CN-118642521-B - Space-time flight pipeline planning method for avoiding carrier rocket fragments

CN118642521BCN 118642521 BCN118642521 BCN 118642521BCN-118642521-B

Abstract

The invention discloses a space-time flight pipeline planning method for avoiding carrier rocket fragments, which relates to the technical field of space-time flight pipeline avoidance of carrier rockets, and comprises the steps of establishing a flight pipeline directed graph model according to flight windows of each height layer; determining constraint conditions based on the directed graph model of the flight pipeline, wherein the constraint conditions comprise graph search constraint and flight pipeline constraint, combining the constraint conditions with a fragment avoidance trajectory planning problem model to establish a flight pipeline planning model, wherein the fragment avoidance trajectory planning problem model is a model related to rocket dynamics constraint, orbit entering constraint and fragment avoidance constraint, and solving the flight pipeline planning model to obtain an optimal flight trajectory. The method greatly reduces the fuel consumption of the carrier rocket by global optimization of the flight pipeline, can solve the problem in real time, improves the timeliness and reliability of carrier rocket launching, and has certain engineering application potential.

Inventors

LI HUIFENG
GUO KANG
ZHANG RAN
ZHANG YUAN

Assignees

北京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20240524

Claims (4)

1. A method for space-time flight pipeline planning for debris avoidance of a carrier rocket, the method comprising: Establishing a directional diagram model of a flight pipeline according to a flight window of each height layer, wherein the flight window is a public edge of Voronoi areas of two adjacent generating elements of each height layer, and the directional diagram model of the flight pipeline comprises a plurality of flight pipelines, wherein the heights and the time of the flight windows in the flight pipelines are monotonically increased; Determining constraint conditions based on the directed graph model of the flight pipeline, wherein the constraint conditions comprise graph search constraint and flight pipeline constraint; Combining the constraint conditions with a fragment avoidance trajectory planning problem model to establish a flight pipeline planning model, wherein the fragment avoidance trajectory planning problem model is a model related to rocket dynamics constraint, orbit constraint and fragment avoidance constraint; solving the flight pipeline planning model to obtain an optimal flight track; solving the flight pipeline planning model to obtain an optimal flight track, wherein the method specifically comprises the following steps of: Carrying out graph search on the directed graph model of the flight pipeline to obtain a plurality of available flight pipelines, wherein the number of flight windows of each available flight pipeline is the same; establishing a track planning model under the flight pipeline according to all available flight pipelines; solving a trajectory planning model under the flight pipeline to obtain an optimal flight trajectory; The expression of the trajectory planning model under the flight pipeline is as follows: ; Wherein J is a performance index, t f is free terminal time, As a vector of the position of the launch vehicle, As a velocity vector for the launch vehicle, The force of gravity is applied to the acceleration vector, In order to achieve the desired thrust level of the engine, Is the thrust direction of the engine and is used for controlling the engine, For the mass of the carrier rocket, For engine exhaust speed, r (t 0 ) is the position vector of the carrier rocket corresponding to the initial time, r 0 is the initial position vector of the carrier rocket, t 0 is the initial time, v (t 0 ) is the velocity vector of the carrier rocket corresponding to the initial time, v 0 is the initial velocity vector of the carrier rocket, m L (t 0 ) is the mass of the carrier rocket corresponding to the initial time, m L0 is the initial mass of the carrier rocket, For terminal in-orbit constraints including semi-major axis a f , eccentricity e f , orbit inclination i f , intersection point ascent and descent angle omega f and near-spot argument omega f , r (t f ) is the position vector of the launch vehicle corresponding to the free terminal time, V (t f ) is the velocity vector of the launch vehicle corresponding to the free terminal time, t pi is the time when the launch vehicle passes through flight window V pi , r (t pi ) is the position vector of the launch vehicle passing through flight window V pi , R w is the radius of the flight tube, which is the position vector of the flight window V pi .
2. A method of space-time flight tube planning for debris avoidance of a launch vehicle according to claim 1, wherein the determination of the flight window for each level of altitude comprises: determining a Voronoi region of each generator of each height layer; Taking the common edges of the Voronoi areas of a plurality of generating elements of the same height layer as Voronoi edges; and determining a flight window of each height layer according to the Voronoi edges, wherein the flight window is the intersection point of two adjacent Voronoi edges.
3. A method of space-time flight pipeline planning for debris avoidance of a launch vehicle according to claim 1 wherein the expression of the graph search constraint is: ; Where x ij is a binary integer variable, j=1, 2,..m, m is the number of nodes in the node set of the directed graph.
4. A method of space-time flight tube planning for debris avoidance of a launch vehicle according to claim 1 wherein the expression of the flight tube constraint is: ; ; Where x ij is a binary integer variable, i=1, 2,..m, j=1, 2,..m, m, m are the number of nodes in the node set of the directed graph, t i is the time the launch vehicle passes through node V i , r (t i ) is the position vector of the launch vehicle passing through node V i , For the position vector of node V i , R w is the radius of the flight path and M is a constant.

