CN119129297B

CN119129297B - A method, device, equipment, medium and product for determining the deployment position of a space survey ship based on particle swarm

Info

Publication number: CN119129297B
Application number: CN202411621390.4A
Authority: CN
Inventors: 高朝阳; 裴照宇; 葛平; 陈琦; 王琼; 康焱; 郭强; 刘双良; 陆丹丹; 战鹏
Original assignee: Lunar Exploration And Space Program Center
Current assignee: Lunar Exploration And Space Program Center
Priority date: 2024-11-14
Filing date: 2024-11-14
Publication date: 2025-02-28
Anticipated expiration: 2044-11-14
Also published as: CN119129297A

Abstract

The present invention discloses a method, device, equipment, medium and product for determining the layout position of a space measurement ship based on a particle swarm. The method includes: determining the entry time of each space measurement ship layout position in the target space measurement ship layout position set corresponding to the trajectory according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set; determining the exit time of each space measurement ship layout position in the target space measurement ship layout position set corresponding to the orbit according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set; based on the satellite-rocket separation time, the entry time of each space measurement ship layout position in the target space measurement ship layout position set corresponding to the trajectory, the exit time of each space measurement ship layout position corresponding to the orbit and the fitness value determination formula, the particle swarm algorithm is used to iteratively optimize the target space measurement ship layout position set to obtain the target layout position of the space measurement ship.

Description

Particle swarm-based space survey ship layout position determining method, device, equipment, medium and product

Technical Field

The embodiment of the invention relates to the technical field of aerospace, in particular to a method, a device, equipment, a medium and a product for determining the layout position of an aerospace survey ship based on particle swarms.

Background

Various launching preparations of large-scale carrier rockets in deep space exploration tasks are complex, a launching window with a certain width is usually needed for improving the probability of successful launching, and a plurality of tracks are designed in the window range. For a plurality of orbits in the launching window, proper layout positions of the spaceflight survey ship are required to be selected, and measurement and control coverage of the bullet orbits before and after separation of the satellites and the arrows is realized.

The traditional method for determining the layout position of the spaceflight survey ship comprises the following steps:

firstly, fixing the layout position of a first day spaceflight survey ship, and then sequentially carrying out trial calculation and readjustment according to the day;

Secondly, calculating the layout position of the measuring ship by adopting a grid method.

The first mode often cannot obtain the globally optimal survey ship position layout point, and has a further optimized space. The second mode has larger calculation amount, the calculation accuracy is limited by the grid density, and the calculation efficiency is lower.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment, a medium and a product for determining the layout position of a spaceflight survey ship based on particle swarms, so as to improve the calculation efficiency and the accuracy of the layout position of the spaceflight survey ship.

According to an aspect of the present invention, there is provided a method for determining a deployment position of a particle swarm-based spaceship, including:

Reading a bullet track file, wherein the bullet track file comprises trajectory data, track data and satellite and rocket separation point information, and the satellite and rocket separation point information comprises position coordinates of a satellite and rocket separation point and satellite and rocket separation time;

generating a target spaceship survey vessel layout position set according to the position coordinates of the undersea points of the satellite-rocket separation points and daily ship position maneuvering constraints of the spaceship survey vessel;

Determining the arrival time of the corresponding trajectory of each space measurement ship layout position in the target space measurement ship layout position set according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set;

Determining the outbound time of the corresponding orbit of each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set according to the orbit data and each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set;

And carrying out iterative optimization on the set of the target space survey vessel layout positions by adopting a particle swarm algorithm based on a satellite-rocket separation time, the arrival time of the trajectory corresponding to each space survey vessel layout position in the set of the target space survey vessel layout positions, the departure time of the orbit corresponding to each space survey vessel layout position and a fitness value determination formula to obtain the target layout position of the space survey vessel.

According to another aspect of the present invention, there is provided a layout position determining apparatus of a particle swarm-based spaceship, the layout position determining apparatus of a particle swarm-based spaceship comprising:

The bullet track file reading module is used for reading bullet track files, wherein the bullet track files comprise trajectory data, track data and satellite and rocket separation point information, and the satellite and rocket separation point information comprises position coordinates of a satellite and rocket separation point and satellite and rocket separation time;

The target space survey vessel layout position set generation module is used for generating a target space survey vessel layout position set according to the position coordinates of the satellite-rocket separation points and daily ship position maneuvering constraints of the space survey vessel;

the inbound time determining module is used for determining inbound time of corresponding trajectory of each space measurement ship layout position in the target space measurement ship layout position set according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set;

the outbound time determining module is used for determining the outbound time of the corresponding orbit of each space measurement ship layout position in the target space measurement ship layout position set according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set;

The target layout position determining module of the spaceflight survey vessel is used for carrying out iterative optimization on the target spaceflight survey vessel layout position set by adopting a particle swarm algorithm based on a satellite-rocket separation time, the arrival time of the trajectory corresponding to each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set, the departure time of the orbit corresponding to each spaceflight survey vessel layout position and the fitness value determining formula to obtain the target layout position of the spaceflight survey vessel.

According to another aspect of the present invention, there is provided an electronic apparatus including:

At least one processor, and

A memory communicatively coupled to the at least one processor, wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for determining the deployment position of a particle swarm-based space survey vessel according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the method for determining a deployment position of a particle swarm-based space survey vessel according to any of the embodiments of the present invention when executed.

According to another aspect of the invention, a computer program product is provided, which, when being executed by a processor, implements a method for determining the deployment position of a particle swarm-based space survey ship according to any of the embodiments of the invention.

