61 results about "Asteroid" patented technology

The invention relates to the technical field of asteroid simulant testing, and discloses an asteroid simulant spinning process dynamic testing device and a testing method.The asteroid simulant spinning process dynamic testing device comprises a fixed table, a rotating table, a driving assembly, five telescopic assemblies and a measuring plate, the rotating table is rotationally arranged on the surface of the fixed table, and the driving assembly is arranged in the fixed table; five telescopic rods are further arranged on the surface of the rotating table, a measuring plate is arranged at the telescopic end of the telescopic assembly, and a measuring sensor facing the asteroid simulant is arranged in the measuring plate; the five telescopic assemblies and the measuring plate are arranged on the surface of the rotating table, the measuring plate corresponds to the asteroid simulant, and a measuring sensor in the measuring plate is matched, so that synchronous acquisition of three-dimensional axial dynamic deformation data and multi-dimensional measurement covering the periphery and the top of the asteroid simulant can be realized; therefore, a three-axis length and time relation curve of the simulant at different rotation rates and a time-varying curve of the flattening and elongated ellipsoid eccentricity rate are accurately obtained.

This invention provides a method and system for high-fidelity physical modeling and detection performance evaluation of space targets, relating to the field of deep space exploration technology. The method first acquires the relative motion parameters of the spacecraft and the asteroid, as well as camera parameters, and determines the static apparent magnitude based on observation geometry and the asteroid's physical characteristics. Then, it calculates the angular velocity modulus through relative velocity, combines it with camera parameters to obtain tail parameters, and quantifies the equivalent magnitude loss and effective apparent magnitude based on a piecewise model. Subsequently, it constructs a two-dimensional parameter grid of focal length and exposure time, calculates the effective signal-to-noise ratio and detection margin for each combination, and selects the optimal parameters using a heatmap. Finally, it generates a high-fidelity simulation image and feeds back the observation values ​​to the guidance, navigation, and control system via a UDP asynchronous interface. This invention achieves quantitative assessment of tail loss and automated parameter optimization, balancing high fidelity and real-time performance, and improving detection accuracy and system reliability.

The present invention discloses a target structure registration measurement method and system for planet and asteroid exploration. The method is implemented by a time-of-flight camera installed on a satellite. The method comprises: receiving images and depth information of the surface environment of a target star body collected regularly by the time-of-flight camera, fusing the images and depth information, and generating three-dimensional point cloud data; filtering the three-dimensional point cloud data to obtain denoised three-dimensional point cloud data, and storing the denoised three-dimensional point cloud data in a data list; extracting effective area information from the denoised three-dimensional point cloud data to obtain data of the effective point cloud area; then performing iterative closest point method registration to obtain a transformation matrix; extracting the denoised three-dimensional point cloud from the data list, transforming it using the transformation matrix, and obtaining registered overall three-dimensional point cloud data; and extracting features from the registered overall three-dimensional point cloud data to obtain distance information, position information, and shape information of the surface of the target star body.

The present application relates to a kind of asteroid global terrain three-dimensional reconstruction method for illumination change, comprising the following steps: input asteroid optical image, estimate camera pose and generate sparse point cloud, initialize Gaussian radiation field;Using image segmentation large model outputs the segmentation mask of asteroid optical image, prunes Gaussian radiation field;In combination with the mixed mask output by Gaussian radiation field, identify the shadow area of asteroid surface;The camera position, spherical harmonic coefficient and hash coding are combined into incident light angle, input into neural network, and the color value of Gaussian cell of illumination and shadow area is regressed;Add depth normal consistency loss and rotation variance and scale constraint loss, combine photometric loss to jointly supervise the optimization of Gaussian radiation field, calculate Gaussian opacity field, extract the three-dimensional model of asteroid global terrain.The present application can identify the shadow area on asteroid, improve the three-dimensional reconstruction precision of asteroid with surface illumination change.

A factory for manufacturing useful products while orbiting is space uses concentrated solar energy, high vacuum, and the low temperatures available in a space environment. Gyroscopic forces from rotating machinery are carefully controlled. Liquids, gases, and solid minerals are separated from asteroid and lunar regolith resources.