Description

Space-time flight pipeline planning method for avoiding carrier rocket fragments Technical Field The invention relates to the technical field of space debris avoidance of carrier rockets, in particular to a space-time flight pipeline planning method for avoiding carrier rockets. Background With frequent launching activities of various countries, the space utilization rate is improved, the number of space fragments continuously rises, the available flight envelope of the carrier rocket is limited, and the flight safety is threatened. The existing space debris avoidance method is a passive strategy, collision probability between the carrier rocket and the debris is required to be evaluated before shooting, and a proper flight window is selected for shooting, so that timeliness of shooting is obviously reduced, even the shooting is delayed or cancelled, and research on the space debris active avoidance method of the carrier rocket is required. The existing space debris active avoidance method mainly adopts a track planning method to search a fuel optimal track near a given reference track, but when the space debris quantity is large, the problems of local optimization, difficult convergence and the like exist, and global planning in densely distributed space cannot be realized. Disclosure of Invention The invention aims to provide a space-time flight pipeline planning method for avoiding carrier rocket fragments, which greatly reduces the fuel consumption of a carrier rocket by global optimization of the flight pipeline, and simultaneously, the method can solve the problem in real time, improves the timeliness and reliability of carrier rocket launching, and has a certain engineering application potential. In order to achieve the above object, the present invention provides the following solutions: The invention provides a space-time flight pipeline planning method for avoiding carrier rocket fragments, which comprises the following steps: The method comprises the steps of building a directional diagram model of a flight pipeline according to a flight window of each height layer, wherein the flight window is a public edge of a Voronoi area of two adjacent generating elements of each height layer, the directional diagram model of the flight pipeline comprises a plurality of flight pipelines, and the height and time of the flight window in the flight pipeline are monotonically increased. And determining constraint conditions based on the directed graph model of the flight pipeline, wherein the constraint conditions comprise graph search constraint and flight pipeline constraint. And combining the constraint conditions with a fragment avoidance trajectory planning problem model to establish a flight pipeline planning model, wherein the fragment avoidance trajectory planning problem model is a model related to rocket dynamics constraint, orbit entering constraint and fragment avoidance constraint. And solving the flight pipeline planning model to obtain an optimal flight track. Optionally, solving the flight pipeline planning model to obtain an optimal flight track, which specifically includes: And carrying out graph search on the directed graph model of the flight pipeline to obtain a plurality of available flight pipelines, wherein the number of flight windows of each available flight pipeline is the same. And establishing a track planning model under the flight pipeline according to all the available flight pipelines. And solving the trajectory planning model under the flight pipeline to obtain the optimal flight trajectory. Optionally, the determining of the flight window of each height layer specifically includes: a Voronoi region of each generator for each height layer is determined. The common edge of the Voronoi areas of a plurality of generating elements of the same height layer is taken as the Voronoi edge. And determining a flight window of each height layer according to the Voronoi edges, wherein the flight window is the intersection point of two adjacent Voronoi edges. Optionally, the expression of the graph search constraint is: ∑jx1j-∑jxj1=1 ∑jxij-∑jxji=0,2≤i≤m-1; ∑jxmj-∑jxjm=-1 Where x ij is a binary integer variable, j=1, 2,..m, m is the number of nodes in the node set of the directed graph. Optionally, the expression of the flight duct constraint is: ∑jxij=1; Where x ij is a binary integer variable, i=1, 2,..m, j=1, 2,..m, m, m are the number of nodes in the node set of the directed graph, t i is the time the launch vehicle passes through node V i, r (t i) is the position vector of the launch vehicle passing through node V i, For the position vector of node V i, R w is the radius of the flight path and M is a constant. Optionally, the expression of the trajectory planning model under the flight pipeline is: Wherein J is a performance index, t f is free terminal time, As a vector of the position of the launch vehicle,As a velocity vector for the launch vehicle,The force of gravity is applied to th