling is simplified into a mixed integer linear programming problem without capacity constraints, and the fuel station deployment is transformed into a set coverage problem, which effectively reduces the difficulty of solving the joint optimization and improves the planning efficiency.

[0020] (2) Using precise orbital dynamics to enhance engineering practicality: This invention uses the Lambert orbital transfer strategy to achieve precise phase matching between the service spacecraft and the target spacecraft. It fully considers the movement characteristics of the fuel station, service spacecraft and target spacecraft in orbit, making the planned scheduling scheme more in line with the real mission scenario and avoiding the unexecutability problem caused by ignoring phase intersection in traditional methods.

[0021] (3) Introducing the concept of refueling events to optimize fuel replenishment logic: By setting refueling trigger thresholds and defining "refueling point", "refueling target" and "refueling event", this invention abstracts the complex fuel replenishment process into a standardized event module, enabling the service spacecraft to reasonably plan the refueling time when fuel is insufficient, and to solve the feasible deployment area of ​​the fuel station in subsequent steps, thus realizing the organic coordination of scheduling and deployment.

[0022] (4) Debinding the service spacecraft from the fuel station to improve system flexibility: In this invention, the service spacecraft can freely choose any deployed fuel station for refueling during the mission cycle, and is no longer fixed to a specific fuel station, which significantly improves the mission adaptability, robustness and economy of the on-orbit refueling system.

[0023] (5) The deployment area of ​​the fuel station is continuously solvable without the need to pre-define discrete candidate points: Based on the fuel consumption, time window and track transfer constraints of each refueling event, the present invention directly solves the continuous feasible deployment area of ​​the fuel station without the need to pre-define a set of discrete candidate sites, thus avoiding suboptimal solutions caused by improper selection of candidate points, making the deployment scheme more accurate and flexible.

[0024] (6) Key parameters are adjustable and support engineering trade-off analysis: This invention clarifies the impact of refueling trigger threshold and supplementary refueling duration threshold on system performance, supports sensitivity analysis, and can adjust the above parameters according to actual task requirements to make reasonable trade-offs between fuel carrying efficiency, maneuverability and time window constraints, and has good engineering operability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating a decoupled spacecraft scheduling and fuel station deployment collaborative mission planning method, as provided in one embodiment of the present invention; Figure 2 A schematic diagram of a two-layer planning model for a decoupled spacecraft scheduling and fuel station deployment collaborative mission planning method provided as an embodiment of the present invention; Figure 3 A schematic diagram illustrating the sensitivity of refueling trigger threshold in a decoupled spacecraft scheduling and fuel station deployment collaborative mission planning method, as provided in an embodiment of the present invention. Figure 4This is a schematic diagram illustrating the sensitivity of the supplementary refueling duration threshold in a collaborative mission planning method for spacecraft scheduling and fuel station deployment based on decoupling, as provided in an embodiment of the present invention. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0028] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0029] Example 1 One embodiment of the present invention provides a collaborative mission planning method for spacecraft scheduling and fuel station deployment based on decoupling, referring to... Figures 1-4 As shown, it includes: Step S1: Establish a service spacecraft scheduling model, which is used to determine the allocation relationship and service order between service spacecraft and target spacecraft; Step S2: Introduce a refueling trigger threshold into the service spacecraft scheduling model. When the current fuel level of the service spacecraft is lower than a preset condition, mark the target spacecraft currently being served as a refueling point and define the subsequent target spacecraft as the refueling target. Step S3: Based on the refueling point and the post-refueling target, construct a refueling event, simplify the original problem into a mixed integer linear programming problem without fuel capacity constraints, and solve it to obtain the mission scheduling scheme for the service spacecraft; Step S4: Based on the task scheduling scheme, reverse-engineer the feasible deployment area of ​​the fuel station corresponding to each refueling event; Step S5: Abstract the fuel station deployment requirements of all refueling events into a set coverage model, and determine the optimal fuel station deployment combination with the goal of minimizing the number of fuel stations.

[0030] In a specific embodiment of the present invention, in step S1, The service spacecraft scheduling model employs a Lambert orbital transfer strategy to achieve precise phase matching between the service spacecraft and the target spacecraft at the rendezvous point.

[0031] In a specific embodiment of the present invention, in step S2, the preset conditions include: the current fuel quantity is lower than the amount required to move to the next target, the demand of the next target, and the preset refueling threshold.

