CN112987777B - Spacecraft cluster flight control method based on flight safety zone method - Google Patents
Spacecraft cluster flight control method based on flight safety zone method Download PDFInfo
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Abstract
The invention discloses a spacecraft cluster flight control method based on a flight safety zone method, which comprises the following steps: calculating collision probability by using the collision probability density function; based on collision probability, dividing an outer region of a target spacecraft into a non-avoidance region, a safe maneuvering region and a terminal approaching region in sequence; when the tracking spacecraft is positioned in the non-avoidance area, the tracking spacecraft does not perform obstacle avoidance control; when the tracking spacecraft is positioned in a safe maneuvering region, generating obstacle avoidance control force by utilizing an improved equal collision probability line method, and performing obstacle avoidance control on the tracking spacecraft; when the tracking spacecraft is positioned in the terminal approaching area, generating obstacle avoidance control force by using a self-adaptive Gaussian mixture model method, and performing obstacle avoidance control on the tracking spacecraft. The spacecraft cluster flight control method based on the flight safety zone method can realize the safety flight control of the spacecraft clusters under the condition of considering the influence of target spacecraft with any complex appearance and uncertainty factors, and has the advantages of less calculation work and high control precision.
Description
Technical Field
The invention relates to the technical field of spacecraft motion control, in particular to a spacecraft cluster flight control method based on a flight safety zone method.
Background
In recent years, on-orbit failure events of a spacecraft are increasing, in order to reduce the occurrence probability of the on-orbit failure events, prolong the working life of the spacecraft and improve the working performance, more and more on-orbit services are applied to the spacecraft, and the close-range operation of the spacecraft is used as a basic technology for supporting the on-orbit services, so that the close-range operation of the spacecraft needs to meet strict safety requirements.
The traditional spacecraft cluster flight control method mainly comprises an analysis method and an optimization method, but the analysis method does not consider the influence of uncertainty, the calculation amount of the optimization method is large, and the obstacle avoidance is only used as an optimization target, but not a constraint, so that the obstacle avoidance effect cannot be ensured. In order to solve the above problems, chinese patent document with publication number CN109765919a, entitled "spacecraft close-range safety operation control method based on equal collision probability line method", discloses a spacecraft close-range safety operation control method that guarantees safety of spacecraft cluster flight control by establishing an equal collision probability line, which is a line composed of points with the same collision probability around a space target spacecraft. The control method establishes the equal collision probability line under the influence of navigation and control uncertainty, and the gradient direction of the equal collision probability line is the direction in which the equal collision probability line changes most rapidly, so that the application of a safe approach maneuver in the gradient direction is optimal. Meanwhile, in order to facilitate calculation and obtain the gradient direction of the equal collision probability line, the control method adopts an auxiliary function which has an approximate gradient direction with the equal collision probability line, and compared with the traditional equal collision probability function, the auxiliary function does not contain an overrun function, so that the calculation amount can be greatly reduced while high-precision gradient direction estimation is ensured.
However, in the existing equal collision probability line method, the geometric shapes of two spacecrafts are simplified into a sphere or an ellipsoid, but in engineering practice, the geometric shapes of most spacecrafts are not simple spheres or ellipsoids, and in close range operation, different geometric shapes of the spacecrafts have different influences on safety control, so that the existing equal collision probability line method has a certain limitation in engineering practical application. Aiming at the problems, the Chinese patent document with the publication number of CN110466808A, named as a convex polygon spacecraft safety control method based on a multi-equal collision probability line method, discloses a spacecraft safety control method, and the control method establishes the multi-equal collision probability line method for a convex polygon target spacecraft so as to be used for spacecraft cluster safety flight control. However, the multi-equal collision probability line method only can consider the influence of the convex polygon target spacecraft, and cannot solve the problem of safe flight control of any complex-shape target spacecraft cluster.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a spacecraft cluster flight control method based on a flight safety zone method.
Therefore, the invention discloses a spacecraft cluster flight control method based on a flight safety zone method, which is used for realizing the safety flight control of a target spacecraft and a tracking spacecraft, and comprises the following steps:
simplifying a target spacecraft into a minimum outer envelope ellipsoid, and calculating collision probability by using a collision probability density function;
based on collision probability, dividing an outer region of a target spacecraft into a non-avoidance region, a safe maneuvering region and a terminal approaching region from far to near in sequence;
when the tracking spacecraft is positioned in the non-avoidance area, the tracking spacecraft does not perform obstacle avoidance control; when the tracking spacecraft is positioned in a safe maneuvering region, generating obstacle avoidance control force by utilizing an improved equal collision probability line method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force; when the tracking spacecraft is positioned in the terminal approaching area, generating obstacle avoidance control force by using a self-adaptive Gaussian mixture model method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force.