The method comprises the steps of reading a bullet orbit file, wherein the bullet orbit file comprises trajectory data, orbit data and space arrow separation point information, the space arrow separation point information comprises position coordinates of a position under a space of a space arrow separation point and space arrow separation time, generating a target space measurement ship layout position set according to the position coordinates of the position under the space of the space arrow separation point and daily ship position maneuvering constraints of a space measurement ship, determining arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set, determining arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set, determining arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set, and an adaptive value, and carrying out iterative calculation on the target space ship layout position by adopting a particle swarm algorithm, so that the target space measurement ship layout position can be optimized.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related 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 determining deployment location of a particle swarm-based space survey vessel in an embodiment of the invention;

FIG. 2 is a schematic diagram of measurement and control of the trajectory of a ship to a carrier rocket and the orbit of a satellite in an embodiment of the invention;

FIG. 3 is a flow chart of another method for determining deployment location of a particle swarm-based space survey vessel in an embodiment of the invention;

FIG. 4 is a schematic structural view of a layout position determining device of an aerospace survey vessel based on particle swarms in an embodiment of the invention;

fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, usage range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.

Example 1

Fig. 1 is a flowchart of a method for determining a layout position of a particle swarm-based space measurement ship according to an embodiment of the present invention, where the method may be performed by a device for determining a layout position of a particle swarm-based space measurement ship according to an embodiment of the present invention, and the device may be implemented in software and/or hardware, as shown in fig. 1, and the method specifically includes the following steps:

S110, reading the bullet track file.

In this embodiment, the bullet track file includes trajectory data, track data, and satellite-rocket separation point information, where the satellite-rocket separation point information includes position coordinates of a point under a satellite of the satellite-rocket separation point and a satellite-rocket separation time. The trajectory data in the bullet trajectory file may be trajectory data in a launching coordinate system, and the trajectory data may be trajectory data in a J2000 coordinate system. If the trajectory data in the bullet track file is the trajectory data under the emission coordinate system and the trajectory data is the trajectory data under the J2000 coordinate system, the trajectory data and the trajectory data in the bullet track file are subjected to coordinate system conversion in advance, so that the trajectory data and the trajectory data under the ground fixation system are obtained.

In this embodiment, the ballistic data and the trajectory data in the bullet track file are subjected to coordinate system conversion, and the ballistic data and the trajectory data in the ground-based system can be obtained by converting the ballistic data from the emission coordinate system to the ground-based system and converting the trajectory data from the J2000 coordinate system to the ground-based system. Rocket position vector under the emission coordinate system is recorded asIt is converted to a ground system by:

;

In the formula, For the launch azimuth of the launch vehicle,Is the geodetic longitude of the launch point of the launch vehicle,As the geodetic latitude of the launch point of the launch vehicle,Is the geocentric latitude of the launch point of the carrier rocket,Is the geocenter distance of the launch point of the carrier rocket.

The satellite position vector under the geocentric J2000 coordinate system is recorded asIt is converted to a ground system by:

;

Wherein, In the form of a polar-shift matrix,Is an earth rotation matrix, and the method comprises the following steps of,In the form of a nutating matrix,Is a time matrix. The polar motion matrix, the earth rotation matrix, the nutation matrix and the time difference matrix are all preset matrices, which is not limited in the embodiment of the present invention.

In this embodiment, the trajectory file includes the rocket positions at each time on m trajectories each day on D days, and the satellite positions at each time on m orbits each day. It should be noted that, each point on the trajectory corresponds to a rocket position at one time, and each point on the orbit corresponds to a satellite position at one time.

S120, generating a target space survey vessel layout position set according to the position coordinates of the undersea points of the satellite and arrow separation points and the daily ship position maneuvering constraint of the space survey vessel.

In the embodiment of the invention, the satellite-rocket separation point is a specific position of the satellite and the carrier rocket in space, and the position marks the successful separation of the satellite and the carrier rocket, and the satellite enters a preset orbit. Determination of the separation point is critical to ensure that the satellite is able to accurately enter the predetermined orbit. As shown in fig. 2, the satellite-rocket separation point is the location where the satellite was successfully separated from the launch vehicle.

In this embodiment, the position coordinates of the undersea points of the satellite-rocket separation points are used to generate an initial set of space survey vessel layout positions. The daily ship position maneuver constraint of the spaceflight survey ship is used for screening the initial spaceflight survey ship layout position set to obtain the target spaceflight survey ship layout position set.

In this embodiment, the daily berth maneuver constraint of the spaceship may be that the distance between the survey vessel layout positions on two adjacent days is less than or equal to the furthest distance of the daily maneuver of the spaceship. The space measurement ship layout positions in the target space measurement ship layout position set all meet daily ship position maneuver constraint of the space measurement ship.

In this embodiment, the method for generating the target space survey vessel layout position set according to the position coordinates of the satellite-rocket separation points and the daily maneuver constraint of the space survey vessel may be that the longitude and latitude of the satellite-rocket separation points are determined according to the position coordinates of the satellite-rocket separation points, and the initial space survey vessel layout position set is generated according to the longitude and latitude of the satellite-rocket separation points and the preset set generation rule, and the initial space survey vessel layout position set is screened based on the daily maneuver constraint of the space survey vessel, so as to obtain the target space survey vessel layout position set. The preset set generation rule is that the space survey ship layout positions obey the normal distribution taking the satellite positions of the satellite-rocket separation points as the center. Generating an initial spaceship layout position set according to the position coordinates of the satellite-rocket separation points and the daily space maneuver constraints of the spaceship, determining the farthest distance of the daily maneuver of the spaceship based on the daily space maneuver constraints of the spaceship, and screening the initial spaceship layout position set based on the farthest distance of the daily maneuver of the spaceship to obtain the target spaceship layout position set. The method for generating the target spaceship arrangement position set according to the position coordinates of the satellite-rocket separation points and the daily berth maneuver constraint of the spaceship can be that the longitude and latitude of the satellite-rocket separation points are determined according to the position coordinates of the satellite-rocket separation points, the initial spaceship arrangement position set is generated according to the longitude and latitude of the satellite-rocket separation points and the preset set generation rule, the maximum distance of the daily maneuver of the spaceship is determined based on the daily berth maneuver constraint of the spaceship, and the initial spaceship arrangement position set is screened based on the maximum distance of the daily maneuver of the spaceship, so that the target spaceship arrangement position set is obtained.

