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zhouyr9
2026-01-13 14:11:08 +08:00
parent 49afe60631
commit d795da3add
2 changed files with 289 additions and 340 deletions
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src/KSP_tools/KSP_wiki/vessel_log/Stellaria_history.py
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operating_history_raw = """
2050-09-15 First module delivered to LEO via Vulture Shuttle
2053-02-02 Assembly Halted
2053-05-11 Reconfiguring to ST-01 Stellaria
Only fitted with the Light Speed Engine. Other systems are still Xihe standard. Awaiting further upgrades.
2054-4-28 Reconfiguration Complete
2054-05-12 Begin Trial Run in Earth Orbit, testing all systems
2054-08-22 Trial Run complete, all systems perform as expected. Including multiple run to GEO and Lunar Orbit before returning to LEO.
2054-09-07 Begin Deep Space Test Mission
Uncrewed mission to Earth-Sun Lagrange Point 2 to test long-duration operations
2054-11-28 Test Mission Complete, all systems nominal. Returning to LEO.
2054-12-01 Start maintenance
2055-02-28 Maintenance complete, all systems operational, ready for commissioning.
2055-03-20 Picking up crew for Inner Solar System Exploration Mission 1
2055-03-22 Earth Departure for Mecury
Use standard trajectory with 127km/s of departure burn
2055-04-17 Mercury Arrival
First crewed mission to Mercury
2055-04-18 Orbital Survey of Mercury begins
2055-06-14 First Crewed Surface Landing on Mercury
2055-06-15 EVA operations commence
2055-06-30 Surface operations complete, returning to orbit
2055-08-15 Departure from Mercury for Venus
Use standard trajectory with 85km/s of departure burn
2055-10-01 Venus Arrival
First crewed mission to Venus, no crewed landing attempted due to extreme surface conditions. Probe deployment only.
2055-10-02 Orbital Survey of Venus begins
2055-10-10 Landing Probe Deployment
2055-11-10 Begin Upper Atmosphere Survey via Callisto MPV
2056-03-24 Departure from Venus for Earth
Use standard trajectory with 75km/s of departure burn
2056-04-12 Earth Arrival
2056-04-15 Start maintenance
2056-05-31 Maintenance complete.
2056-06-02 Picking up crew for Mars One Construction Mission 2
2056-06-04 Picking up Mars One construction cargo
2056-06-06 Earth Departure for Mars
Use standard trajectory with 126km/s of departure burn
2056-07-01 Mars Arrival, First crewed mission to Mars using Stellaria
2056-07-03 Crew descend to Martian Surface, Continuing the construction of Mars One Base
2056-07-20 Heavy Cargo Delivery to Surface via Callisto MPV
2056-09-17 Mars One Construction Mission 3 Crew Arrival via XH-01, joining Stellaria crew. First Crew Handover on Mars.
2056-10-12 Mars One Construction Mission 2 Crew ascend to Stellaria
2056-10-15 Departure from Mars for Earth
Use Fast Return trajectory with 212km/s of departure burn
2056-11-03 Earth Arrival
2056-11-04 Start maintenance
2056-12-10 Maintenance complete.
2056-12-15 Start preparations for Europa Outpost Construction Mission 1
2056-12-20 Europa Outpost Construction Package arrival via Qingtian Cargo Shuttle
2056-12-31 Picking up crew for Europa Outpost Construction Mission 1
2057-01-02 Earth Departure for Europa
Use standard trajectory with 165km/s of departure burn
2057-02-25 Europa Arrival, First crewed mission to Europa
2057-02-27 Heavy Cargo Delivery to Surface via Qingtian Cargo Shuttle
2057-03-15 Crew descend to Europan Surface, Beginning construction of Europa Outpost
6 crewed ascend and descend operations to Europa Surface via Callisto MPV between 2057-03-15 and 2057-09-15
2057-10-01 Europa Outpost Construction Mission 1 Crew ascend to Stellaria, wrapping up construction phase 1
2057-10-04 Europa Departure for Earth
Use Fast trajectory with 216km/s of departure burn
2057-12-20 Earth Arrival
2058-01-05 Start maintenance and upgrades, extensive overhauls to bring ST-01 closer to full Stellaria specifications
Add more greenhouse modules, upgrade life support systems, add another Rotating Habitat Ring
2058-05-15 Maintenance and upgrades complete.
