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Geometry-based distributed arc-consistency method formultiagent planning and scheduling

Science China(Technological Sciences) 2019年第1期62卷 133-143页

作者： XU Rui LI ZhaoYu CUI PingYuan Institute of Deep Space Exploration Technology School of Aerospace Engineering Beijing Institute of Technology Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology

This research focuses on building a distributed algorithm for planning and scheduling multiple agents to help people deal with events beyond their cognitive capacity, such as car assembly, factory management, spacecraft constellation, etc. We address not only the efficiency of the algorithm but also communication and the individual privacy. As to reason over the problems with multiple agents which are distributed but interconnected, a formal account of the Action-centric Multiagent Simple Temporal Problem(AMSTP) is put forward using the representation of geometries. The key technique we build on is a novel distributed arc-consistency algorithm centered by the geometric method called GDAC, which pays attention to how an agent's local subproblem affects other agents' subproblems. The GDAC is based on geometries taking the action rather than the timepoint as a variable, which can deal with continuous intervals and decrease the number of variables. Comprehensive experiments are run and the proposed technique outperforms the competitor and shows considerable merit compared to the centralized algorithm.

关键词： arc consistency multiple agents planning and scheduling

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Efficient optimization method for variable-specific-impulse low-thrust trajectories with shutdown constraint

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Science China(Technological Sciences) 2022年第3期65卷 581-594页

作者： JIA FeiDa QIAO Dong HAN HongWei LI XiangYu School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China

This paper develops a sequential convex programming(SCP)-based method to solve the minimum-fuel variable-specific-impulse low-thrust transfer problem considering shutdown constraint,with emphasize on improving the computational *** variable parameter engine is more applicable for many low-thrust scenarios,therefore,both a continuously variable model and a ladder variable model are ***,the original problem is convexified by processing the constraint feasible domain,which is composed of the nonlinear dynamic equations and second-order equality constraint,into convex ***,the approximation is generated to close the optimal solution of the low-thrust problem by iteratively solving the convexified ***,the switching self-detection and adaptive node refinement methods are presented,which can improve the accuracy of the solution and accelerate the convergence during the approximation process and is especially necessary and effective in the scenarios with shutdown *** numerical simulations,the comparison with the homotopic approach shows that the proposed method only needs 4%computational time as that of the homotopic approach,and two variable-specificimpulse examples further demonstrate the effectiveness and efficiency of the proposed method.

关键词： low-thrust trajectory variable-specific-impulse shutdown constraint sequential convex programming switching self-detection and adaptive node refinement

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A Review of Orbital Mechanics for space-Based Gravitational Wave Observatories

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space(Science & Technology) 2023年第1期3卷 112-132页

作者： Dong Qiao Feida Jia Xiangyu Li Xingyu Zhou School of Aerospace Engineering Beijing Institute of TechnologyBeijingChina Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Beijing Institute of TechnologyBeijingChina

The confirmation of gravitational waves in recent years has set off a new upsurge of exploring the extreme interactions critical to the origin and evolution of stars,galaxies,and the *** detection of gravitational waves in space is expected to cover the largest number and the greatest variety of gravitational wave sources,which is more compelling and valuable than the initial detection on the *** dynamics and control are the keys to realizing the detection of gravitational waves in *** paper reviews the orbital mechanics for space-based gravitational wave *** principle and typical gravitational wave observation mission concepts are first introduced and classified ***,the orbital mechanics of the space-based gravitational wave observatories in different spatial locations are *** the basis of the characteristics of different observatories,2 groups of methods related to the observatory configuration design and optimization are summarized:the constellation configuration design and optimization method similar to the geocentric configuration and libration point configuration,the formation design and optimization method similar to heliocentric *** prospects of space-based gravitational wave observatories are finally put forward,which shall provide a reference for future research on space-based gravitational wave observatories.

关键词： gravitational galaxies stars

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Fault diagnosis method of link control system for gravitational wave detection

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Journal of Systems Engineering and Electronics 2024年第4期35卷 922-931页

作者： GAO Ai XU Shengnan ZHAO Zichen SHANG Haibin XU Rui School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China

To maintain the stability of the inter-satellite link for gravitational wave detection,an intelligent learning monitoring and fast warning method of the inter-satellite link control system failure is *** from the traditional fault diagnosis optimization algorithms,the fault intelligent learning method pro-posed in this paper is able to quickly identify the faults of inter-satellite link control system despite the existence of strong cou-pling *** constructing a two-layer learning network,the method enables efficient joint diagnosis of fault areas and fault *** simulation results show that the average identification time of the system fault area and fault parameters is 0.27 s,and the fault diagnosis efficiency is improved by 99.8%compared with the traditional algorithm.