In this embodiment, the number N of particles is set, the particle swarm is initialized, an initial value of the daily position of the space measurement ship layout is set, particles which do not satisfy the daily ship maneuvering constraint of the space measurement ship are removed, and the screened particles form a target space measurement ship layout position set.

In a specific example, the position of the satellite-rocket separation point is taken as the position of the central point, and the position of the central point under the ground is taken asLongitude of the center pointAnd earth latitudeThe method comprises the following steps:

;

Wherein, Is the oblate of the earth reference ellipsoid.

The initial value of the layout position of the spaceflight survey ship isObeying the satellite-rocket separation pointsThe positive-ethernet distribution for the center:

;

Wherein N is the total number of particles. To the extent of the offset from the longitude of the center point,Is the degree of offset from the latitude of the center point.Obeying parameters ofAndIs used for the normal distribution of the (c),Obeying parameters ofAndIs a normal distribution of (c).

If the position coordinates of the under-satellite points of the plurality of satellite-rocket separation points and the satellite-rocket separation time exist in the bullet orbit file every day, a central point position coordinate can be determined every day based on the position coordinates of the under-satellite points of the plurality of satellite-rocket separation points and the daily ship position maneuver constraint of the space measurement ship, and a target space measurement ship layout position set is generated based on the daily central point position coordinates.

In the present embodiment, each particle is constituted by daily survey vessel layout position coordinates, whereinThe daily survey vessel layout position is expressed asThe total dimension of the positions of the particles is 2D (D is the total number of days corresponding to the elastic track file), and the position of the ith particleExpressed as:

;

Wherein, For the first dimension x-coordinate of the ith particle (corresponding to the x-coordinate of the survey vessel layout position on the first day),For the first dimension y-coordinate of the ith particle (corresponding to the y-coordinate of the survey vessel layout position on the first day),The D-th dimension x-coordinate of the i-th particle (corresponding to the x-coordinate of the survey vessel layout position on day D),The D-th y-coordinate of the i-th particle (the y-coordinate corresponding to the ship layout position of the measurement on the D-th day).

And the coordinates of each particle meet the daily ship position maneuver constraint of the spaceflight survey ship:

;

Wherein, For the most distant of the daily maneuvers of the spaceship,Is the firstThe daily survey vessel layout position,Is the firstSurvey ship layout position for +1 day.

That is, the distance between survey vessel deployment locations on adjacent days is less than or equal to the furthest distance a spacecraft is maneuvered daily. The aim of setting daily ship maneuvering constraint of the spaceflight survey ship is to prevent overlarge distance between the layout positions of the survey ship in two adjacent days, thereby leading to the spaceflight survey ship on the first dayFailure to reach day +1The situation of the survey ship layout position on day +1.

The total dimension of the velocity of each particle is 2D, wherein the position of the ith particleExpressed as:

;

Wherein, Is the x-axis component of the first dimension velocity of the ith particle,Is the y-axis component of the first dimension velocity of the ith particle,The x-axis component of the D-th dimensional velocity for the i-th particle,Is the y-axis component of the D-th dimensional velocity of the i-th particle.

S130, determining the arrival time of the corresponding trajectory of each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set according to the trajectory data and each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set.

In this embodiment, the trajectory data may be trajectory data in a launching coordinate system or trajectory data in a ground-fixed system. If the ballistic data is ballistic data in a launching coordinate system, coordinate system conversion is required to convert the ballistic data into ballistic data in a ground-to-solid system.

In this embodiment, the method for determining the inbound time of the trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set may be to determine a measurement and control elevation angle of each space measurement ship layout position to a rocket position at each moment on the trajectory according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set, and determine the inbound time of the trajectory corresponding to each space measurement ship layout position according to the measurement and control elevation angle of each space measurement ship layout position to a rocket position at each moment on the trajectory. The method for determining the arrival time of the corresponding trajectory of each space measurement ship layout position in the target space measurement ship layout position set according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set can also be that the relative position vector between the rocket position at each moment on the trajectory and each space measurement ship layout position is determined according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set, the measurement elevation angle of each space measurement ship layout position on the trajectory for the rocket position at each moment is determined according to the relative position vector between the rocket position at each moment on the trajectory and each space measurement ship layout position, and the arrival time of the corresponding trajectory of each space measurement ship layout position is determined according to the measurement elevation angle of each space measurement ship layout position for the rocket position at each moment on the trajectory.

Optionally, determining, according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set, an inbound time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set includes:

Determining relative position vectors between rocket positions at all moments on a trajectory and all space measurement ship layout positions according to the trajectory data and all space measurement ship layout positions in a target space measurement ship layout position set;

Determining measurement and control elevation angles of the rocket positions at all times on the trajectory by all the space survey ship layout positions according to relative position vectors between the rocket positions at all times on the trajectory and the space survey ship layout positions;

and determining the arrival time of the corresponding trajectory of each spaceflight survey vessel layout position according to the measurement and control elevation angle of each spaceflight survey vessel layout position to the rocket position at each moment on the trajectory.

