Spacecraft capable of intelligent reconfiguration and reconfiguration planning method thereof

Abstract

The application relates to the technical field of spacecrafts, and particularly discloses a spacecraft capable of intelligent reconfiguration and a reconfiguration planning method thereof, which comprises the following steps: acquiring a current configuration state of the spacecraft according to a received target configuration demand; establishing a reconfiguration planning model for describing the mapping relationship between joint mechanism movement and spacecraft pose change based on the current configuration state and the target configuration demand; converting the reconfiguration planning model into a discretized optimal control problem with joint space movement trajectory as an optimization target; and solving the discretized optimal control problem by adopting an hp self-adaptive pseudospectral method to generate an optimal joint movement trajectory sequence satisfying preset constraint conditions.

Description

Technical Field

[0001] This invention relates to the field of spacecraft technology, and more specifically to a spacecraft with intelligent configuration change capability and its configuration change planning method. Background Technology

[0002] Traditional spacecraft (satellites) generally adopt a development model of "integrated design, single use, single mission". These spacecraft integrate subsystems such as power supply, propulsion, attitude control, and payload into a fixed overall structure. Their configuration, function, and performance are determined before launch and cannot be changed during on-orbit operation.

[0003] As space missions become increasingly complex and diverse, the limitations of traditional fixed-configuration spacecraft are becoming increasingly apparent. First, their singular capabilities and fixed structure make them ill-suited to adapting to new or unexpected mission requirements in orbit, and they cannot replace or repair faulty modules, resulting in poor mission adaptability and high on-orbit maintenance costs. Second, traditional spacecraft rely on overall attitude maneuvers to change payload orientation, which is not only slow but also consumes large amounts of propellant, severely limiting the satellite's operational lifespan. Third, to achieve high-resolution Earth observation or interferometry missions requiring long baselines, traditional approaches often employ multi-satellite formation flights. However, inter-satellite baseline stability is constrained by formation control precision, and inter-satellite information sharing relies on wireless links, leading to low time synchronization accuracy and difficulties in data fusion. Furthermore, the size of a single large spacecraft is limited by the launch vehicle's fairing envelope, making further expansion difficult; while microsatellites can be launched in batches, their individual capabilities are limited, making it difficult to form complex system functions.

[0004] To overcome these problems, the concept of modular reconfigurable spacecraft has emerged in recent years. For example, the iBOSS program proposed by Germany's DLR and the Phoenix program of DARPA in the United States both attempt to decompose spacecraft into several functional modules with standard interfaces, enabling system upgrades or fault repairs through on-orbit replacement or reconfiguration. However, most existing modular spacecraft solutions remain at the level of module-level replacement or simple rigid connection combinations, lacking system kinematic and dynamic modeling of the spacecraft's configuration change process, as well as optimal trajectory planning methods. This prevents them from achieving complex, efficient, and autonomous on-orbit configuration changes to adapt to varying payload orientation and baseline requirements.

[0005] Therefore, how to provide a method that can quickly, autonomously, and optimally change the topology of a spacecraft according to mission requirements, while ensuring the safety and fuel economy of the modification process, and how to realize a modular and reconfigurable spacecraft based on this method, has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To achieve the objectives of this invention, this application provides a method for planning the configuration of a spacecraft capable of intelligent configuration changes, comprising: Step S1: Obtain the current configuration status of the spacecraft based on the received target configuration requirements; Step S2: Based on the current configuration state and the target configuration requirements, establish a variable configuration planning model to describe the mapping relationship between the joint mechanism motion and the spacecraft attitude change; Step S3: Transform the modified configuration planning model into a discretized optimal control problem with joint space motion trajectory as the optimization objective; Step S4: The discretized optimal control problem is solved using the hp adaptive pseudospectral method to generate an optimal joint motion trajectory sequence that satisfies the preset constraints.