In some alternative embodiments, the collision probability density function is:
wherein P is c (r 1-t ) Represents the collision probability, r 1-t ＝[x t ,y t ] T Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, and x t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system,indicating the relative position r 1-t Uncertainty covariance matrix,>andindicating the relative position r 1-t E represents selfNatural constant (I)>Representing the geometry of the target spacecraft, R 0 Representing the geometric radius of the target spacecraft, r 2-t Representing the relative position in the geometric region of the target spacecraft.
In some alternative embodiments, the non-avoidance region includes an absolute safety region, a remote approach region, and a phase adjustment region;
the absolute safety area is that the collision probability is 1 multiplied by 10 -5 When the tracking spacecraft is positioned in the absolute safety zone, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a first set time interval;
the collision probability of the long-distance approach area is larger than 1 multiplied by 10 -5 And is less than 1 x 10 -4 When the tracking spacecraft is positioned in the long-distance approaching area, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a second set time interval;
the phase adjustment area is that the collision probability is 1×10 -4 The area meeting the following formula 2 above, when the tracking spacecraft is located in the phase adjustment area, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a third set time interval;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Indicating the range of action of the safe maneuver region.
In some alternative embodiments, the third set time interval is less than the second set time interval, and the second set time interval is less than the first set time interval.
In some optional embodiments, the safe maneuvering region is a region meeting the following formula 3, when the tracking spacecraft is positioned in the safe maneuvering region, generating an obstacle avoidance control force by using an improved equal collision probability line method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Indicating the range of action of the safety maneuver region D 0 Representing the radius of the region of action of the equiprobable collision probability line.
In some alternative embodiments, the obstacle avoidance control force is calculated using equations 6 and 7 below when the tracking spacecraft is in a safe maneuver region;
wherein F is repel Represents the obstacle avoidance control force,representing an improved repulsive force function, r 1-t Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, v representing the gradient function, and +.>Representing the relative position r of the improved repulsive force function pair 1-t Gradient of derivation,/->Covariance matrix representing relative position uncertainty, D 0 Representing the region of action of the probability line of equal collisionRadius.
In some optional embodiments, the terminal approaching region is a region satisfying the following formula 9, and when the tracking spacecraft is located in the terminal approaching region, an adaptive Gaussian mixture model method is utilized to generate an obstacle avoidance control force, and the obstacle avoidance control is performed on the tracking spacecraft according to the obstacle avoidance control force;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 0 Representing the radius of the region of action of the equiprobable collision probability line.
In some alternative embodiments, the obstacle avoidance control force is calculated using equations 11 and 12 below when the tracking spacecraft is located in the terminal proximity zone;
wherein F is repel Representing obstacle avoidance control force, V 2 (r 1-t ,C δX ,Θ k ) Representing a repulsive force function, r 1-t The relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft is represented, the v represents a gradient function,representing the relative position r of the repulsive force function pair 1-t Derivative gradient, C δX State vector uncertainty covariance matrix for tracking spacecraft k A set of parameter variables, D, contained by a kth Gaussian function component in a Gaussian mixture model representing the surface of the outer envelope of the target spacecraft 0 Representing the radius of the region of action of the equiprobable collision probability line.
The technical scheme of the invention has the main advantages that:
according to the spacecraft cluster flight control method based on the flight safety zone method, the flight zone on the periphery of the target spacecraft is divided, the tracking spacecraft is controlled based on the divided flight zone, and the safety flight control of the spacecraft cluster can be realized under the condition that the influence of the target spacecraft with any complex appearance and uncertainty factors is considered, so that the calculation work is less, and the control precision is high.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling the clustered flight of a spacecraft based on a safe area method in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system according to an embodiment of the present invention;
fig. 3 is a schematic view of a flight zone division according to an embodiment of the present invention.