[0032] In a specific embodiment of the present invention, step S3, constructing a refueling event includes defining the complete process of the service spacecraft maneuvering from the refueling point to the fuel station, refueling, and then continuing to maneuver to the refueled target as a refueling event.

[0033] In one specific embodiment of the present invention, the duration of a single refueling event is determined by a refueling duration threshold for the servicing spacecraft and the time required to maneuver from the refueling point to the refueled target under full load conditions.

[0034] In a specific embodiment of the present invention, in the refueling event, the orbital transfer window of the service spacecraft maneuvering from the refueling point to the fuel station, the resupply and parking window at the fuel station, and the orbital transfer window of the spacecraft maneuvering from the fuel station to the post-refueling target are closely connected in sequence, forming a continuous and inseparable spatiotemporal execution unit.

[0035] In one specific embodiment of the present invention, when resolving the feasible deployment area of ​​the fuel station in step S4, the following constraints are introduced: The fuel consumption of a service spacecraft maneuvering from a refueling point to a fuel station shall not exceed its current remaining fuel amount; The fuel consumption of a service spacecraft maneuvering to its refueling target after refueling at a refueling station shall not exceed the fuel consumption of maneuvering directly to the refueling target from the same refueling point in a fully loaded state. The time window for each refueling event is strictly matched with the scheduling sequence of the service spacecraft.

[0036] In a specific embodiment of the present invention, in step S5, the set coverage model takes minimizing the number of fuel stations and fuel consumption as the combinatorial optimization objective.

[0037] In a specific embodiment of the present invention, in step S5, the servicing spacecraft can freely choose any deployed fuel station for refueling during the mission cycle, and there is no fixed binding relationship between the servicing spacecraft and the fuel station.

[0038] In a specific embodiment of the present invention, the feasible deployment area of ​​the fuel station is a spatially continuous region obtained by inverse solving of each refueling event based on the double Lambert transfer orbit. This region does not depend on a preset set of discrete candidate stations, but is a geometrically feasible region constrained by the refueling point, the post-refueling target, the upper limit of fuel consumption, and the time window.

[0039] This embodiment considers a low Earth orbit (LEO) in-orbit refueling mission scenario. Six target spacecraft (numbered T1-T6) are distributed within the mission area, with their orbital elements shown in Table 1. The mission duration is 30 days. Two service spacecraft (numbered S1 and S2) are deployed, each with a maximum fuel capacity of 1500 kg and an initial fuel quantity of 1500 kg. The fuel requirements for the target spacecraft are as follows: T1: 300 kg, T2: 400 kg, T3: 250 kg, T4: 500 kg, T5: 350 kg, T6: 200 kg. The number of refueling stations is not predetermined; the optimal deployment number and location are automatically determined by an algorithm.

[0040] Table 1 Initial orbital elements of the target spacecraft (J2000 coordinate system) Employing a Lambert orbital transfer strategy, when the service spacecraft transfers between two target spacecraft, the required velocity increment Δv is obtained by solving the Lambert boundary value problem based on the position vectors at departure and arrival times. The fuel consumption mass Δm is calculated using the rocket equations. Where m0 is the current mass of the service spacecraft, I_sp = 320 s is the engine specific impulse, and g0 = 9.81 m / s².

[0041] The constraints include: Service spacecraft fuel capacity constraints (initially 1500 kg, refueling possible en route); The task duration shall not exceed 30 days; The service sequence of the target spacecraft meets the timing feasibility requirements; The remaining fuel of the service spacecraft after each maneuver is non-negative.

[0042] A refueling threshold Δm_th = 200 kg is set. During the scheduling process, the fuel status of the servicing spacecraft S1 is monitored in real time. Assume that after servicing T1, T2, and T3 in sequence, S1 currently has a remaining fuel amount of m_rem = 380 kg. The next target T4 requires 500 kg of fuel, and the fuel consumption required to maneuver from the current position T3 to T4 is calculated by Lambert as 120 kg. At this point: m_rem = 380<120 + 500 + 200 = 820 The triggering conditions are met. Therefore, the current target T3 is marked as a refueling point, and the immediately following target T4 is marked as a refueling target.

[0043] A refueling event is defined as the complete process by which a service spacecraft maneuvers from refueling point T3 to a fuel station, refuels, and then continues maneuvering to the post-refueling target T4.