[0007] In some specific embodiments, step S2, establishing the variable configuration planning model includes: Establish a position-level kinematic model that describes the mapping relationship between the angles of the joint mechanism and the poses of the primitives and links; Differentiate the position-level kinematic model to establish a velocity-level kinematic model that describes the mapping relationship between the angular velocity of the joint mechanism and the velocities of the basic elements and links; A dynamic model is established that considers the dynamic coupling between the joint mechanism and the base under the state of free floating in space.

[0008] In some specific embodiments, step S4 includes: Step A: Initialize the time interval division and the number of points, and discretize the variable configuration programming model; Step B: Calculate the discretization error within each time interval; Step C: Determine whether the discretization error within each time interval meets the preset accuracy requirements; Step D: For time intervals that do not meet the accuracy requirements, decide whether to increase the number of points in the current interval or further subdivide the time interval based on the magnitude of the error. Step E: Re-discretize under the adjusted time interval division and point setting until all time intervals meet the accuracy requirements; Step F: Use a sequential quadratic programming algorithm to solve the discretized model that finally meets the accuracy requirements to obtain the optimal joint motion trajectory sequence.

[0009] In some specific embodiments, in step F, the optimal solution is obtained for the discretized model with the optimization objective of minimizing fuel consumption or minimizing conversion time.

[0010] In some specific embodiments, in step S4, the preset constraints include joint mechanism angle constraints, angular velocity constraints, angular acceleration constraints, and collision avoidance constraints during configuration transformation.

[0011] To achieve the objectives of this invention, this application also provides a modular reconfigurable spacecraft with intelligent configuration change capability, wherein the spacecraft adopts the above-mentioned configuration change planning method for configuration transformation.

[0012] In some specific embodiments, the spacecraft includes: Multiple satellite elements, each of which is an independent structure integrating satellite subsystems; Multiple joint mechanisms are connected between adjacent satellite primitives to provide relative degrees of freedom of motion; The satellite element and the joint mechanism are detachably connected via a standardized interface.

[0013] In some specific embodiments, the satellite element includes a platform layer, a connection layer, and a payload layer; the joint mechanism is composed of a combination of various motor modules and connection modules, and can be assembled into a single-degree-of-freedom rotary joint, a three-degree-of-freedom wrist joint, or a five-degree-of-freedom robotic arm.

[0014] In some specific embodiments, the standardized interface is an integrated interface that combines mechanical, electrical, and thermal functions.

[0015] In some specific embodiments, the plurality of satellite primitives and the plurality of joint mechanisms are combined into a linear configuration, a torsion configuration, or a bending configuration according to mission requirements.

[0016] The beneficial effects of the above technical solution are as follows: Compared with existing technologies, the modular reconfigurable spacecraft with intelligent configuration change and its configuration change planning method provided by this invention have the following beneficial effects: 1. Improved spacecraft mission adaptability and rapid response capability: This invention transforms the variable configuration planning problem into a discretized optimal control problem by establishing kinematic and dynamic models of a modular self-reconfigurable spacecraft. It employs the HP adaptive pseudospectral method combined with sequential quadratic programming for solution, enabling the rapid generation of optimal joint motion trajectories satisfying various constraints based on any given initial and target configurations. Compared to existing technologies relying on manual pre-programming or simple attitude maneuvers, this invention achieves intelligent and autonomous variable configuration processes, allowing the spacecraft to flexibly switch between straight, torsional, or zigzag configurations in orbit, thereby matching the pointing and baseline requirements of different payloads and truly achieving "one satellite, multiple functions."

[0017] 2. Significantly saves fuel and extends spacecraft on-orbit life: This invention utilizes joint mechanisms between modules to modify the payload orientation. Compared to traditional agile satellites that change orientation through overall attitude adjustments, the joint mechanism movement requires far less fuel and offers a faster response. Simultaneously, the configuration modification planning method optimizes fuel consumption or minimizes modification time, further reducing energy consumption during the modification process and effectively extending the spacecraft's on-orbit operational life.

