43 results about "Asteroid" patented technology

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 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 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 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 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 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.

This invention discloses a rock-breaking sampling device for asteroids and its usage method. The rock-breaking sampling device includes a mobile platform, a rock collection component and a thermal stripping component installed at the front end of the mobile platform, and a solar panel installed at the rear end of the mobile platform. The thermal stripping component includes a microwave generator, a waveguide, and a microwave irradiation plate connected in sequence. The microwave irradiation plate thermally strips the rock fragments located at the front end of the mobile platform to form stripped rock fragments. The rock collection component includes a jet curtain pipe, a rock collection pipe, a rock collection box, an air pump, a second control valve, an air storage tank, a first control valve, and an air compressor arranged in sequence along the airflow direction. The exhaust port of the air compressor is connected to the front end of the jet curtain pipe through a pressure-resistant pipe to form a circulating airflow. This invention satisfies the requirements of continuous and effective crushing of asteroid rocks under conditions of equipment miniaturization and low power; and ensures long-term, high-volume continuous mining operations during a single spacecraft launch.

The invention discloses an asteroid radar imaging method based on model parameter search. Firstly, rotation parameters of an asteroid are accurately estimated through a rotation parameter and terrain combined search algorithm, the rough surface appearance of the asteroid is fitted, and rapid and efficient search is achieved through a cascade strategy. Echo energy is accumulated in an image domain, image quality is used as an evaluation index, and corresponding asteroid rotation parameters when the image quality is optimal are obtained in a large search range. Secondly, selecting feature points at different positions, taking elevation and rotation parameters of the feature points as joint search parameters, accumulating echo energy in a parameter domain, taking an accumulation value as an evaluation index, and obtaining rotation parameters of an asteroid corresponding to the maximum accumulation value and the elevation of the selected feature points in a small search range; and finally, in combination with the surface topography of the target, projecting the sub-aperture RD image to the surface grid of the asteroid to carry out superposition between the sub-apertures, thereby obtaining a high-quality asteroid imaging result.

The present application relates to the technical fields of asteroid analog test, and discloses a kind of asteroid analog self-rotating process dynamic test device and test method, including fixed platform, rotating platform, drive assembly, five telescopic components and measuring plate, rotating platform is rotationally arranged on the surface of fixed platform, drive assembly is arranged in the interior of fixed platform, the surface of rotating platform is also provided with five telescopic rods, the telescopic end of telescopic component is provided with measuring plate, the interior of measuring plate is provided with measurement sensor towards asteroid analog;Through five telescopic components and measuring plate on the surface of rotating platform, and the corresponding measurement plate and asteroid analog, cooperate with the measurement sensor in measuring plate, the synchronous collection of three-dimensional axial dynamic deformation data can be realized, cover the multidimensional measurement of the periphery and top of asteroid analog, to obtain the three-axis length and time relationship curve of analog at different rotation rates, oblateness and elongated ellipsoid eccentricity change curve with time accurately.

The invention discloses a dynamic incremental three-dimensional reconstruction method for a long-distance approaching section of an asteroid, and belongs to the field of deep space exploration. The method comprises the following steps: establishing an ellipsoid model of an asteroid, performing contour extraction on a two-dimensional image of the asteroid obtained by a detector, and initializing the ellipsoid model by using a contour back projection result; performing layered voxelization on the ellipsoid model, performing gridding processing on a three-dimensional space where the ellipsoid is located, performing uniform sampling on an inner layer and an outer layer, and performing voxelization processing on the ellipsoid according to an ellipsoid mask; respectively representing the occupancy state of each voxel by using probabilities, establishing an observation model of the voxels, and carrying out frame-by-frame Bayesian filtering on the voxel probabilities by using a plurality of frames of contour images to obtain the voxel occupancy state of multi-view image verification; voxels with the probability larger than a threshold value are reserved, the voxels are spliced, and a three-dimensional reconstruction result of the target asteroid is obtained; and dynamically updating the three-dimensional model by using the newly added image to realize real-time three-dimensional reconstruction of the long-distance approaching section of the asteroid.