In this embodiment, according to the ballistic data and each space measurement ship layout position in the target space measurement ship layout position set, the relative position vector between the rocket position at each moment on the trajectory and each space measurement ship layout position may be determined by determining the relative position vector between the rocket position at each moment on the trajectory under the ground system and each space measurement ship layout position in the target space measurement ship layout position set, and performing coordinate system conversion to obtain the relative position vector between the rocket position at each moment on the trajectory under the station level coordinate system and each space measurement ship layout position.

In a specific example, the relative position vector between the rocket position at each moment and the deployment position of each spaceship on the trajectory in the station-centric horizon coordinate system is determined based on the following formula:

;

Wherein, Is a rocket position vector on a trajectory under a ground-fixed system,The position vector is laid for the space survey ship under the ground fixed system,For the relative position vector between the rocket position on the ground-anchored trajectory and the space survey vessel deployment position,For the relative position vector between the rocket position on the trajectory under the station core horizon coordinate system and the space survey ship layout position,In order to measure the longitude of the ship,In order to measure the latitude of the ship,For a rotation matrix about the z-axis,To rotate the matrix around the y-axis, theRotated about the z-axisAfter a degree, rotate around the y-axisDegree of freedom, get。

In the embodiment, the measurement and control elevation angle of each space measurement ship layout position to each rocket position on the trajectory can be determined according to the relative position vector between each rocket position on the trajectory and each space measurement ship layout position by decomposing the relative position vector between each rocket position on the trajectory and each space measurement ship layout position to obtain the Z-axis component of the relative position vector between each rocket position on the trajectory and each space measurement ship layout position, and determining the measurement and control elevation angle of each space measurement ship layout position to each rocket position on the trajectory according to the relative position vector between each rocket position on the trajectory and each space measurement ship layout position and the Z-axis component of the relative position vector between each rocket position on the trajectory and each space measurement ship layout position.

In this embodiment, the method for determining the inbound time of the trajectory corresponding to each space measurement ship layout position according to the measurement and control elevation angle of each space measurement ship layout position to each rocket position on the trajectory may be that the visible state of the measurement and control link is determined according to the measurement and control elevation angle of each space measurement ship layout position to each rocket position on the trajectory and the preset elevation angle range, and the acquisition time of the rocket position in which the visible state of the measurement and control link is switched from invisible to visible on the trajectory is determined as the inbound time of the trajectory corresponding to each space measurement ship layout position.

Optionally, determining the arrival time of the trajectory corresponding to each space survey vessel layout position according to the measurement and control elevation angle of each space survey vessel layout position to the rocket position at each moment on the trajectory, including:

Determining the visible state of a measurement and control link according to measurement and control elevation angles of the space survey ship layout positions on the rocket positions at all moments on the trajectory and a preset elevation angle range, wherein the visible state comprises visible or invisible;

And determining the acquisition time of the rocket position for switching the visible state of the measurement and control link on the trajectory as the arrival time of the trajectory corresponding to the layout position of each spaceflight measurement ship.

In this embodiment, the preset elevation angle range may be a preset elevation angle range. The preset elevation range includes a minimum elevation and a maximum elevation.

In this embodiment, the visible states of the measurement and control links corresponding to the rocket positions at all times on the trajectory are sequentially calculated, and when the visible state of the measurement and control link corresponding to the rocket position j is invisible and the visible state of the measurement and control link corresponding to the rocket position j+1 is visible, a method of halving the step length is adopted until the precision requirement is met, so that the arrival time is obtained.

In this embodiment, the method of determining the acquisition time of the rocket position for switching the visible state of the measurement and control link on the trajectory as the arrival time of the trajectory corresponding to the arrangement position of each spaceflight measurement ship may be that the acquisition time of the rocket position for changing the visible state of the measurement and control link from invisible to visible on the trajectory is determined as the arrival time of the trajectory corresponding to the arrangement position of each spaceflight measurement ship.

Optionally, determining the visible state of the measurement and control link according to the measurement and control elevation angle of the space survey ship layout position to the rocket position at each moment on the trajectory and the preset elevation angle range includes:

If the measurement and control elevation angle of the rocket position at each moment on the trajectory by the space survey ship layout position is in the preset elevation angle range, determining the visible state of the measurement and control link corresponding to the rocket position to be visible;

if the measurement and control elevation angle of the layout position of the spaceflight survey ship to the rocket position at each moment on the trajectory is out of the preset elevation angle range, and determining that the visible state of the measurement and control link corresponding to the rocket position is invisible.

In this embodiment, the visible state of the measurement and control link is determined based on the following formula:

When (when) And if so, judging that the measurement and control link is visible, otherwise, invisible, wherein,To measure the elevation angle of the ship for measurement and control of rocket position on trajectory,At the minimum elevation angle of the beam,Is the maximum elevation angle.

In this embodiment, if the measurement and control elevation angle of the rocket position at each moment on the trajectory by the space survey ship layout position is greater than or equal to the minimum elevation angle and less than or equal to the maximum elevation angle, the visible state of the measurement and control link corresponding to the rocket position is determined to be visible. If the measurement and control elevation angle of the rocket position at each moment on the trajectory by the space survey ship layout position is smaller than the minimum elevation angle or larger than the maximum elevation angle, the visible state of the measurement and control link corresponding to the rocket position is determined to be invisible.