关键词： large scale multi-satellite formation gravitational wave detection laser link monitoring fault diagnosis deep learning

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Optimal crater landmark selection based on optical navigation performance factors for planetary landing

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Chinese Journal of Aeronautics 2023年第3期36卷 254-270页

作者： Yi XIU Shengying ZHU Rui XU Maodeng LI School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China

Planetary craters are natural navigation landmarks that widely exist and are easily *** navigation based on crater landmarks has become an important autonomous navigation method for planetary *** to the increase in observed crater landmarks and the limitation of onboard computation,the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical *** paper designs a fast crater landmark selection method,which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters,which is different from other landmark selection *** factor of measurement uncertainty,which is anisotropic,correlated and nonidentically distributed,is quantified and integrated into selection based on crater pairing detection and localization error *** addition,the concept of the crater matching confidence factor is introduced,which reflects the possibility of 2D projection measurements corresponding to 3D *** with the configuration observability factor,the crater landmark selection indicator is ***,the effectiveness of the proposed method is verified by Monte Carlo simulations.

关键词： Crater-based optical navigation Crater landmark selection Crater matching Measurement uncertainty Planetary landing

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Mission Design of an Aperture-Synthetic Interferometer System for space-Based Exoplanet exploration

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space(Science & Technology) 2022年第1期2022卷 297-306页

作者： Feida Jia Xiangyu Li Zhuoxi Huo Dong Qiao School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Qian Xuesen Laboratory of Space Technology Beijing 100094China

In recent years,exoplanet detection has become the technological frontier in the field of astronomy,because it provides evidence of the origin of life and the future human habitable *** several satellites to form an aperture-synthetic interferometer system in space may help discover“another Earth”via interferometry and midinfrared broadband *** paper analyzes a space-based exoplanet exploration mission in terms of the scientific background,mission profile,trajectory design,and orbital ***,the system architecture and working principle of the interferometer system are briefly ***,the mission orbit and corresponding transfer trajectories are *** halo orbit near the Sun-Earth L2(SEL2)orbit is chosen as the candidate mission *** low-energy transfer via stable invariant manifold with multiple perigees is designed,and the proper launch windows are presented.A speed increment less than 10 m/s is imposed for each transfer to achieve the insertion of the halo ***,the tangent targeting method(TTM)is applied for high-precision formation maintenance with the whole velocity increments of less than 5×10^(−4)m/s for each spacecraft when the error bound is 0.1 *** overall fuel budget during the mission period is evaluated and *** design in this paper will provide technical support and reliable reference for future exoplanet exploration missions.

关键词： planet Earth interferometer

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deep Reinforcement Learning Based Trajectory Planning for Hopping on Low-Gravity Asteroid Surface

Deep Reinforcement Learning Based Trajectory Planning for Ho...

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2021 China Automation Congress, CAC 2021

作者： Lv, Chang Liang, Zixuan Zhu, Shengying School of Aerospace Engineering Beijing Institute of Technology Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9781665426473

In a small-body exploration mission, the rover may deviate from the expected target point due to the dispersion of delivery. This paper proposes a hopping trajectory planning method based on deep reinforcement learning to achieve a precision landing on a low-gravity surface. First, the dynamic model of the hopping rover is established. Then, the hopping scheme is proposed with the attitude angle and angular velocity as control variables. In order to rapidly solve the control variables, the deep reinforcement learning algorithm is utilized for the autonomous hopping trajectory planning. The landing process is divided into an approach and a deceleration stage, and two agents are trained according to the reward functions of the two stages. To achieve the expected attitude angle and angular velocity given by the agents' outputs, the control torque is solved using sliding mode control method. Finally, the hopping trajectory planning method are verified in a landing mission on low-gravity surface. The results show that the rover can reach and stop at the target by intelligent hopping under various initial conditions. © 2021 IEEE

关键词： deep learning

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Time-optimal spacecraft reorientation under multiple constraints via an efficient hybrid optimizer 69

Time-optimal spacecraft reorientation under multiple constra...