The application relates to an asteroid selection method and device, computer equipment and a storage medium. The method comprises the following steps: first, dividing the orbit of a target detector into a first time period to obtain a plurality of time periods after division; then, dividing each time period into a second time period to obtain a plurality of sub-time periods corresponding to each time period; then, clustering asteroids around the target detector in each sub-time period to obtain a plurality of clustered asteroid sets; then, determining a candidate asteroid set corresponding to each sub-time period according to the position information of each asteroid in each clustered asteroid set in each sub-time period; and finally, selecting a candidate asteroid set corresponding to a sub-time period from the candidate asteroid sets corresponding to each time period to construct a target asteroid set. The asteroids screened by the above method can achieve higher navigation accuracy.

The present invention discloses a method and device for estimating the internal dielectric constant of an asteroid based on a single-station orbital radar, relating to the field of planetary exploration. The method primarily comprises: separating diffraction waves from single-station orbital radar recordings, determining the number of diffraction points within the asteroid and the range of values ​​for the scanned dielectric constant; setting a diffraction point and a scanned dielectric constant value within the asteroid, solving the eikonal equation to obtain the travel time of the diffraction wave, and calculating the superposition energy of the diffraction waves within a fixed time window starting from the travel time; repeating the previous steps until all positions within the asteroid and the range of values ​​for the scanned dielectric constant are traversed; selecting several local maxima from all the superposition energies, determining the diffraction point positions and scanned dielectric constant values ​​corresponding to all the maxima; and interpolating the results to obtain the dielectric constant distribution within the asteroid. Implementing the method and device for estimating the internal dielectric constant of an asteroid based on a single-station orbital radar provided by the present invention can quickly and accurately obtain the internal dielectric constant distribution of the asteroid.

The present invention belongs to the technical field of probe attitude tracking control, and specifically relates to a method for attitude tracking control of a probe orbiting an asteroid based on adaptive iterative learning. The method comprises the following steps: Step 1: The probe mathematical model outputs two state variables, namely attitude and angular velocity; Step 2: The attitude and angular velocity are fed back to the input of the control system, and the error attitude and error angular velocity are respectively subtracted from the given desired attitude and desired angular velocity; Step 3: A probe attitude tracking error system is established based on the two error states, where the uncertainty and external interference in the system are regarded as total disturbances and estimated using an adaptive law; Step 4: An attitude tracking controller is designed based on an adaptive iterative learning algorithm. The present invention proposes a design method for an adaptive iterative learning controller based on an all-wheel drive system approach and sliding mode control. The designed adaptive iterative learning controller has excellent control performance and a small number of adjustment parameters.

The invention discloses an asteroid internal structure three-dimensional reverse time migration imaging method based on a single-station radar, and belongs to the technical field of planet detection, and the method comprises the steps: estimating wavelets from the observation data of the single-station radar; constructing an asteroid three-dimensional dielectric model based on a velocity analysis result and prior information; selecting a group of transmitting and receiving source positions, and performing forward modeling by taking wavelets as excitation sources to obtain forward transmission wave fields of electric field components at all moments; interchanging the positions of the transmitting source and the receiving source, and performing forward modeling by taking radar observation data as an excitation source to obtain a corresponding back propagation wave field; zero-delay cross-correlation is carried out on the forward and backward propagation wave fields, and an imaging result of a single source point is obtained; repeating the three steps until the imaging results of all the source points are obtained; and superposing imaging results of all source points, and suppressing low-frequency noise through Laplace filtering to obtain a high-resolution three-dimensional imaging result. By implementing the method provided by the invention, the three-dimensional internal structure of the asteroid can be quickly and accurately obtained, and then a reliable basis is provided for analyzing the origin and evolution of the asteroid.

The invention provides a spacecraft autonomous modeling method for an unascertained near-earth asteroid target, and belongs to the technical field of spaceflight technology and application thereof, and the method comprises the steps: carrying out typical target extraction, BRDF (Bidirectional Reflection Distribution Function) measurement and characteristic measurement, and application scene measurement, and generating a digital target set; carrying out data processing on the spacecraft, wherein the data processing comprises on-board processing and on-board verification; carrying out algorithm ground verification, including algorithm correctness verification, algorithm clipping and acceleration, and algorithm edge deployment; the satellite-ground combined on-orbit application is specifically characterized in that when a spacecraft is close to a target, target modeling is carried out, data is acquired based on a sensor for on-device processing, target modeling is completed, then data is newly acquired by the sensor for on-device verification and model updating, and model reconstruction and ground processing are introduced by limiting the number of verification times. According to the method, the modeling accuracy can be improved, and the efficient autonomous modeling capability of the spacecraft is comprehensively formed.