Optionally, determining a measurement and control elevation angle of each space survey ship layout position to the rocket position at each moment on the trajectory according to a relative position vector between the rocket position at each moment on the trajectory and each space survey ship layout position, including:

Determining measurement and control elevation angles of each space measurement ship layout position on the trajectory according to a Z-axis component of a relative position vector between each moment rocket position on the trajectory and each space measurement ship layout position, a relative position vector between each moment rocket position on the trajectory and each space measurement ship layout position and a first formula, wherein the first formula is as follows:

Wherein, The measurement and control elevation angle of the rocket position m on the trajectory is measured for the space survey ship layout position n,For the relative position vector between the rocket position m on the trajectory and the space survey vessel layout position n,The Z-axis component of a relative position vector between a rocket position m on a trajectory and a space measurement ship layout position n, wherein the space measurement ship layout position n is any space measurement ship layout position in a target space measurement ship layout position set, and the rocket position m is any rocket position on the trajectory.

S140, determining the outbound time of the corresponding orbit of each spaceship laying position in the target spaceship laying position set according to the orbit data and each spaceship laying position in the target spaceship laying position set.

In this embodiment, the track data may be track data in the J2000 coordinate system or track data in the ground-fixed system. If the orbit data is orbit data in the J2000 coordinate system, it is necessary to convert the orbit data into orbit data in the earth-fixed system.

In this embodiment, the method for determining the outbound time of the orbit corresponding to each space measurement ship layout position in the target space measurement ship layout position set according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set may be to determine a measurement and control elevation angle of each space measurement ship layout position to a satellite position at each moment on the orbit according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set, and determine the outbound time of the orbit corresponding to each space measurement ship layout position according to the measurement and control elevation angle of each space measurement ship layout position to a satellite position at each moment on the orbit. The method for determining the outbound time of the orbit corresponding to each space measurement ship layout position in the target space measurement ship layout position set according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set can also be that the relative position vector between each time satellite position and each space measurement ship layout position on the orbit is determined according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set, the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit is determined according to the relative position vector between each time satellite position and each space measurement ship layout position on the orbit, and the outbound time of the orbit corresponding to each space measurement ship layout position is determined according to the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit.

Optionally, determining, according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set, an outbound time of the orbit corresponding to each space measurement ship layout position in the target space measurement ship layout position set includes:

Determining a relative position vector between the satellite position at each moment on the orbit and each space measurement ship layout position according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set;

determining measurement and control elevation angles of each space measurement ship layout position to each time satellite position on the orbit according to relative position vectors between each time satellite position on the orbit and each space measurement ship layout position;

and determining the outbound time of the orbit corresponding to each space survey vessel layout position according to the measurement and control elevation angle of each space survey vessel layout position to the satellite position at each moment on the orbit.

In this embodiment, the method for determining the relative position vector between the satellite position at each time on the orbit and the deployment position of each space measurement ship according to the orbit data and the deployment position of each space measurement ship in the target space measurement ship deployment position set may be that the relative position vector between the satellite position at each time on the orbit under the ground system and the deployment position of each space measurement ship is determined according to the orbit data and the deployment position of each space measurement ship in the target space measurement ship deployment position set, and coordinate system conversion is performed to obtain the relative position vector between the satellite position at each time on the orbit under the station level coordinate system and the deployment position of each space measurement ship.

In a specific example, the relative position vector between the satellite position at each moment in orbit and each spaceship deployment position in the station's center horizon coordinate system is determined based on the following formula:

;

In the present embodiment of the present invention, in the present embodiment, Is a satellite position vector on an orbit under the earth-fixed system,The position vector is laid for the space survey ship under the ground fixed system,For the relative position vector between the satellite position on the earth's subsurface orbit and the deployment position of the space survey vessel,For the relative position vector between the satellite position on orbit under the station center horizon coordinate system and the space survey vessel deployment position,In order to measure the longitude of the ship,In order to measure the latitude of the ship,For a rotation matrix about the z-axis,To rotate the matrix around the y-axis, theRotated about the z-axisAfter a degree, rotate around the y-axisDegree of freedom, get。

In the embodiment, the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit can be determined according to the relative position vector between each time satellite position on the orbit and each space measurement ship layout position by decomposing the relative position vector between each time satellite position on the orbit and each space measurement ship layout position to obtain the Z-axis component of the relative position vector between each time satellite position on the orbit and each space measurement ship layout position, and determining the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit according to the relative position vector between each time satellite position on the orbit and each space measurement ship layout position and the Z-axis component of the relative position vector between each time satellite position on the orbit and each space measurement ship layout position.

In this embodiment, the method for determining the outbound time of the orbit corresponding to each space measurement ship layout position according to the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit may be that the visible state of the measurement and control link is determined according to the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit and the preset elevation angle range, and the acquisition time of the satellite position with the visible state of the measurement and control link switched on the orbit is determined as the outbound time of the orbit corresponding to each space measurement ship layout position.

Optionally, determining the outbound time of the orbit corresponding to each space survey vessel layout position according to the measurement and control elevation angle of each space survey vessel layout position to each time satellite position on the orbit, including:

determining the visible state of a measurement and control link according to the measurement and control elevation angle of the space survey ship layout position to the satellite position at each moment on the orbit and the preset elevation angle range, wherein the visible state comprises visible or invisible;

And determining the acquisition time of the satellite position for switching the visible state of the measurement and control link on the orbit as the outbound time of the orbit corresponding to the layout position of each spaceflight measurement ship.

In this embodiment, the visible states of the measurement and control links corresponding to the satellite positions at all times on the orbit are sequentially calculated, and when the visible state of the measurement and control link corresponding to the satellite position g is invisible and the visible state of the measurement and control link corresponding to the satellite position g+1 is visible, a method of halving the step length is adopted until the precision requirement is met, so that the outbound time is obtained.

In this embodiment, the method for determining the acquisition time of the satellite position with the visible state of the measurement and control link switched on the orbit as the outbound time of the orbit corresponding to the arrangement position of each spaceflight measurement ship may be that the acquisition time of the satellite position with the visible state of the measurement and control link changed from visible to invisible on the orbit is determined as the outbound time of the orbit corresponding to the arrangement position of each spaceflight measurement ship.