[0018] 3. Improved time synchronization and data fusion accuracy of multi-payload collaboration: Unlike distributed satellite systems that achieve information sharing through inter-satellite links, the modular reconfigurable spacecraft of this invention achieves wired connections between its various basic components through standardized interfaces. This enables high-speed, low-latency, and highly reliable electrical and communication connections even after configuration changes, thereby facilitating nanosecond-level time synchronization and simultaneous phase information fusion processing of multi-source payloads and significantly improving the performance of multi-payload collaborative tasks such as imaging and radar interferometry.

[0019] 4. Enhanced system reliability and maintainability: Due to the modular design, and the fact that all modules are connected via a standard integrated mechanical, electrical, and thermal interface, if a module fails during on-orbit operation, a backup module can be planned to replace the faulty module's modified motion trajectory according to the method of this invention, achieving self-repair. Compared to existing unrepairable traditional satellites, this invention significantly improves the system's robustness and on-orbit lifespan.

[0020] In summary, this invention has achieved significant improvements over existing technologies in terms of spacecraft configuration flexibility, mission adaptability, on-orbit lifespan, data fusion accuracy, and system reliability, and has broad application prospects. Attached Figure Description

[0021] 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.

[0022] Figure 1 A flowchart illustrating a method for planning the configuration of an intelligently reconfigurable spacecraft, as provided in one embodiment of the present invention; Figure 2 A schematic diagram of a smartly adaptable spacecraft provided as an embodiment of the present invention; Figure 3 A schematic diagram of a modular reconfigurable spacecraft configuration provided as an embodiment of the present invention; Figure 4This is a schematic diagram of the algorithm flow for a variable configuration planning model of a spacecraft capable of intelligent configuration change, provided as an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] 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.

[0025] Example 1 One embodiment of the present invention provides a method for planning the configuration of a spacecraft capable of intelligent configuration change, referring to... Figure 1 As shown, it includes: Step S1: Obtain the current configuration status of the spacecraft based on the received target configuration requirements; Step S2: Based on the current configuration state and the target configuration requirements, establish a variable configuration planning model to describe the mapping relationship between the joint mechanism motion and the spacecraft attitude change; In a specific embodiment of the present invention, step S2, establishing the variable configuration planning model includes: Establish a position-level kinematic model that describes the mapping relationship between the angles of the joint mechanism and the poses of the primitives and links; Differentiate the position-level kinematic model to establish a velocity-level kinematic model that describes the mapping relationship between the angular velocity of the joint mechanism and the velocities of the basic elements and links; A dynamic model is established that considers the dynamic coupling between the joint mechanism and the base under the state of free floating in space.

[0026] Step S3: Transform the modified configuration planning model into a discretized optimal control problem with joint space motion trajectory as the optimization objective; Step S4: The discretized optimal control problem is solved using the hp adaptive pseudospectral method to generate an optimal joint motion trajectory sequence that satisfies the preset constraints.

[0027] In a specific embodiment of the present invention, step S4 includes: Step A: Initialize the time interval division and the number of points, and discretize the variable configuration programming model; Step B: Calculate the discretization error within each time interval; Step C: Determine whether the discretization error within each time interval meets the preset accuracy requirements; Step D: For time intervals that do not meet the accuracy requirements, decide whether to increase the number of points in the current interval or further subdivide the time interval based on the magnitude of the error. Step E: Re-discretize under the adjusted time interval division and point setting until all time intervals meet the accuracy requirements; Step F: Use a sequential quadratic programming algorithm to solve the discretized model that finally meets the accuracy requirements to obtain the optimal joint motion trajectory sequence.

[0028] In a specific embodiment of the present invention, in step F, the optimal solution is obtained for the discretized model with the optimization objective of minimizing fuel consumption or minimizing conversion time.