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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Wang, Hui Xu, Rui Cui, Pingyuan Zhu, Shengying Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

The fast spacecraft reorientation is required in many space missions. However, the spacecraft attitude maneuver will be limited by various constraints. The presence of multiple complex constraints will largely reduce the feasible attitude space and will greatly degrade the solving efficiency of the optimization algorithm. Hence, it is difficult to solve the time-optimal spacecraft reorientation under bounded and pointing constraints. It is also a great challenge to achieve rapid optimization for the problem. For the potential of onboard application, the computational cost should be specially addressed besides the satisfaction of multiple complex constraints. This paper is devoted to developing an efficient optimization method for the time-optimal, constrained spacecraft reorientation. In order to obtain the globally optimal solution rapidly, a hybrid optimization method is designed in the paper. First, a locally optimal trajectory is quickly generated by the goal-oriented path planning and time-optimal path parameterization algorithms. In the goal-oriented path planning approach, the rotation towards the final target will be solved at the start of the planning procedure and after each random collision avoidance. To avoid reduplicative consideration about the bounds on control torques and angular velocities, the goal-oriented path planning approach only obtains a feasible attitude maneuver path satisfying both keep-out and keep-in constrains. Along the path, the time-optimal path parameterization algorithm is applied to obtain a fast maneuver trajectory satisfying bounded constraints. Subsequently, the locally optimal trajectory is provided as the initial guess in a pseudospectral optimizer, which can generate the final time-optimal solution. Simulation results demonstrate that the hybrid optimization method can achieve efficient optimization for the time-optimal, constrained spacecraft reorientation. The hybrid method is much faster than the pseudospectral method al

关键词： spacecraft

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Laser-Link Acquisition Maneuver Planning for Gravitational Wave Detection under Coupled Multi-Axis Constraints

Laser-Link Acquisition Maneuver Planning for Gravitational W...

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2024 IAF Symposium on Ongoing and Near Future space Astronomy and Solar-System Science Missions at the 75th International Astronautical Congress, IAC 2024

作者： Zhu, Zhe Xu, Rui Li, Zhaoyu Liang, Zixuan Long, Jiateng Zhu, Lei Institute of Deep Space Exploration Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China Shanghai Institute of Spaceflight Control Technology Shanghai201109 China

ISBN: (纸本)9798331312121

In space mission of gravitational wave detection carried out by formation flying satellites, the movable payloads of laser emitters and telescopes are built on each satellite to accomplish laser acquisition and accurate pointing. For three satellites that form an equilateral triangle configuration, for instance, each one requires scan and pointing of two laser beams emitted by two payloads respectively for intersatellite acquisition. Although movable payloads can provide additional degrees of freedom for attitude maneuver, the satellite maneuver paths are under restrictions of payload installation structure and slewing angle limit. With presence of sun-avoidance and other pointing constraints, the acquisition procedure involves the problem of attitude maneuver planning for satellite with movable payloads under pointing constraints applied to multiple body-fixed axes, i.e., coupled multi-axis constraints. On account of the problem that the feasible region of attitude maneuver under multi-axis constraints is limited, considering the slewing angle and configuration limit of payloads, the geometric projection diagram of payload pointing in two-dimensional state parameter space of azimuth and elevation is designed and forms a variable polygon. As each node of the polygon corresponds to a payload pointing, the polygon's deformation extent is confined by the coupled relationship of payloads and slewing range of them each. On the basis of the diagram, a dynamic constraint model is constructed. Furtherly, a path planning algorithm is raised by adopting synchronous transfer strategy to payload state nodes based on heuristic information. Considering the limitation of the payload polygon, deformation to extreme extent means using up the maneuverability of payloads, causing the attitude unwinding of satellite base. It's hoped that slewing angles of payloads are kept at an intermediate value. Based on this thought, in the process of path expansion of all polygon nodes, a heuristi

关键词： Motion planning

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Planet centroid extraction algorithm for approach phase with sub-pixel accuracy based on DSP 71

Planet centroid extraction algorithm for approach phase with...

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71st International Astronautical Congress, IAC 2020

作者： Jia, He Zhu, Shengying Cui, Pingyuan Institute of Deep Space Exploration Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education 5 South Zhongguancun Street Beijing100081 China

In this paper, a high-precision centroid extraction algorithm based on DSP for the planet approach phase is proposed. For the long-distance approach, the target is a light spot, and a sub-pixel centroid extraction method is proposed. The region centroid extraction method is used to achieve preliminary centroid extraction, and a sub-pixel correction method is performed based on gray value and image gradient to obtain a more accurate centroid position. For short-distance approach, the target is a two-dimensional projection graphic. An ellipse fitting method based on pseudo-edge removal is proposed to realize centroid extraction. To verify the feasibility and effectiveness of the proposed algorithm, this paper takes Mars as an example to perform a semi-physical simulation. The results illustrate that the preliminary extraction accuracy of the light spot is improved by about 40%, proving the effectiveness of the proposed sub-pixel correction algorithm. The Mars centroid extraction accuracy for proximity is better than 0.7 pixels, meeting the accuracy requirements for autonomous navigation information extraction for the approach phase of deep space exploration. Copyright © 2020 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Pixels

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