Optionally, determining the visible state of the measurement and control link according to the measurement and control elevation angle of the space survey ship layout position to the satellite position at each moment on the orbit and the preset elevation angle range includes:

If the measurement and control elevation angle of the space survey ship layout position to the satellite position at each moment on the orbit is in the preset elevation angle range, determining the visible state of the measurement and control link corresponding to the satellite position to be visible;

If the measurement and control elevation angle of the space survey ship layout position to the satellite position at each moment on the orbit is out of the preset elevation angle range, the visible state of the measurement and control link corresponding to the satellite position is determined to be invisible.

When (when) And if so, judging that the measurement and control link is visible, otherwise, invisible, wherein,To measure the elevation angle of the ship to measure and control the satellite position in orbit,At the minimum elevation angle of the beam,Is the maximum elevation angle.

In this embodiment, if the measurement and control elevation angle of the space measurement ship layout position to the satellite position at each moment on the orbit is greater than or equal to the minimum elevation angle and less than or equal to the maximum elevation angle, the visible state of the measurement and control link corresponding to the satellite position is determined to be visible. And if the measurement and control elevation angle of the space survey ship layout position to the satellite position at each moment on the orbit is smaller than the minimum elevation angle or larger than the maximum elevation angle, determining that the visible state of the measurement and control link corresponding to the satellite position is invisible.

Optionally, determining the measurement and control elevation angle of each space measurement ship layout position to each time satellite position on the orbit according to the relative position vector between each time satellite position on the orbit and each space measurement ship layout position, including:

Determining measurement and control elevation angles of each space measurement ship layout position to each time satellite position on the orbit according to a Z-axis component of a relative position vector between each time satellite position on the orbit and each space measurement ship layout position, a relative position vector between each time satellite position on the orbit and each space measurement ship layout position and a second formula, wherein the second formula is as follows:

In the case of an embodiment of the present invention, The measurement and control elevation angle of the space survey ship layout position n to the satellite position r on the orbit,For a relative position vector between the in-orbit satellite position r and the space survey vessel deployment position n,The Z-axis component of a relative position vector between a satellite position r and a space measurement ship layout position n on an orbit, wherein the space measurement ship layout position n is any space measurement ship layout position in a target space measurement ship layout position set, and the satellite position r is any satellite position on the orbit.

S150, performing iterative optimization on the set of the target space survey vessel layout positions by adopting a particle swarm algorithm based on a satellite-rocket separation time, the arrival time of the trajectory corresponding to each space survey vessel layout position in the set of the target space survey vessel layout positions, the departure time of the orbit corresponding to each space survey vessel layout position and an fitness value determination formula to obtain the target layout position of the space survey vessel.

In the embodiment, iterative optimization is carried out on the set of the target space survey vessel layout positions by adopting a particle swarm algorithm based on a satellite-rocket separation time, a time of arrival of a trajectory corresponding to each space survey vessel layout position in the set of the target space survey vessel layout positions, a time of departure of a trajectory corresponding to each space survey vessel layout position and a fitness value determining formula, so that the target layout positions of the space survey vessels can be obtained; determining the coverage time after the particle separation points corresponding to the space measurement ship layout positions in the target space measurement ship layout position set according to the difference value of the outbound time and the satellite separation time of the orbit corresponding to the space measurement ship layout positions in the target space measurement ship layout position set, and performing iterative optimization on the target space measurement ship layout position set by adopting a particle swarm algorithm according to the coverage time before the particle separation points corresponding to the space measurement ship layout positions in the target space measurement ship layout position set, the coverage time after the particle separation points corresponding to the space measurement ship layout positions in the target space measurement ship layout position set and the fitness value determining formula. Wherein, fitness value determines the formula as:

;

Wherein, For the duration of the coverage before the particle separation point,Is the length of coverage after the particle separation point.

In the embodiment, based on a satellite-rocket separation time, an inbound time of a trajectory corresponding to each space measurement ship layout position in a target space measurement ship layout position set, an outbound time of an orbit corresponding to each space measurement ship layout position, and an fitness value determining formula, a particle swarm algorithm is adopted to iteratively optimize the target space measurement ship layout position set, and the manner of obtaining the target layout position of the space measurement ship may be that the satellite-rocket separation time, the inbound time of the trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set, and the outbound time of the orbit corresponding to each space measurement ship layout position are substituted into the fitness value determining formula, so as to obtain the fitness value corresponding to each space measurement ship layout position in the target space measurement ship layout position set. The fitness value determination formula is:

;

In the case of an embodiment of the present invention, For the duration of the coverage before the particle separation point,For the length of the coverage after the particle separation point,The separation time of the satellite and the arrow is taken as the separation time,Laying positions of spaceflight survey vessels in a set of laying positions of target spaceflight survey vesselsCorresponding toThe time of arrival of the trajectory,Laying positions of spaceflight survey vessels in a set of laying positions of target spaceflight survey vesselsCorresponding toThe outbound time of the track.

Optionally, based on a star arrow separation time, an arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set, an arrival time of an orbit corresponding to each space measurement ship layout position, and an fitness value determining formula, performing iterative optimization on the target space measurement ship layout position set by adopting a particle swarm algorithm to obtain a target layout position of the space measurement ship, including:

Taking each space measurement ship layout position in the target space measurement ship layout position set as a particle, and initializing the position and the speed of each particle in a solution space;

Determining a visibility fitness value of each particle according to a satellite-rocket separation time, an arrival time of a trajectory corresponding to each particle and a fitness value determining formula, and determining a global optimal fitness value according to the visibility fitness values of a plurality of particles;

updating the speed and the position of each particle to obtain updated particles;

Checking whether iteration accords with an ending condition, if not, continuing to execute the steps of calculating the visibility adaptability value of each updated particle according to the satellite-rocket separation time, the arrival time of the trajectory corresponding to each updated particle and the arrival time of the orbit corresponding to each updated particle, and determining the global optimal adaptability value according to the visibility adaptability values of a plurality of updated particles, and if so, determining the target particle corresponding to the global optimal adaptability value as the target layout position of the spaceflight measurement ship.