[0029] In a specific embodiment of the present invention, in step S4, the preset constraints include joint mechanism angle constraints, angular velocity constraints, angular acceleration constraints, and collision avoidance constraints during configuration transformation.

[0030] This invention transforms the variable configuration planning problem into a discretized optimal control problem by establishing kinematic and dynamic models of a modular self-reconfigurable spacecraft. It employs the HP adaptive pseudospectral method combined with sequential quadratic programming for solution, enabling the rapid generation of optimal joint motion trajectories satisfying various constraints based on any given initial and target configuration. Compared to existing technologies relying on manual pre-programming or simple attitude maneuvers, this invention achieves intelligent and autonomous variable configuration processes, allowing the spacecraft to flexibly switch between straight, torsional, or zigzag configurations in orbit, thereby matching the pointing and baseline requirements of different payloads and truly achieving "one satellite, multiple functions."

[0031] Example 2 One embodiment of the present invention provides a modular and reconfigurable spacecraft with intelligent adaptability, referring to... Figure 2 , Figure 3 As shown, the spacecraft uses the aforementioned variable configuration planning method for configuration transformation.

[0032] In one specific embodiment of the present invention, the spacecraft includes: Multiple satellite elements, each of which is an independent structure integrating satellite subsystems; Multiple joint mechanisms are connected between adjacent satellite primitives to provide relative degrees of freedom of motion; The satellite element and the joint mechanism are detachably connected via a standardized interface.

[0033] In one specific embodiment of the present invention, the satellite element includes a platform layer, a connection layer and a payload layer; the joint mechanism is composed of a combination of various motor modules and connection modules, and can be assembled into a single-degree-of-freedom rotary joint, a three-degree-of-freedom wrist joint or a five-degree-of-freedom robotic arm.

[0034] In one specific embodiment of the present invention, the standardized interface is an integrated interface that combines mechanical, electrical, and thermal functions.

[0035] In one specific embodiment of the present invention, the plurality of satellite primitives and the plurality of joint mechanisms are combined into a linear configuration, a torsion configuration or a bending configuration according to mission requirements.

[0036] The modular self-reconfigurable spacecraft in this application consists of modular satellite units (also called primitives) and joint mechanisms. The number of primitives and the degrees of freedom of the joint mechanisms can be changed and randomly combined according to mission requirements. Both the primitives and the joint mechanisms adopt a modular design. The primitives are divided into three parts: a platform layer, a connection layer, and a payload layer. The joint mechanisms are composed of various motor modules and connection modules, which can be assembled into single-degree-of-freedom rotary joints, three-degree-of-freedom wrist joints, and five-degree-of-freedom robotic arms, etc., according to mission requirements. The connection mechanisms of the primitives and joint mechanisms refer to the interface design of iBOSS and adopt standardized interface designs, possessing mechanical, electrical, and thermal interfaces.

[0037] Modular reconfigurable spacecraft decompose the complete spacecraft structure into multiple functional modules, each integrated by a satellite subsystem with standard interfaces and a regular shape. Depending on the shape and operating location, the satellite payload is designed as a payload module or as an external structure carrying standard mounting interfaces, connecting to the subsystem modules through the mounting interfaces on the subsystem modules.