The present disclosure provides a multi-asteroid exploration trajectory generation method, system and storage medium; for the first d time transfer of the multi-asteroid exploration trajectory, the undetermined Fourier coefficients of the position vector function are solved through the boundary conditions of the transfer starting time and the transfer ending time and the preset thrust acceleration constraint, and the corresponding candidate transfer trajectory is generated; wherein the position vector function is obtained by pre-construction using the Fourier series; the candidate transfer trajectory is the trajectory from the first d time transfer of the outgoing asteroid to the candidate target asteroid; according to the transfer cost of each candidate transfer trajectory, the preferred transfer trajectory of the first d time transfer is obtained by screening, and the candidate target asteroid corresponding to the preferred transfer trajectory is taken as the outgoing asteroid of the first d +1 time transfer; and the optimal exploration trajectory is generated according to the preferred transfer trajectories of all transfers. This method can quickly lock the optimal exploration path that can be achieved, greatly shortening the mission planning cycle.

This invention relates to a dynamics-based simulation method for the orbits of target asteroids and impactors, belonging to the technical field of aerospace technology and its applications. The invention aims to address the problems of poor accuracy and stability in existing asteroid impact simulation processes. This invention establishes the asteroid orbital dynamics equations, substituting the position vector into these equations to recursively obtain the asteroid's orbital model; it also establishes the impactor orbital dynamics equations, substituting the impactor's initial three-dimensional position, velocity, and acceleration into these equations, and combining them with the target asteroid's orbital model to recursively obtain the initial orbital model from the impactor's initial position to a distance of S km from the target asteroid; using this initial model, it establishes the full dynamics equations for the final segment of the impactor's orbit, obtaining the orbital model from the impactor's position S km from the target asteroid to the point of impact. This method is primarily used for impactor orbit simulation.

The application discloses a UT transformation-based impact small celestial body orbit terminal state optimization method and belongs to the technical field of aerospace. The application realizes the method as follows: positions and velocities of the earth and small celestial bodies are obtained according to ephemeris and kinematic equations of the small celestial bodies, and the velocity variation of the small celestial body after the impact of a probe is defined as a constant, so that two angles of the velocity change direction of the small celestial body after the impact of the probe are taken as impact design variables; UT transformation is used to perform error evolution of the small celestial body, so that the space-time distribution probability of the target small celestial body in a future period of time is obtained; the space-time distribution probability of the small celestial body is calculated, the instantaneous impact probability under the given impact design is calculated based on a Legendre-Gauss quadrature method, and the overall impact probability of the small celestial body is obtained by integral based on a Newton-Cotes quadrature method; and based on the impact probability calculation method, the impact design variables are optimized in combination with a global optimization algorithm, so that the impact probability of the small celestial body under the optimized variables is the lowest.

A compact vibratory burrowing probe, particularly beneficial in low gravity space exploration environments, uses lateral or stirring-like vibrations to fluidize a surrounding regolith, thereby decreasing the penetration resistance, and compensating for the light overhead weight to improve the burrowing action of the probe into the surface of the terrain of explored moons, planets, or asteroids. Included is a novel vibratory mechanism capable of imparting the novel lateral or stirring vibration, as well as a more conventionally oriented longitudinal vibration.

The invention provides an atmosphere-free celestial body surface environment simulation device, which comprises a vacuum container assembly which comprises a vacuum cabin and a vacuum unit and is used for providing a closed environment required by a test for a test sample, and the vacuum unit comprises a vortex pump and a turbo molecular pump; the low-temperature helium circulation assembly is used for providing a cold black background environment for the test sample in the vacuum container assembly; the sample cup assembly is arranged in the vacuum cabin and comprises a sample container used for arranging a plurality of sample cups, a heating module and a calibration black body, and the heating module is used for heating the sample cups and controlling the sample cups to different temperatures so as to simulate temperature changes of the moon and the asteroid; and the low-temperature off-axis parabolic mirror is arranged on the vacuum cabin and is used for converting heat radiation signals of the test sample and the calibration black body in the sample cup into parallel light and inputting the parallel light into the Fourier transform infrared spectrometer for spectral analysis. The invention further provides a thermal infrared spectrum testing method which is applied to the atmosphere-free celestial body surface environment simulation device.