This invention discloses a system and method for flyby detection of asteroid hyperspectral polarization characteristics, belonging to the field of optical detection technology. The system comprises an orthogonal mirror module, a polarization spectral modulation module, a front imaging lens, a microlens array, a collimating lens, a spectral dispersive element, a focusing lens, an image detector, and a data processing unit. The detection system uses the orthogonal mirror module to enable a satellite platform to track and stare at the asteroid during high-speed flyby. It also introduces a microlens array to replace the slit in a traditional imaging spectrometer, and, combined with the polarization spectral modulation module, simultaneously acquires a two-dimensional image, hyperspectral, and polarization information of the target asteroid in a single measurement. This invention achieves multi-angle hyperspectral polarization snapshot imaging detection of asteroids during high-speed flyby.

The invention discloses an asteroid surface simulation image generation method, which is based on an asteroid three-dimensional point cloud model and comprises the following steps of: firstly, analyzing a surface reflection mechanism, clearly and only considering diffuse reflection, and enabling the diffuse reflection amount to be related to an included angle between a surface point normal vector and a light source vector; the diffuse reflection light intensity is calculated through a Phong model, and the physical law is fit; and finally, constructing a simulation camera model, and generating a simulation image through view transformation, projection transformation, coordinate standardization and window mapping. According to the method, illumination and camera parameters can be input to generate specified working condition images, massive test data and algorithm rehearsal capability are provided, dynamic image generation time is short under conventional hardware, and the method is of great significance to asteroid detection ground verification.

The invention discloses an asteroid surface feature extraction and matching method, which comprises the following steps of: firstly, extracting candidate feature points with scale invariance and rotation invariance by using an SIFT (Scale Invariant Feature Transform) algorithm, then filtering the SIFT feature points through angular point positions detected by a FAST algorithm, and reserving the SIFT feature points which are close to FAST angular points and are consistent in direction; therefore, the reliability and matching precision of the feature points are improved. According to the method, the problem of feature matching under the conditions of cross-scale, cross-view and violent illumination change can be solved, and the method has high engineering application value.

The present application relates to the technical field of asteroid mechanics test, and discloses an on-orbit microgravity asteroid test device and method, which comprises a closed frame body, an asteroid containing cylinder, a plurality of vibrating members, a cover plate, a rotating shielding assembly and an execution assembly, the top of the asteroid containing cylinder is provided with an opening, and a plurality of groups of vibrating members are arranged radially on the cylinder wall, so that the asteroid simulation objects in the cylinder can be uniformly and loosely rearranged, the cover plate with a penetration hole is vertically slidably arranged in the cylinder, the cover plate is provided with the rotating shielding assembly with a reset elastic member, and the penetration hole is normally blocked; the execution assembly is carried by the transverse moving assembly in the closed frame body, and after being moved to the position, the shielding assembly is driven to rotate and open the penetration hole, the execution assembly penetrates through the hole and extends into the cylinder to carry out asteroid adhesion test; the whole constitutes a completely closed test space, is normally completely sealed, and the test is carried out according to the need to open the hole, solves the problem that asteroid particles are scattered and pollute the optical window and the precise sensing and transmission components under microgravity, and can automatically complete multiple rounds of unmanned test, improves the test data reproducibility and measurement accuracy.

The embodiment of the application relates to the technical field of deep space exploration and asteroid defense, and discloses an asteroid defense method considering irregular shape structures and hitting uncertainty, comprising the following steps: selecting a target asteroid, and obtaining orbit parameters and model data of the target asteroid; determining a state vector of a spacecraft when the spacecraft reaches the target asteroid according to orbit parameters of the earth and the target asteroid and initial parameters of the spacecraft; establishing a deflection amount function relationship by using a -Trumbore intersection function and a Monte Carlo simulation algorithm based on the state vector and the model data; optimizing the function relationship by using a genetic algorithm, determining an optimal first direction angle and an optimal second direction angle, and formulating a defense strategy of the target asteroid, so that the influence of irregular shape structures of the asteroid and the influence of hitting uncertainty of the spacecraft are comprehensively considered, and the defense capability for the asteroid is greatly improved.