In this embodiment, the speed and position of each particle are updated to obtain updated particles by updating the speed and position of each particle based on the following formula:

;

In the present embodiment of the present invention, in the present embodiment, For the d-th component of the particle i k +1 iteration position vector,The d-th component of the velocity vector for the k +1 iteration of particle i,As a result of the inertia factor,Are learning factors.

In a specific example, as shown in fig. 2 and 3, the method for determining the layout position of the spaceship based on the particle swarm includes the following steps:

1. setting initial constraint including elevation angle range and daily ship position maneuvering constraint of spaceflight survey ship The preset elevation range comprises a minimum elevationAnd maximum elevation angle。

2. The bullet trajectory data is read, including trajectory data in a launch coordinate system and trajectory data in a J2000 coordinate system.

3. And converting the coordinate system, namely converting the trajectory data under the emission coordinate system into trajectory data under the ground fixed system, and converting the orbit data under the J2000 coordinate system into orbit data under the ground fixed system.

4. And initializing a particle swarm, namely generating an initial spaceflight survey vessel layout position set according to position coordinates of points under the satellites of the satellite-rocket separation points. And screening the initial spaceship layout position set based on daily ship position maneuver constraint of the spaceship to obtain a target spaceship layout position set.

5. Calculating the adaptability of the measurement and control visibility of each particle according to the adaptability function of the measurement and control visibilityCalculating each particle according to the preset elevation angle rangeVisibility adaptation of (c):

;

Calculating the length of time of coverage before the point of particle separationThe formula of (2) is as follows:

;

Calculating the length of coverage after a particle separation point The formula of (2) is as follows:

;

Wherein, The separation time of the satellite and the arrow is taken as the separation time,Is thatParticle correspondenceThe time of arrival of the trajectory,Is thatParticle correspondenceThe outbound time of the track.

In an embodiment, the inbound timeAnd outbound timeThe calculation method of (2) is as follows:

Each point on the trajectory is subjected to visibility judgment, when the visibility of a measurement and control link is changed from invisible to visible in the process of stepping from j points to j+1th points, the j points are returned, and the method of halving the step length is adopted again until the calculation error meets the precision requirement, so that the arrival time is obtained 。

Each point on the track is subjected to visibility judgment, when the visibility of a measurement and control link is changed from visible to invisible in the process of stepping from g points to g+1th points, the g points are returned, the method of halving the step length is adopted again until the calculation error meets the precision requirement, and the outbound time is obtained。

The calculation method for the visibility of the rocket position on the trajectory is as follows:

;

Measurement and control elevation angle for measuring rocket position at each moment on trajectory of shipWhen (when)And when the measurement and control link is visible, judging that the measurement and control link is not visible.

The calculation method for the visibility of the satellite position on the orbit is as follows:

;

Wherein, Is a satellite position vector on an orbit under the earth-fixed system,The position vector is laid for the space survey ship under the ground fixed system,For the relative position vector between the satellite position on the earth's subsurface orbit and the deployment position of the space survey vessel,For the relative position vector between the rocket position on the orbit under the station center horizon coordinate system and the space survey vessel layout position,In order to measure the longitude of the ship,In order to measure the latitude of the ship,For a rotation matrix about the z-axis,To rotate the matrix around the y-axis, theRotated about the z-axisAfter a degree, rotate around the y-axisDegree of freedom, get。

Measuring elevation angle of ship for measuring and controlling satellite position at each moment on orbitWhen (when)And when the measurement and control link is visible, judging that the measurement and control link is not visible.

6. Updating the position and speed of each particle by adopting the following formula:

;

Wherein, For the d-th component of the particle i k +1 iteration position vector,The d-th component of the velocity vector for the k +1 iteration of particle i,As a result of the inertia factor,Are learning factors.

7. Updating the local optimal solution and the global optimal solution by calculating the updated particle swarm measurement and control visibility adaptability function and comparing the updated particle swarm measurement and control visibility adaptability function with the current local optimal solutionAnd a globally optimal solutionAnd updating the local optimal solution and the global optimal solution according to the comparison result.

8. And (3) judging whether the maximum iteration times are reached or not, or if the global optimal position meets the convergence condition, returning to the step (5) for iteration until the maximum iteration times are reached or the global optimal position meets the convergence condition, and outputting an optimal solution of the daily ship distribution position.

According to the technical scheme, a bullet orbit file is read, the bullet orbit file comprises trajectory data, orbit data and satellite and arrow separation point information, the satellite and arrow separation point information comprises position coordinates of a satellite and arrow separation points, a target space measurement ship layout position set is generated according to the position coordinates of the satellite and arrow separation points and daily ship position maneuvering constraints of a space measurement ship, arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set is determined according to the trajectory data and each space measurement ship layout position in the target space measurement ship layout position set, arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set is determined according to the orbit data and each space measurement ship layout position in the target space measurement ship layout position set, arrival time of a trajectory corresponding to each space measurement ship layout position in the target space measurement ship layout position set, arrival time of a space measurement ship position corresponding to each space measurement ship layout position and fitness value are determined, and a particle swarm algorithm is adopted to calculate target space measurement ship layout position iterative measurement ship layout position calculation formula, and space measurement precision can be obtained.