[0038] High-precision kinematic and dynamic models are fundamental to the study of variable configuration planning for modular self-reconfigurable spacecraft. The kinematic model of a modular self-reconfigurable spacecraft describes and studies the motion laws of modules and joint mechanisms from a geometric perspective, without considering the causes of these motions (forces and torques). By establishing a link coordinate system for the modular self-reconfigurable spacecraft, the matrix transformation relationships between modules and links are determined, establishing the position-level and velocity-level mapping relationships between the joint space and the operational space of the modular self-reconfigurable spacecraft. Position-level kinematics describes the mapping relationship between the angles of the joint mechanism and the poses of the basic elements and links. Differentiating the position-level kinematics yields the velocity-level kinematics, which describes the mapping relationship between the angular velocities of the joint mechanism and the velocities of the basic elements and links. The dynamic model further explores and studies the motion characteristics of the system under the action of forces and torques. The dynamic model can be divided into forward dynamics and inverse dynamics. Forward dynamics is used to determine the joint motion state of the modular self-reconfigurable spacecraft given the joint driving torque, while inverse dynamics is used to determine the driving torque of the joint mechanism given the joint motion state of the modular self-reconfigurable spacecraft. Unlike ground-based robotic arm systems, in the free-floating state of space, the joint mechanisms of modular self-reconfigurable spacecraft exhibit significant dynamic coupling with their base, which must be carefully considered and accurately described in dynamic modeling.

[0039] The modular self-reconfigurable spacecraft in this application consists of modular satellite units (also called primitives) and joint mechanisms. The number of primitives and the degrees of freedom of the joint mechanisms can be changed and randomly combined according to mission requirements. Both the primitives and the joint mechanisms adopt a modular design. The primitives are divided into three parts: a platform layer, a connection layer, and a payload layer. The joint mechanisms are composed of various motor modules and connection modules, which can be assembled into single-degree-of-freedom rotary joints, three-degree-of-freedom wrist joints, and five-degree-of-freedom robotic arms, etc., according to mission requirements. The connection mechanisms of the primitives and joint mechanisms refer to the interface design of iBOSS and adopt standardized interface designs, possessing mechanical, electrical, and thermal interfaces.

[0040] The satellite's various subsystem modules are connected by three orthogonal rotary joints, forming a chain structure. These joints provide relative rotation, roll, and yaw degrees of freedom, allowing the satellite to transform into different spatial configurations through joint movements, achieving on-orbit transformation and meeting the requirements for relative pointing of multiple payloads and space baseline.

[0041] The application capability spectrum is the capability configuration spectrum of a modular self-reconfigurable spacecraft in response to different space mission scenarios, resulting from topological configuration and functional reconfiguration. It encompasses both configuration spectrum and payload function spectrum. The configuration spectrum describes the special space topology generated by platform configuration changes, including straight lines, twists, and bends. The payload function spectrum describes the interaction of various payloads (visible light imaging, infrared imaging, radar, communication, etc.), which, after onboard software reconfiguration and data fusion, form different payload function spectra, including various imaging modes, radar modes, and multi-source observation modes.

[0042] The variable configuration planning problem for modular self-reconfigurable spacecraft can be described as follows: given an initial configuration and a target configuration, design motion schemes for the joint mechanisms to generate joint space motion trajectories that meet the expected objectives while satisfying various constraints. In fact, the variable configuration planning problem for modular self-reconfigurable spacecraft can be viewed as a special type of joint space trajectory planning problem. Planning and optimization problems are often closely intertwined and inseparable; in variable configuration planning problems, multiple constraints and performance objectives need to be considered.

[0043] The specific steps of discretizing the variable configuration programming model using the hp adaptive radau pseudospectral method are summarized as follows, referring to... Figure 4 As shown: (1) Determine the number of time intervals and nodes, and divide the data into cells; (2) Discretize the programming model in the current time interval; (3) Calculate the error matrix for each time interval. If the accuracy error is satisfied, the discretization process ends. If the accuracy error is not satisfied, proceed to the next step. (4) Determine whether additional points or subdivisions should be added, and calculate the number of additional points and units; (5) Repeat steps (1) to (3) until the requirements are met.

[0044] (6) Use the sequential quadratic programming algorithm to find the optimal solution for the discretized model.

[0045] Thanks to its modular design, with all modules connected via a standard integrated mechanical, electrical, and thermal interface, this invention enables self-repair by planning a backup module to replace the faulty module's modified motion trajectory if a module fails during on-orbit operation. Compared to existing unrepairable traditional satellites, this invention significantly improves the system's robustness and on-orbit lifespan.