This invention relates to the field of asteroid monitoring technology and proposes a space-based networked asteroid monitoring system, characterized by comprising: a monitoring satellite configured to perform the following actions: acquiring optical measurement data of near-Earth asteroids; transmitting the optical measurement data to a ground control station; and a ground control station configured to determine the orbit of the near-Earth asteroid based on the optical measurement data.

The utility model discloses an asteroid adsorption and sampling integrated mechanism, and relates to the technical field of detector adsorption and sampling devices, the asteroid adsorption and sampling integrated mechanism comprises a detector main body and a landing device connected to the lower end of the detector main body, a plurality of flexible support air bags are uniformly arranged around the landing device, and a pressure sensor is arranged in each flexible support air bag; the pressure sensors are in signal connection with the control module, flexible pneumatic clamping rings are arranged on the faces, facing the ground, of the flexible supporting air bags, clamping ring inflation ports and clamping ring deflation ports are formed in the flexible pneumatic clamping rings, the flexible supporting air bags are fixed to an unfolding mechanism of the landing equipment, and the unfolding mechanism is connected with the control module. The landing equipment is provided with an air inflation device and an air exhaust device. The utility model aims to solve the problems that the escape speed of a detector is low and the detector is difficult to stably sample on the surface on which broken stones are accumulated when the asteroid lands, so that the reliability of sampling on the surface of the asteroid is improved.

The application discloses a kind of asteroid surface space equipment trajectory tracking algorithm based on sparrow search algorithm, including space mining car system, wheel-soil interaction force estimation model is established according to the soil condition of asteroid surface by space mining car system, wheel dynamics analysis model and whole vehicle dynamics analysis model are respectively established by kinematics analysis and dynamics analysis by space mining car system, the motion trajectory of space mining car under existing state is solved by SSA-PID control model solution of space mining car system, and finally output.The beneficial effects of the present application are: in the process of dynamics modeling, according to the complex surface environment of asteroid, the change factor of effective radius of wheel is considered, the influence of possible motion error is avoided, the PID control optimized by sparrow search algorithm is used, the local optimal problem is avoided, and the trajectory tracking effect is enhanced.

According to the intelligent non-convex asteroid shape inversion method based on the optical variation curve and constrained by physical information, physical prior information is fused through a deep learning network (PINAS-Net), and rapid and accurate non-convex asteroid three-dimensional shape inversion is achieved. Specifically, light variation curve data and a scattering parameter c serve as input, features of all curves are extracted through a light variation curve feature extraction module (LCFEM), interaction features among multiple curves are captured through a Transform encoder, and 1024-dimensional global features are obtained; meanwhile, expanding a scalar scattering parameter c into 16-dimensional features, fusing the 16-dimensional features with global features, and importing the 16-dimensional features into the network as physical constraints; and rough point prediction is carried out based on the fused features, and a fine point cloud shape is obtained through a Transform decoder and three-layer up-sampling. The method provided by the invention is verified on observation data and simulation data of a plurality of asteroids (433 Eros, 9 Metis and 21 Luteria), and a reconstruction result is highly consistent with a reference model. Assessment indexes show that the intersection-to-union ratio (IoU) of the method for the non-convex region can reach 0.81, the Chamfer distance is 0.046, and compared with a traditional KTM method, the inversion speed and precision are remarkably improved. The method provides a new technical means for asteroid shape inversion and physical parameter estimation, and has an important planet defense value.

The application relates to a kind of asteroid surface escape velocity calculation method considering rotation and terrain influence, comprising: obtaining the three-dimensional shape model of target asteroid and carrying out discrete, reading the vertex set and triangular facet set of polyhedron, carrying out gravity field modeling, establishing standard polyhedral gravity model;Define the logarithmic kernel function of each edge of each triangular facet, to determine the gravitational potential of target asteroid on any field point;Establish star-fixed coordinate system in standard polyhedral gravity model, determine the rotation speed of any point on the surface of target asteroid, thereby define the effective potential upper bound and the inertial system speed of the release instant of the particle on the surface of target asteroid;Based on the minimum escape condition that the kinetic energy of the particle on the surface of target asteroid is equal to the corresponding effective potential upper bound, determine the minimum normal escape velocity of the particle. Compared with the prior art, the application can quickly obtain accurate minimum escape velocity and corresponding escape direction at any surface point.