Reference numerals illustrate:
1-earth, 2-target spacecraft, 3-tracking spacecraft, 4-absolute safe zone, 5-long-distance access zone, 6-phase adjustment zone, 7-safe maneuver zone, 8-terminal access zone.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes in detail the technical scheme provided by the embodiment of the invention with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling a spacecraft cluster flight based on a flight safety zone method, where the method is used for realizing safe flight control of a target spacecraft and a tracking spacecraft, and the method includes:
simplifying a target spacecraft into a minimum outer envelope ellipsoid, and calculating collision probability by using a collision probability density function;
based on collision probability, dividing an outer region of a target spacecraft into a non-avoidance region, a safe maneuvering region and a terminal approaching region from far to near in sequence;
when the tracking spacecraft is positioned in the non-avoidance area, the tracking spacecraft does not perform obstacle avoidance control; when the tracking spacecraft is positioned in a safe maneuvering region, generating obstacle avoidance control force by utilizing an improved equal collision probability line method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force; when the tracking spacecraft is positioned in the terminal approaching area, generating obstacle avoidance control force by using a self-adaptive Gaussian mixture model method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force.
Specifically, each step in the spacecraft cluster flight control method based on the flight safety zone method provided by the embodiment of the invention is specifically described below.
Firstly, in order to facilitate explanation of the principle of the spacecraft cluster flight control method based on the flight safety zone method provided by an embodiment of the invention, a coordinate system shown in fig. 2 is established;
in particular, O-X is used I Y I Z I Representing an epoch J2000 earth inertial coordinate system, with the earth's geocenter as the origin of coordinates, X I Axis points to epoch J2000 spring point, the equatorial plane of the earth is the basic plane, Z I The axis pointing to the north pole of the earth, Y I Axis and X I Axis, Z I The shaft forms a right-hand rectangular coordinate system; an o-xyz is adopted to represent an orbit coordinate system of the target spacecraft, the centroid of the target spacecraft is taken as a coordinate origin, the x-axis points to the centroid of the target spacecraft from the earth geocenter, and the z-axis points to the orbit surface method of the target spacecraftIn the line direction, the y axis, the x axis and the z axis form a right-hand rectangular coordinate system.
In order to facilitate the calculation of the collision probability of the target spacecraft and the tracking spacecraft, in an embodiment of the invention, only the coplanarity problem is considered, the target spacecraft is simplified into a minimum outer envelope ellipsoid, and at this time, the collision probability of the target spacecraft and the tracking spacecraft can be calculated by using the following collision probability density function;
wherein P is c (r 1-t ) Represents the collision probability, r 1-t ＝[x t ,y t ] T Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, and x t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system,indicating the relative position r 1-t Uncertainty covariance matrix,>andindicating the relative position r 1-t E represents a natural constant, +.>Representing the geometry of the target spacecraft, R 0 Representing the geometric radius of the target spacecraft, r 2-t Representing the relative position in the geometric region of the target spacecraft.
Further, by using the collision probability density function, collision probabilities corresponding to points at different relative positions around the target spacecraft at any time can be obtained, and the points with the same collision probability can form an equal collision probability line. Therefore, according to the difference of collision probabilities of the outer regions of the target spacecraft, the outer regions of the target spacecraft are divided into a non-avoidance region, a safe maneuvering region and a terminal approaching region from far to near in sequence.
Since the probability of collision P is now going to be for space shuttle and space station c ＝1×10 -5 Providing yellow lines for avoiding maneuver for tracking spacecraft, and enabling collision probability P c ＝1×10 -4 The method is used for tracking a spacecraft to avoid a motor red line. For this purpose, in an embodiment of the present invention, the non-avoidance region includes an absolute safety region, a remote approach region, and a phase adjustment region based on the difference in collision probability.
Specifically, the collision probability is set at 1×10 -5 The following area is divided into an absolute safety area, when the tracking spacecraft is positioned in the absolute safety area, the tracking spacecraft does not perform obstacle avoidance control, and when the tracking spacecraft operates in the absolute safety area, the collision probability corresponding to the current position of the tracking spacecraft is calculated at a first set time interval. According to the formula, the area size of the absolute safety area is determined by uncertainty, relative position and target spacecraft outer envelope of the tracking spacecraft.