[0044] Set the refueling time threshold Δt_refuel = 6 hours. The time required to move directly from T3 (fully loaded) to T4, calculated by Lambert, is Δt_direct = 4.5 hours. Therefore, the estimated duration of this refueling event is: Δt_event = Δt_refuel + Δt_direct = 6 + 4.5 = 10.5 hours Under this assumption, the servicing spacecraft receives an "instantaneous" unlimited fuel supply at refueling point T3, and the original fuel capacity constraint is temporarily lifted. Therefore, the original problem simplifies to a mixed-integer linear programming problem without fuel capacity constraints. The CPLEX solver is used to optimize the task allocation and servicing sequence for servicing spacecraft S1 and S2, resulting in the following task scheduling scheme: S1 scheduling sequence: T1 → T3 (refueling point) → T4 → T6 → T2 (refueling point) → T5 S2 scheduling sequence: T2 → T5 → T1 (refueling point) → T3 → T6 (refueling point) → T4 The refueling point, post-refueling target, expected fuel replenishment amount, and time window for each refueling event are recorded together.

[0045] Taking the first refueling event in S1 as an example: the refueling point is T3 (the service object in the task sequence), and the target after refueling is T4. Given: S1 has 380 kg of fuel remaining when it reaches T3; S1 moves from T3 to the fuel station F to be deployed, and then moves from F to T4; The fuel consumption in section T3→F is required to be ≤ 380 kg; Fuel consumption in the F→T4 segment is ≤ Fuel consumption from full load at T3 to T4 (set as Δm_direct = 120 kg). The total time window for the entire refueling event is 10.5 hours, of which the sum of the maneuver times for the T3→F and F→T4 segments is ≤ 10.5 hours.

[0046] Based on the invertibility of the Lambert transfer problem, for any candidate fuel station location r_F in space, the transfer times Δt1 and Δt2 for T3→F and F→T4, and the fuel consumption Δm1 and Δm2, can be calculated respectively. If simultaneously: Then r_F belongs to the feasible deployment region of this refueling event. Traversing the grid points in space (at intervals of 100 km), the feasible spatial region of this refueling event is obtained as an approximate ellipsoid. Similarly, feasible regions are calculated for all refueling events (a total of 4) and stored as a set of geometric constraints.

[0047] The feasible deployment area for each refueling event is considered as a "subset". The fuel station deployment problem is transformed into: selecting the minimum number of fuel station locations such that the feasible area for each refueling event contains at least one fuel station.

[0048] This embodiment uses integer programming for modeling. Assume there are m = 4 refueling events, and the discretized set of candidate fuel station locations is C = {c1, c2, …, c_n}, generated from the aforementioned grid points. Define the decision variable y. j ∈ {0,1} indicates whether it is at candidate point c. j Deploy fuel stations, x ij ∈ {0,1} indicates whether the refueling event i is considered by candidate point c. j Coverage (i.e., c) j (The feasible region belongs to event i). The constraints are: The objective function is to minimize the number of fuel stations: The optimal solution is to deploy two fuel stations, with their location coordinates (Geocentric Earth-Fixed System, unit: km) as follows: Fuel station F1: (4210, 5320, 2850) Fuel station F2: (3980, 4890, 3100) Verifying the feasible area for each refueling event shows that it can be covered by either F1 or F2, and some events are covered by both fuel stations, increasing the robustness of the system.

[0049] This embodiment also performs sensitivity analysis on the refueling threshold Δm_th and the refueling duration threshold Δt_refuel.

[0050] Refueling threshold: Δm_th increased from 100 kg to 400 kg in increments of 50 kg. Results showed that a threshold that was too low (≤150 kg) caused service spacecraft to frequently need to return to the refueling station due to insufficient fuel, disrupting scheduling; a threshold that was too high (≥350 kg) caused service spacecraft to carry too much fuel in advance, resulting in additional fuel consumption for transfer. The lowest total fuel consumption was observed around 200 kg.

[0051] The refueling time threshold, Δt_refuel, is increased from 2 hours to 12 hours. If the threshold is too small, the feasible deployment area shrinks or even becomes empty, making it impossible to find a refueling station; if the threshold is too large, the transfer time is too long, and the servicing spacecraft cannot complete refueling within the mission window. 6 hours is the optimal value for this scenario.

[0052] Simulations were conducted using both the traditional "point-to-point" model (where the servicing spacecraft must return to a fixed refueling station after servicing each target) and the method described in this embodiment. The total fuel consumption during the mission cycle is compared in the table below: The results show that the method of the present invention is superior to the traditional method in terms of both fuel consumption and task efficiency.