This invention provides a micro-low gravity field landing simulation test device based on a vertical near-zero stiffness mechanism, including a truss, a linear module, electromagnets, a probe simulator, a zero-stiffness mechanism, a companion vehicle, and a simulated star catalog. The truss is mounted on the simulated star catalog, with a guide rail laid in the middle of the catalog. The linear module is mounted on the truss directly above the guide rail, and an electromagnet is mounted on the moving block of the linear module. The linear module can be connected to the probe simulator via the electromagnets. The probe simulator is mounted to the companion vehicle via the zero-stiffness mechanism, and the companion vehicle can move on the guide rail. This invention is applicable to landing buffer ground tests for lunar, Martian, and other asteroid probes, providing a high-fidelity, full-physics simulation simulator test for landing leg landings, especially active leg soft landings.

The invention discloses an asteroid defense impact error evolution analysis method based on a state transition tensor. The method comprises the following steps: establishing an orbit evolution dynamic model of an asteroid; according to the orbital evolution dynamic model of the asteroid, constructing a state transition tensor during no impact from the initial moment t0 to the impact moment tk; according to the orbit evolution dynamic model of the asteroid, constructing a state transition tensor under the impact task from the impact moment tk to the terminal moment tf; obtaining a state transition tensor from an initial moment t0 to a terminal moment tf according to the state transition tensor without impact and the state transition tensor under the impact task; and according to the state transition tensor from the initial moment t0 to the terminal moment tf, calculating a mean value and a covariance matrix of the orbit deviation.

The application discloses a kind of fast star map identification method and system based on adaptive star table, which comprises the following steps: using block, hierarchical extraction method to generate GAIA star table file from original GAIA star table data;GAIA star table file and Tycho2 star table file are read into memory, and star information is stored in partition, and star table index is established;The field of view information of input optical image is input, and according to the input information, the type of star table to be used is selected;According to the pointing and field of view information of input optical image, the required star information is read according to the star table index;Fast sorting method is used to sort image stars and star table stars, and the brightest multiple stars are selected for fast star table matching;Through the voting of matching result, the star mapping with the highest matching accuracy is found out as the successfully identified star.The application is suitable for optical image processing research field, and can be used for fast astronomical positioning of space debris and near-earth asteroids, to gain valuable time for emergency response of space events.

The invention provides a laboratory variable-angle spectrum observation device and method for simulating rotation of an asteroid. The device comprises an annular guide rail; the two sliding tables can slide along the circular ring guide rail; the rotating assembly is fixed in the ring inner space of the circular ring guide rail and used for fixing the asteroid miniature model and driving the model to rotate according to the set speed and direction; the two bracket assemblies are the same in height and are respectively fixed on the sliding tables; the light source is connected to a bracket assembly through an optical fiber; the spectrograph is also connected to the other support assembly through the optical fiber; the height of the end of the incident optical fiber and the height of the end of the emergent optical fiber fixed on the support assembly are the same as the height of an asteroid miniature model, and the incident optical fiber and the emergent optical fiber directly face the model. And the controller is used for controlling the spectrograph and controlling the rotating speed and direction of the rotating assembly for driving the asteroid miniature model to rotate. The method has the advantage that the spectrum curve of the miniature asteroid model under the conditions of different rotation speeds, phase angles, single integration time and integration times can be obtained.

The invention relates to an uncertainty-driven asteroid visual full-coverage intelligent decision planning method. The method comprises the following steps: initializing a multi-detector state and asteroid surface Fisher information conditional probability distribution; multiple constraints are considered, and a Fisher environment information gain is used for guiding multiple detectors to carry out trajectory planning and environment information acquisition; the Fisher information of the asteroid surface and the uncertainty distribution of the surface environment are continuously updated by utilizing the environment perception information; calculating rewards according to environment feedback, and performing detector detection path decision planning learning and decision model updating by using a reinforcement learning model; evaluating that the Fisher information entropy on the surface of the asteroid is wholly lower than a threshold value or the fuel budget is about to be exhausted, determining that the training process is ended, and storing a decision planning model; and testing an asteroid full-coverage decision planning model which is generated by training and is defined based on a Fisher information model and is driven by environmental uncertainty. According to the invention, the multi-detector based on Fisher information model uncertainty feedback carries out surface visual full-coverage path planning on the asteroid.