Will have a collision probability of greater than 1 x 10 -5 And is less than 1 x 10 -4 The method comprises the steps of dividing the area into a long-distance approaching area, when the tracking spacecraft is located in the long-distance approaching area, not performing obstacle avoidance control on the tracking spacecraft, and when the tracking spacecraft operates in the long-distance approaching area, calculating collision probability corresponding to the current position of the tracking spacecraft at a second set time interval. From the above, it is known that the area size of the remote proximity zone is determined by the uncertainty of the tracking spacecraft, the relative position and the target spacecraft outer envelope.
The collision probability is 1×10 -4 The area which satisfies the following formula 2 is divided into the phase adjustment area, when the tracking spacecraft is positioned in the phase adjustment area, the tracking spacecraft does not perform obstacle avoidance control, and when the tracking spacecraft operates in the phase adjustment area, the collision probability corresponding to the current position of the tracking spacecraft is calculated at a third set time interval. According to the above formula, it can be known that the area size of the phase adjustment region is determined by tracking space flightUncertainty of the spacecraft, control capability and quality of the tracking spacecraft, relative position and outer envelope of the target spacecraft are determined together.
Wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Indicating the range of action of the safe maneuver region.
When the tracking spacecraft enters the phase adjustment region, the actual phase adjustment region does not overlap with the desired phase adjustment region, and is required to be adjusted to the region with the desired phase adjustment region along the region.
The first set time interval, the second set time interval and the third set time interval are determined according to the actual running condition of the tracking spacecraft, wherein the actual running condition comprises a running direction and a running speed, the third set time interval is smaller than the second set time interval, and the second set time interval is smaller than the first set time interval.
Further, in an embodiment of the present invention, an area satisfying the following formula 3 is divided into a safe maneuver area, and when the tracking spacecraft is located in the safe maneuver area, an obstacle avoidance control force is generated by using an improved equal collision probability line method, and the obstacle avoidance control is performed on the tracking spacecraft according to the obstacle avoidance control force, so as to realize safe flight control of the target spacecraft and the tracking spacecraft;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Indicating the range of action of the safety maneuver region D 0 Representing the radius of the region of action of the equiprobable collision probability line.
When the tracking spacecraft enters the safe maneuvering region, generating obstacle avoidance control force and applying the obstacle avoidance control force to the tracking spacecraft to ensure the safe flight of the tracking spacecraft. According to the formula, the area size of the safe maneuvering region is determined by uncertainty of the tracking spacecraft, control capability and quality of the tracking spacecraft, relative position and target spacecraft outer envelope.
How to generate obstacle avoidance control force by using an improved equal collision probability line method so as to carry out obstacle avoidance control on a tracking spacecraft is specifically described below;
specifically, when the tracking spacecraft operates in a safe maneuvering region, the target spacecraft can be still simplified into a minimum outer envelope ellipsoid, and at this time, based on an equal collision probability line method, an improved repulsive force function of the equal collision probability line method is established as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,representing an improved repulsive force function, r 1-t ＝[x t ,y t ] T Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft,/->Covariance matrix representing relative position uncertainty, < ->And->Covariance, lambda representing relative position 0 Represents a normal number for determining the magnitude of obstacle avoidance control force, D 0 The radius of the action region of the equal collision probability line is represented, e represents a natural constant, alpha represents a positive constant, and alpha is equal to or greater than 1.
Defining the area where the spacecraft collides as an influence area, and then setting the radius of the influence area around the target spacecraft as D 0 ，D 0 Can be obtained by calculation of the following equation 5;
D 0 ＝d 0 (R 0 +D s ) Equation 5
Wherein d 0 Is a positive constant, defines the distance from the action of the obstacle avoidance control force of the tracking spacecraft to the decrease of the relative speed to 0 as a braking distance, and has a radius D s Thena max Representing the maximum acceleration of the tracking spacecraft,representing the magnitude of the component of the relative velocity of the tracking spacecraft in the direction of the relative position, v 1-t ＝[v x ,v y ] T Representing the relative speed of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, v x And v y Respectively representing the velocity components of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft,/for the target spacecraft>Representing a unit vector of the tracking spacecraft directed to the target spacecraft.
The derivation of the covariance matrix of the relative position uncertainty can be found in the prior art literature: chinese patent document with publication number CN109765919a entitled "method for controlling short-range safety operation of spacecraft based on equal collision probability line method".
Further, define a repulsive force functionFor relative position r 1-t The negative gradient of the derivation is the obstacle avoidance control force of the tracking spacecraft in the safe maneuvering region, and the obstacle avoidance control force can be calculated by using the following formula 6 and formula 7;
wherein F is repel Indicating the obstacle avoidance control force.