[0053] This invention constructs a two-level programming model that decouples the scheduling problem under service spacecraft capacity constraints from the fuel station deployment problem. Specifically, service spacecraft scheduling is simplified to a mixed-integer linear programming problem without capacity constraints, while fuel station deployment is transformed into a set-covering problem. This effectively reduces the difficulty of solving the joint optimization and improves planning efficiency.

[0054] This invention employs the Lambert orbital transfer strategy to achieve precise phase matching between the service spacecraft and the target spacecraft. It fully considers the on-orbit movement characteristics of the fuel station, service spacecraft, and target spacecraft, making the planned scheduling scheme more consistent with real mission scenarios and avoiding the unexecutability problem caused by neglecting phase rendezvous in traditional methods.

[0055] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0056] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the functions specified in one or more boxes. Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the invention. Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device 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 terminal device. 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 terminal device that includes said element.

[0057] The methods and apparatus provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0058] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "a specific embodiment" or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A decoupled spacecraft scheduling and fuel station deployment collaborative mission planning method, characterized in that, include: Step S1: Establish a service spacecraft scheduling model, which is used to determine the allocation relationship and service order between service spacecraft and target spacecraft; Step S2: Introduce a refueling trigger threshold into the service spacecraft scheduling model. When the current fuel level of the service spacecraft is lower than a preset condition, mark the target spacecraft currently being served as a refueling point and define the subsequent target spacecraft as the refueling target. Step S3: Based on the refueling point and the post-refueling target, construct a refueling event, simplify the original problem into a mixed integer linear programming problem without fuel capacity constraints, and solve it to obtain the mission scheduling scheme for the service spacecraft; Step S4: Based on the task scheduling scheme, reverse-engineer the feasible deployment area of ​​the fuel station corresponding to each refueling event; Step S5: Abstract the fuel station deployment requirements of all refueling events into a set coverage model, and determine the optimal fuel station deployment combination with the goal of minimizing the number of fuel stations.

2. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling as described in claim 1, characterized in that, In step S1, The service spacecraft scheduling model employs a Lambert orbital transfer strategy to achieve precise phase matching between the service spacecraft and the target spacecraft at the rendezvous point.

3. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling as described in claim 1, characterized in that, In step S2, the preset conditions include: the current fuel level is lower than the amount required to move to the next target, the demand of the next target, and the preset refueling threshold.

4. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling as described in claim 1, characterized in that, In step S3, constructing a refueling event includes defining the complete process of the service spacecraft maneuvering from the refueling point to the fuel station, refueling, and then continuing to maneuver to the refueled target as a refueling event.

5. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling as described in claim 4, characterized in that, The duration of a single refueling event is determined by the refueling duration threshold of the servicing spacecraft and the time required to maneuver from the refueling point to the refueled target under full load.

6. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling as described in claim 4, characterized in that, In the refueling event, the orbital transfer window from the refueling point to the fuel station, the resupply and parking window at the fuel station, and the orbital transfer window from the fuel station to the post-refueling target are closely connected in sequence, forming a continuous and inseparable spatiotemporal execution unit.

7. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling according to claim 1, characterized in that, In step S4, when resolving the feasible deployment area of ​​the fuel station, the following constraints are introduced: The fuel consumption of a service spacecraft maneuvering from a refueling point to a fuel station shall not exceed its current remaining fuel amount; The fuel consumption of a service spacecraft maneuvering to its refueling target after refueling at a refueling station shall not exceed the fuel consumption of maneuvering directly to the refueling target from the same refueling point in a fully loaded state. The time window for each refueling event is strictly matched with the scheduling sequence of the service spacecraft.

8. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling according to claim 1, characterized in that, In step S5, the set coverage model takes minimizing the number of fuel stations and fuel consumption as the combined optimization objective.

9. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling according to claim 1, characterized in that, In step S5, the servicing spacecraft can freely choose any deployed fuel station for refueling during the mission cycle, and there is no fixed binding relationship between the servicing spacecraft and the fuel station.

10. The spacecraft scheduling and fuel station deployment collaborative mission planning method based on decoupling according to claim 6, characterized in that, The feasible deployment area of ​​the fuel station is a spatially continuous region obtained by inverse solving of each refueling event based on the double Lambert transfer orbit. This region does not depend on the preset set of discrete candidate stations, but is a geometrically feasible region constrained by the refueling point, the post-refueling target, the upper limit of fuel consumption, and the time window.

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