Example two

Fig. 4 is a schematic structural diagram of a layout position determining device of an aerospace survey vessel based on particle swarms according to an embodiment of the present invention. The embodiment may be applied to the situation of determining the layout position of the particle swarm-based spaceship, and the device may be implemented in a software and/or hardware manner, and may be integrated in any device that provides the layout position determining function of the particle swarm-based spaceship, as shown in fig. 4, where the layout position determining device of the particle swarm-based spaceship specifically includes a bullet track file reading module 410, a target spaceship layout position set generating module 420, an inbound time determining module 430, an outbound time determining module 440, and a target layout position determining module 450 of the spaceship.

The bullet track file reading module is used for reading bullet track files, wherein the bullet track files comprise trajectory data, track data and satellite and arrow separation point information, and the satellite and arrow separation point information comprises position coordinates of a satellite and arrow separation point and satellite and arrow separation time;

The product can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example III

Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a particle swarm-based method of determining the deployment position of a spacecraft.

In some embodiments, the method of determining deployment locations of particle swarm-based space survey vessels may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the particle swarm based space survey ship layout position determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the particle swarm based method of layout position determination of the space survey vessel by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The embodiment of the invention also provides a computer program product, which comprises a computer program, wherein the computer program is used for realizing the method for determining the layout position of the spaceflight survey ship based on particle swarm according to any embodiment of the invention when being executed by a processor.

Computer program product in the implementation, the computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. The method for determining the layout position of the spaceflight survey ship based on the particle swarm is characterized by comprising the following steps:

Generating a target space survey vessel layout position set according to the position coordinates of the satellite-rocket separation points and the daily berth maneuver constraint of the space survey vessel, wherein the daily berth maneuver constraint of the space survey vessel is:

;

Wherein, For the most distant of the daily maneuvers of the spaceship,Is the firstThe daily survey vessel layout position,Is the firstSurvey ship layout position for +1 day;

Based on a satellite-rocket separation time, an arrival time of a trajectory corresponding to each space measurement ship layout position in a target space measurement ship layout position set, an arrival time of an orbit corresponding to each space measurement ship layout position and an fitness value determining formula, performing iterative optimization on the target space measurement ship layout position set by adopting a particle swarm algorithm to obtain a target layout position of a space measurement ship, wherein the fitness value determining formula is as follows:

;

In the case of an embodiment of the present invention, For the duration of the coverage before the particle separation point,For the length of the coverage after the particle separation point,The separation time of the satellite and the arrow is taken as the separation time,Laying positions of spaceflight survey vessels in a set of laying positions of target spaceflight survey vesselsCorresponding toThe time of arrival of the trajectory,Laying positions of spaceflight survey vessels in a set of laying positions of target spaceflight survey vesselsCorresponding toThe time of the outbound of the track,,The x-coordinate of the ship layout position for the measurement of day D of the ith particle,The y-coordinate of the ship layout position is measured for the D-th day of the i-th particle.

2. The method of claim 1, wherein iteratively optimizing the set of target space survey vessel layout positions to obtain the target layout position of the space survey vessel using a particle swarm algorithm based on a satellite-rocket separation time, an arrival time of a trajectory corresponding to each space survey vessel layout position in the set of target space survey vessel layout positions, an arrival time of an orbit corresponding to each space survey vessel layout position, and a fitness value determination formula, comprises:

3. The method of claim 1, wherein determining an inbound time for a corresponding trajectory for each space survey vessel layout position in the set of target space survey vessel layout positions based on the trajectory data and each space survey vessel layout position in the set of target space survey vessel layout positions comprises:

4. A method according to claim 3, wherein determining the arrival time of the corresponding trajectory for each spacecraft deployment location based on the elevation angle of measurement and control of the rocket position at each moment on the trajectory for each spacecraft deployment location comprises:

5. The method of claim 4, wherein determining the visible state of the measurement and control link from the measurement and control elevation angle and the preset elevation angle range of the rocket position at each moment on the trajectory from the space survey vessel layout position comprises:

6. The method of claim 1, wherein determining an outbound time for an orbit corresponding to each of the set of target space survey vessel layout positions based on the orbit data and each of the set of target space survey vessel layout positions comprises:

7. An arrangement position determining device of an aerospace survey vessel based on particle swarms is characterized by comprising:

the target space measurement ship layout position set generation module is used for generating a target space measurement ship layout position set according to the position coordinates of the satellite points of the satellite and rocket separation points and daily ship position maneuver constraints of the space measurement ship, and daily ship position maneuver constraints of the space measurement ship:

;

The target layout position determining module of the spaceflight survey vessel is used for determining a formula based on the satellite-rocket separation time, the arrival time of the trajectory corresponding to each spaceflight survey vessel layout position in the target spaceflight survey vessel layout position set, the departure time of the orbit corresponding to each spaceflight survey vessel layout position, carrying out iterative optimization on a set of layout positions of the target spaceship by adopting a particle swarm algorithm to obtain the target layout positions of the spaceship, wherein the fitness value determining formula is as follows:

;

8. An electronic device, the electronic device comprising:

At least one processor, and

A memory communicatively coupled to the at least one processor, wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the particle swarm-based space survey vessel layout position determination method of any of claims 1-6.

9. A computer-readable storage medium, characterized in that it stores computer instructions for causing a processor to implement the method for determining the deployment position of a particle swarm-based space survey vessel according to any of claims 1-6 when executed.

10. Computer program product, characterized in that it comprises a computer program which, when being executed by a processor, implements a method for determining the deployment position of a particle swarm-based space survey vessel according to any of claims 1-6.