Definition:a module representing a vertical velocity vector, the vertical velocity representing a velocity component of the relative velocity of the tracking spacecraft in a vertical direction of the relative position,/->The representation is perpendicular to +.>Unit vector of vector, then it can be:
obstacle avoidance control force F repel The rewriteable is:
F repel ＝K 1 x formula 8
Wherein, the liquid crystal display device comprises a liquid crystal display device, representing a state vector of the tracking spacecraft.
Further, in an embodiment of the present invention, an area satisfying the following formula 9 is divided into terminal approaching areas, and when a tracking spacecraft is located in a terminal approaching area, an adaptive mixed gaussian model method is used to generate an obstacle avoidance control force, and the obstacle avoidance control is performed on the tracking spacecraft according to the obstacle avoidance control force, so as to realize safe flight control of a target spacecraft and the tracking spacecraft;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 0 Representing the radius of the region of action of the equiprobable collision probability line.
When the tracking spacecraft enters the terminal approaching area, generating obstacle avoidance control force and applying the obstacle avoidance control force to the tracking spacecraft to ensure the safe flight of the tracking spacecraft. According to the formula, the area size of the terminal approaching area is determined by uncertainty of the tracking spacecraft, control capability and quality of the tracking spacecraft, relative position and target spacecraft outer envelope.
How to generate obstacle avoidance control force by using the adaptive Gaussian mixture model method so as to carry out obstacle avoidance control on the tracking spacecraft is specifically explained below;
specifically, when the tracking spacecraft operates in the terminal approaching region, the influence of the appearance of the target spacecraft needs to be considered at the moment because the relative distance between the tracking spacecraft and the target spacecraft is small, and the target spacecraft cannot be simplified into a minimum outer envelope ellipsoid. Therefore, under the condition of considering uncertainty and complex shape influence of the target spacecraft, the repulsive force function based on the adaptive Gaussian mixture model method is established as follows:
wherein V is 2 (r 1-t ,C δX ,Θ k ) Representing a repulsive force function, r 1-t ＝[x t ,y t ] T Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, C δX Representing heelState vector uncertainty covariance matrix of spacecraft tracking, Θ k A set of parameter variables, lambda, contained by a kth gaussian function component in a mixed gaussian model representing the surface of the outer envelope of the target spacecraft 2-1 Represent positive constant, K 2-1 Gaussian component numbers contained in Gaussian mixture model for representing outer envelope surface of target spacecraft, gk represents Gaussian function, and r k Representing the desired relative position of the tracking spacecraft in the orbital coordinate system of the target spacecraft.
Further, define the repulsive force function V 2 (r 1-t ,C δX ,Θ k ) For relative position r 1-t The negative gradient of the derivative is the obstacle avoidance control force of the tracking spacecraft in the terminal approaching area, and the obstacle avoidance control force can be calculated by using the following formula 11 and formula 12;
wherein F is repel Indicating the obstacle avoidance control force.
Therefore, the spacecraft cluster flight control method based on the flight safety zone method provided by the embodiment of the invention divides the flight zone on the periphery of the target spacecraft, controls the tracking spacecraft based on the divided flight zone, can realize the safety flight control of the spacecraft cluster under the condition of considering the influence of the target spacecraft with any complex appearance and uncertainty factors, and has the advantages of less calculation work and high control precision.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this context, "front", "rear", "left", "right", "upper" and "lower" are referred to with respect to the placement state shown in the drawings.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method for controlling the flight of a spacecraft cluster based on a flight safety zone method, wherein the method is used for realizing the safety flight control of a target spacecraft and a tracking spacecraft, and the method comprises the following steps:
simplifying a target spacecraft into a minimum outer envelope ellipsoid, and calculating collision probability by using a collision probability density function;
based on collision probability, dividing an outer region of a target spacecraft into a non-avoidance region, a safe maneuvering region and a terminal approaching region from far to near in sequence;
when the tracking spacecraft is positioned in the non-avoidance area, the tracking spacecraft does not perform obstacle avoidance control; when the tracking spacecraft is positioned in a safe maneuvering region, generating obstacle avoidance control force by utilizing an improved equal collision probability line method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force; when the tracking spacecraft is positioned in the terminal approaching area, generating obstacle avoidance control force by using a self-adaptive Gaussian mixture model method, and performing obstacle avoidance control on the tracking spacecraft according to the obstacle avoidance control force;
the non-avoidance region comprises an absolute safety region, a remote approach region and a phase adjustment region;
the absolute safety area is that the collision probability is 1 multiplied by 10 -5 When the tracking spacecraft is positioned in the absolute safety zone, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a first set time interval;
the collision probability of the long-distance approach area is larger than 1 multiplied by 10 -5 And is less than 1 x 10 -4 When the tracking spacecraft is positioned in the long-distance approaching area, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a second set time interval;
the phase adjustment area is that the collision probability is 1×10 -4 The area meeting the following formula 2 above, when the tracking spacecraft is located in the phase adjustment area, the tracking spacecraft does not perform obstacle avoidance control, and collision probability corresponding to the current position of the tracking spacecraft is calculated at a third set time interval;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Indicating the range of action of the safe maneuver region.