2058-06-01 Picking up crew for Saturn Exploration Mission 1
2058-06-03 Earth Departure for Saturn
Use Fast trajectory with 210km/s of departure burn
2058-10-12 Saturn Arrival, First crewed mission to Saturn
2059-05-31 Parked into Iapetus orbit, orbital science completed
2059-06-15 Start Iapetus Surface operation
2059-07-01 Wrapping up Saturn Exploration Mission. Saturn Departure for Earth
Use standard trajectory with 162km/s of departure burn
2059-11-24 Back from Saturn, Earth Arrival
2059-11-25 Parking to Star Port, Starting to upgrade
2059-02-10 Upgrades complete, ST-01 now fully meets Stellaria specifications.
2060-02-11 Out of Star Port, config for Outer Solar System Exploration
2060-02-12 Pick up Outer Solar System Exploration Crew 1 and supply
2060-02-12 Earth Departure for Neptune
160km/s departure burn
"""
operating_history = [
{
"log_name": "Construction",
"start_time": "2050-09-15",
"end_time": "2053-02-02",
"mission_detail": "Construction",
"sub_log":
[
"2050-09-15 First module delivered to LEO via Vulture Shuttle",
"2053-02-02 Assembly Halted",
]
},
{
"log_name": "Reconfiguring to ST-01 Stellaria",
"start_time": "2053-05-11",
"end_time": "2054-4-28",
"mission_detail": "Only fitted with the Light Speed Engine. Other systems are still Xihe standard. Awaiting further upgrades.",
"sub_log":[]
},
{
'log_name': "Trial Run",
'start_time': "2054-05-12",
'end_time': "2054-8-22",
'mission_detail': "Trial Run before commissioning",
'sub_log': [
"2054-05-12 Begin Trial Run in Earth Orbit, testing all systems",
"2054-08-22 Trial Run complete, all systems perform as expected. Including multiple run to GEO and Lunar Orbit before returning to LEO.",
]
},
{
'log_name': "Deep Space Test Mission",
'start_time': "2054-09-07",
'end_time': "2054-11-28",
'mission_detail': "Uncrewed mission to Earth-Sun Lagrange Point 2 to test long-duration operations",
'sub_log': [
"2054-09-07 Begin Deep Space Test Mission",
"2054-11-28 Test Mission Complete, all systems nominal. Returning to LEO.",
]
},
{
'log_name': "Maintenance before Commissioning",
'start_time': "2055-12-01",
'end_time': "2056-02-28",
'mission_detail': "",
'sub_log': []
},
{
'log_name': 'Inner Solar System Exploration Mission 1 outbound to Mecury',
'start_time': "2055-03-20",
'end_time': "2055-04-17",
'mission_detail': "Earth-Mecury transfer, using standard trajectory with 127km/s of departure burn",
'sub_log': [
"2055-03-20 Picking up crew for Inner Solar System Exploration Mission 1",
"2055-03-22 Earth Departure for Mecury",
"2055-04-17 Mercury Arrival",
]
},
{
'log_name': "Inner Solar System Exploration Mission 1 Mecury Operations",
'start_time': "2055-04-18",
'end_time': "2055-06-30",
'mission_detail': "First crewed mission to Mercury",
'sub_log': [
"2055-04-17 Mercury Arrival",
"2055-04-18 Orbital Survey of Mercury begins",
"2055-06-14 First Crewed Surface Landing on Mercury",
"2055-06-15 EVA operations commence",
"2055-06-30 Surface operations complete, returning to orbit",
"2055-08-15 Departure from Mercury for Venus",
]
},
{
"log_name": "Inner SolarSystem Exploration Mission 1 outbound to Venus",
"start_time": "2055-08-15",
"end_time": "2055-10-01",
"mission_detail": "Mecury-Venus transfer, using standard trajectory with 85km/s of departure burn",
"sub_log": [
"2055-08-15 Departure from Mercury for Venus",
"2055-10-01 Venus Arrival",
]
},
{
'log_name': 'Inner Solar System Exploration Mission 1 Venus Operations',
'start_time': "2055-10-01",