[0046] 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.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the 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 1 One 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 1The 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.

[0048] 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.

[0049] 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.

[0050] 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 method for planning the configuration of a spacecraft capable of intelligent configuration change, characterized in that, include: Step S1: Obtain the current configuration status of the spacecraft based on the received target configuration requirements; Step S2: Based on the current configuration state and the target configuration requirements, establish a variable configuration planning model to describe the mapping relationship between the joint mechanism motion and the spacecraft attitude change; Step S3: Transform the modified configuration planning model into a discretized optimal control problem with joint space motion trajectory as the optimization objective; Step S4: The discretized optimal control problem is solved using the hp adaptive pseudospectral method to generate an optimal joint motion trajectory sequence that satisfies the preset constraints.

2. The method for planning the configuration of a spacecraft capable of intelligent configuration change according to claim 1, characterized in that, In step S2, establishing the variable configuration programming model includes: Establish a position-level kinematic model that describes the mapping relationship between the angles of the joint mechanism and the poses of the primitives and links; Differentiate the position-level kinematic model to establish a velocity-level kinematic model that describes the mapping relationship between the angular velocity of the joint mechanism and the velocities of the basic elements and links; A dynamic model is established that considers the dynamic coupling between the joint mechanism and the base under the state of free floating in space.

3. The method for planning the configuration of a spacecraft capable of intelligent configuration change according to claim 1, characterized in that, Step S4 includes: Step A: Initialize the time interval division and the number of points, and discretize the variable configuration programming model; Step B: Calculate the discretization error within each time interval; Step C: Determine whether the discretization error within each time interval meets the preset accuracy requirements; Step D: For time intervals that do not meet the accuracy requirements, decide whether to increase the number of points in the current interval or further subdivide the time interval based on the magnitude of the error. Step E: Re-discretize under the adjusted time interval division and point setting until all time intervals meet the accuracy requirements; Step F: Use a sequential quadratic programming algorithm to solve the discretized model that finally meets the accuracy requirements to obtain the optimal joint motion trajectory sequence.

4. The method for planning the configuration of a spacecraft capable of intelligent configuration change according to claim 3, characterized in that, In step F, the optimal solution is obtained for the discretized model with the goal of minimizing fuel consumption or minimizing conversion time.

5. The method for planning the configuration of a spacecraft capable of intelligent configuration change according to claim 1, characterized in that, In step S4, the preset constraints include joint mechanism angle constraints, angular velocity constraints, angular acceleration constraints, and collision avoidance constraints during configuration transformation.

6. A modular and reconfigurable spacecraft with intelligent adaptability, characterized in that, The spacecraft undergoes configuration transformation using the variable configuration planning method as described in any one of claims 1 to 5.

7. The modular and reconfigurable spacecraft with intelligent adaptability according to claim 6, characterized in that, The spacecraft includes: Multiple satellite elements, each of which is an independent structure integrating satellite subsystems; Multiple joint mechanisms are connected between adjacent satellite primitives to provide relative degrees of freedom of motion; The satellite element and the joint mechanism are detachably connected via a standardized interface.

8. The modular and reconfigurable spacecraft with intelligent adaptability according to claim 7, characterized in that, The satellite element includes a platform layer, a connection layer, and a payload layer; the joint mechanism is composed of a combination of various motor modules and connection modules, and can be assembled into a single-degree-of-freedom rotary joint, a three-degree-of-freedom wrist joint, or a five-degree-of-freedom robotic arm.

9. The modular and reconfigurable spacecraft with intelligent adaptability according to claim 7, characterized in that, The standardized interface is an integrated interface that combines mechanical, electrical, and thermal functions.

10. The intelligently adaptable modular reconfigurable spacecraft according to claim 7, characterized in that, The multiple satellite elements and multiple joint mechanisms are combined into linear, torsional, or bending configurations according to mission requirements.

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