2. The spacecraft trunked flight control method based on the flight safety zone method of claim 1, wherein the collision probability density function is:
wherein P is c (r 1-t ) Represents the collision probability, r 1-t ＝[x t ,y t ] T Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft, and x t And y t Respectively representing the x direction and the y direction of the tracking spacecraft in the orbit coordinate system at the time tThe coordinates of the two points are set up in the same plane,indicating the relative position r 1-t Uncertainty covariance matrix,>and->Indicating the relative position r 1-t E represents a natural constant, +.>Representing the geometry of the target spacecraft, R 0 Representing the geometric radius of the target spacecraft, r 2-t Representing the relative position in the geometric region of the target spacecraft.
3. The method for controlling the flying of the spacecraft cluster based on the flying safety zone method according to claim 1, wherein the third set time interval is smaller than the second set time interval, and the second set time interval is smaller than the first set time interval.
4. The spacecraft trunking flight control method based on the flight safety zone method according to claim 1, wherein the safety maneuver zone is a zone satisfying the following formula 3, and when the tracked spacecraft is located in the safety maneuver zone, an obstacle avoidance control force is generated by using an improved equal collision probability line method, and the tracked spacecraft is subjected to obstacle avoidance control according to the obstacle avoidance control force;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 7 Safety indicating machineThe action range of the dynamic region, D 0 Representing the radius of the region of action of the equiprobable collision probability line.
5. The method for controlling the flying of the spacecraft cluster based on the flying safety zone method according to claim 4, wherein the obstacle avoidance control force is calculated by using the following formulas 6 and 7 when the tracking spacecraft is located in the safety maneuver;
wherein F is repel Represents the obstacle avoidance control force,representing an improved repulsive force function, r 1-t Representing the relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft,/->Representing a gradient function->Representing the relative position r of the improved repulsive force function pair 1-t Gradient of derivation,/->Covariance matrix representing relative position uncertainty, D 0 Representing the radius of the region of action of the equiprobable collision probability line.
6. The spacecraft trunking flight control method based on the flight safety zone method according to claim 4, wherein the terminal approach zone is a zone satisfying the following formula 9, and when the tracking spacecraft is located in the terminal approach zone, an adaptive Gaussian mixture model method is used for generating an obstacle avoidance control force, and the obstacle avoidance control is performed on the tracking spacecraft according to the obstacle avoidance control force;
wherein x is t And y t Respectively representing the coordinates of the tracking spacecraft at the moment t in the x direction and the y direction of the orbit coordinate system of the target spacecraft, D 0 Representing the radius of the region of action of the equiprobable collision probability line.
7. The method for controlling the flying of the spacecraft cluster based on the flying safety zone method according to claim 6, wherein the obstacle avoidance control force is calculated by using the following equations 11 and 12 when the tracking spacecraft is located in the terminal approach zone;
wherein F is repel Representing obstacle avoidance control force, V 2 (r 1-t ,C δX ,Θ k ) Representing a repulsive force function, r 1-t The relative position of the tracking spacecraft at the moment t under the orbit coordinate system of the target spacecraft is represented,representing a gradient function->Representing the relative position r of the repulsive force function pair 1-t Derivative gradient, C δX Representing state vector uncertainty for tracking spacecraftCovariance matrix Θ k A set of parameter variables, D, contained by a kth Gaussian function component in a Gaussian mixture model representing the surface of the outer envelope of the target spacecraft 0 Representing the radius of the region of action of the equiprobable collision probability line.
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