The asteroid flexible probe intelligent control method based on the deep reinforcement learning SAC algorithm disclosed by the present application belongs to the field of spacecraft guidance and control. The implementation method of the present application is: a flexible probe structure simplified model is established, a second-order gravity potential function model is introduced to describe a small asteroid weak gravity field model, and a dynamics model of the flexible probe attitude-orbit coupling is constructed; an actor-critic neural network based on deep reinforcement learning is adopted to interact with the attitude-orbit coupling dynamics equation, the instruction thrust value and the thrust deflection angle of the thruster are output through the neural network, the neural network is trained based on the SAC algorithm to design the reward function and the cost function, the asteroid flexible probe intelligent controller is constructed, and the random changes of the flexible probe structure parameters are coped with; the orbit and attitude motion of the flexible probe are controlled at the same time, and on the premise of real-time stable attitude, the flexible probe realizes high-precision tracking of the expected attachment orbit of the target task.

An in-orbit sounding inversion method for asteroid surface star soil compressive strength controls a spacecraft to hover above the asteroid surface, utilizes mechanical arm unfolding and star soil short-time sounding data to invert asteroid star catalogue compressive strength, can obtain the asteroid star soil compressive strength, is simple and reliable in system, can be realized in in-orbit engineering, and has wide application prospects. The method overcomes the defects that an existing inversion method depends on remote sensing data or complex dynamics modeling estimation, is indirect, is limited in precision, depends on hypothesis, and lacks in-situ constraint.

This invention relates to a method for reconstructing the gravitational field of an asteroid based on a physical information neural network, comprising the following steps: sampling data points and generating auxiliary points based on an asteroid mass swarm model, and constructing a gravitational potential function solver; preprocessing the data points and generated auxiliary points, and calculating the gravitational potential of each sampling point; calculating the Laplace equation and gravitational curl equation of the auxiliary points and the gravitational acceleration equation of the data points using a partial differential equation solver for the gravitational potential of the sampling points; constructing a total loss function based on the equation calculation results and the mean square error of the gravitational potential; performing backpropagation of the error for the loss function, and simultaneously optimizing the network parameters and the weights of each loss; evaluating the model prediction results for the optimized model, focusing on sampling in key areas with large prediction errors, and finally adding the sampling results to the auxiliary point dataset for further training.

This application discloses a method and system for shape inversion of a rapidly rotating asteroid. The method includes: determining several equally spaced sampling times within any exposure time of the rapidly rotating asteroid; calculating the position coordinates corresponding to each sampling time; calculating the brightness of each sampling time within each exposure time using a light variation model and taking the average value as the model brightness of the rapidly rotating asteroid; obtaining the residual based on the calculated model brightness and the observed brightness obtained from actual observation; determining whether the iteration stopping condition is met; if so, determining the optimal solution of the Gaussian surface density; otherwise, calculating the iteration step size under the optimization objective function, updating the Gaussian surface density, and continuing the iteration until the optimal solution of the Gaussian surface density is determined; finally, determining the shape of the rapidly rotating asteroid using the optimal solution of the Gaussian surface density according to Minkowski's theorem. This application can effectively improve the accuracy of asteroid shape inversion calculation.

This invention provides a method and apparatus for analyzing the coupling characteristics of asteroid impactors based on SPH (Smooth Particle Hydrodynamics), belonging to the field of spacecraft dynamics modeling. The method includes: establishing a liquid sloshing model described by the SPH method; SPH represents smooth particle hydrodynamics; calculating the liquid sloshing forces and moments in a non-inertial frame based on the liquid sloshing model; establishing a distributed parameter model of the flexible spacecraft; integrating the liquid sloshing forces and moments in the non-inertial frame into the distributed parameter model of the flexible spacecraft to establish a dynamic model of the liquid-filled flexible spacecraft; and, based on the dynamic model of the liquid-filled flexible spacecraft, analyzing the coupling characteristics of the central rigid body attitude and position, flexible appendage vibration, and liquid fuel sloshing as system states. This invention provides a new approach and reference for modeling liquid-filled flexible spacecraft.