'end_time': "2056-03-24",
'mission_detail': "First crewed mission to Venus, no crewed landing attempted due to extreme surface conditions. Probe deployment only.",
'sub_log': [
"2055-10-01 Venus Arrival",
"2055-10-02 Orbital Survey of Venus begins",
"2055-10-10 Landing Probe Deployment",
"2055-11-10 Begin Upper Atmosphere Survey via Callisto MPV",
"2056-03-24 Departure from Venus for Earth",
]
},
{
'log_name': 'Inner Solar System Exploration Mission 1 return to Earth',
'start_time': "2056-03-24",
'end_time': "2056-04-12",
'mission_detail': "Venus-Earth transfer, using standard trajectory with 75km/s of departure burn",
'sub_log': [
"2056-03-24 Departure from Venus for Earth",
"2056-04-12 Earth Arrival",
]
},
{
'log_name': "Maintenance",
'start_time': "2056-04-15",
'end_time': "2056-05-31",
'mission_detail': "",
'sub_log': []
},
{
'log_name': "Mars One Construction Mission 2 outbound to Mars",
'start_time': "2056-06-02",
'end_time': "2056-07-01",
'mission_detail': "Earth-Mars transfer, using standard trajectory with 126km/s of departure burn",
'sub_log': [
"2056-06-02 Picking up crew for Mars One Construction Mission 2",
"2056-06-04 Picking up Mars One construction cargo",
"2056-06-06 Earth Departure for Mars",
"2056-07-01 Mars Arrival, First crewed mission to Mars using Stellaria",
]
},
{
'log_name': "Mars One Construction Mission 2 Mars Operations",
'start_time': "2056-07-03",
'end_time': "2056-10-12",
'mission_detail': "Continuing the construction of Mars One Base",
'sub_log': [
"2056-07-03 Crew descend to Martian Surface, Continuing the construction of Mars One Base",
"2056-07-20 Heavy Cargo Delivery to Surface via Callisto MPV",
"2056-09-17 Mars One Construction Mission 3 Crew Arrival via XH-01, joining Stellaria crew. First Crew Handover on Mars.",
"2056-10-12 Mars One Construction Mission 2 Crew ascend to Stellaria",
"2056-10-15 Departure from Mars for Earth",
]
},
{
'log_name': "Mars One Construction Mission 2 return to Earth",
'start_time': "2056-10-15",
'end_time': "2056-11-03",
'mission_detail': "Mars-Earth transfer, using Fast Return trajectory with 212km/s of departure burn",
'sub_log': [
"2056-10-15 Departure from Mars for Earth",
"2056-11-03 Earth Arrival",
]
},
{
'log_name': "Maintenance",
'start_time': "2056-11-04",
'end_time': "2056-12-10",
'mission_detail': "",
'sub_log': []
},
{
'log_name': "Europa Outpost Construction Mission 1 outbound to Europa",
'start_time': "2056-12-15",
'end_time': "2057-02-25",
'mission_detail': "Earth-Europa transfer, using standard trajectory with 165km/s of departure burn",
'sub_log': [
"2056-12-15 Start preparations for Europa Outpost Construction Mission 1",
"2056-12-20 Europa Outpost Construction Package arrival via Qingtian Cargo Shuttle",
"2056-12-31 Picking up crew for Europa Outpost Construction Mission 1 ",
"2057-01-02 Earth Departure for Europa",
]
},
{
'log_name': "Europa Outpost Construction Mission 1 Europa Operations",
'start_time': "2057-02-27",
'end_time': "2057-10-01",
'mission_detail': "First crewed mission to Europa",
'sub_log': [
"2057-02-27 Heavy Cargo Delivery to Surface via Qingtian Cargo Shuttle",
"2057-03-15 Crew descend to Europan Surface, Beginning construction of Europa Outpost",
"6 crewed ascend and descend operations to Europa Surface via Callisto MPV between 2057-03-15 and 2057-09-15",
"2057-10-01 Europa Outpost Construction Mission 1 Crew ascend to Stellaria, wrapping up construction phase 1",
