抵近中躲避非合作目标视场的航天器轨迹规划

doi:10.7527/S1000-6893.2025.31702

Abstract

Abstract:

This paper studies the trajectory planning problem of spacecraft approaching non-cooperative targets while avoiding their field of view in space attack and defense. For the trajectory optimization problem with multiple constraints and strong nonlinearity， an efficient convexification and parameterization reconstruction method is proposed. First， the spacecraft approach trajectory planning is transformed into an optimal control problem containing non-convex constraints. A new convexification technology for field of view avoidance constraints is innovatively proposed. By introducing slack variables， a class of non-convex constraints are dimensionally expanded and softened， thereby realizing the overall transformation to a convex problem. In addition， the dynamic system is efficiently reconstructed based on differential flatness theory， and non-uniform rational b-spline curves are used to parameterize the state variables， control variables and the introduced slack variables， which greatly reduces the computational complexity. By designing multiple types of simulation scenarios for simulation analysis， it is verified that the algorithm can successfully plan an effective trajectory under strict compliance with various motion constraints， which can ensure that the spacecraft can safely avoid obstacles and avoid the detection field of view of non-cooperative targets. Through comparative simulation analysis， the proposed algorithm has comparable trajectory optimization quality and has advantages in solution speed compared with model predictive control and pseudo-spectral method.

Key words: non-cooperative target, trajectory optimization, keep out zone, differential flatness, non-uniform rational b-spline, convex optimization

CLC Number:

V448.234

Yiyu WANG, Zexu ZHANG, Weimin BAO, Shuai YUAN, Hutao CUI. Approaching trajectory planning with field-of-view constraints for non-cooperative spacecraft rendezvous[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(16): 331702.

Figures/Tables 19

Fig.1

Fig.2

Table 1

System dynamics parameters

参数	数值
起始点相对位置 $ρ 0$ /m	［-500，1 000，500］
起始点相对速度 $ρ ˙ 0$ /（m·s^-1）	［0，0，0］
目标点相对位置 $ρ f$ /m	［0，0，0］
目标点相对速度 $ρ ˙ f$ /（m·s^-1）	［0，0，0］
目标航天器轨道高度/km	500
追逐航天器质量/kg	100

Table 1

Table 2

Table 3

Constraints and metric parameters

参数	数值
视场角 $ϑ$ /（°）	60
权重矩阵 $Q$	$E 6 × 6$
推力上限 $f m a x$ /N	3
速度上限 $v m a x$ /（m·s^-1）	3

Table 3

Table 4

Obstacle ellipsoid parameters

参数	场景1：单障碍	场景2：多障碍
椭球中心坐标/m	$- 350,750,300$	$- 150,250,220 - 350,750,300$
椭球半轴长度/m	$100,100,60$	$120,120,80 100,100,60$

Table 4

Fig.3

Fig.4

Fig.5

Fig.6

Table 5

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

References 25

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参数	数值
b样条阶数	7
b样条次数	3
控制点节点向量	［0，0，0，0，0.2，0.4，0.6，0.8，1，1，1，1］

参数	数值
仿真步长/s	1
预测步长/s	50
指标权重	（1，1，1）

Approaching trajectory planning with field-of-view constraints for non-cooperative spacecraft rendezvous

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