"2057-10-04 Europa Departure for Earth",
]
},
{
'log_name': "Europa Outpost Construction Mission 1 return to Earth",
'start_time': "2057-10-04",
'end_time': "2057-12-20",
'mission_detail': "Europa-Earth transfer, using Fast trajectory with 216km/s of departure burn",
'sub_log': [
"2057-10-04 Europa Departure for Earth",
"2057-12-20 Earth Arrival",
]
},
{
'log_name': "Maintenance and Upgrades",
'start_time': "2058-01-05",
'end_time': "2058-05-15",
'mission_detail': "Extensive overhauls to bring ST-01 closer to full Stellaria specifications. Add more greenhouse modules, upgrade life support systems, add another Rotating Habitat Ring",
'sub_log': []
},
{
'log_name': "Saturn Exploration Mission 1 outbound to Saturn",
'start_time': "2058-06-01",
'end_time': "2058-10-12",
'mission_detail': "Earth-Saturn transfer, using Fast trajectory with 210km/s of departure burn",
'sub_log': [
"2058-06-01 Picking up crew for Saturn Exploration Mission 1",
"2058-06-03 Earth Departure for Saturn",
"2058-10-12 Saturn Arrival, First crewed mission to Saturn",
]
},
{
'log_name': "Saturn Exploration Mission 1 Saturn Operations",
'start_time': "2059-05-31",
'end_time': "2059-07-01",
'mission_detail': "First crewed mission to Saturn",
'sub_log': [
"2059-05-31 Parked into Iapetus orbit, orbital science completed",
"2059-06-15 Start Iapetus Surface operation",
]
},
{
'log_name': "Saturn Exploration Mission 1 return to Earth",
'start_time': "2059-07-01",
'end_time': "2059-11-24",
'mission_detail': "Saturn-Earth transfer, using standard trajectory with 162km/s of departure burn",
'sub_log': [
"2059-07-01 Wrapping up Saturn Exploration Mission. Saturn Departure for Earth",
"2059-11-24 Back from Saturn, Earth Arrival",
]
},
{
'log_name': "Upgrades at Star Port",
'start_time': "2059-11-25",
'end_time': "2060-02-10",
'mission_detail': "Upgrades complete, ST-01 now fully meets Stellaria specifications.",
'sub_log': []
},
{
'log_name': "Outer Solar System Exploration Mission 1 outbound to Neptune",
'start_time': "2060-02-11",
'end_time': None,
'mission_detail': "Earth-Neptune transfer, using 160km/s departure burn",
'sub_log': [
"2060-02-11 Out of Star Port, config for Outer Solar System Exploration",
"2060-02-12 Pick up Outer Solar System Exploration Crew 1 and supply",
"2060-02-12 Earth Departure for Neptune",
]
},
]
src/KSP_tools/krpc_explore.py
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# import krpc
#
# conn = krpc.connect(name='KSP Explore')
# vessel = conn.space_center.active_vessel
# orbit = vessel.orbit
# surface = vessel.surface_velocity_reference_frame
# print(f'Vessel Name: {vessel.name}')
# print(f'Orbit Apoapsis: {orbit.apoapsis} m')
# print(f'Orbit Periapsis: {orbit.periapsis} m')
# print(f'Surface Speed: {vessel.surface_velocity(surface).magnitude} m/s')
import time
import cvxpy as cp
import krpc
import numpy as np
from krpc.services.spacecenter import ReferenceFrame, Vessel
from scipy.spatial.transform import Rotation as R
from src.optimization import optimize_fuel
landing_platform = np.array([159780.5, -1018.1, -578410.4])
origin = np.array([-0.0021359772614235606, -0.004701372718752435, 0.152749662369653])
def optimize_fuel(
p_target: np.ndarray,
g: float,
m: float,
p0: np.ndarray,
v0: np.ndarray,
K: int,
h: float,
F_max: float,
alpha: float,
gamma: float,
**kwargs: dict,
) -> Tuple[np.ndarray, np.ndarray, float, cp.Problem]:
"""
Minimize fuel consumption for a rocket to land on a target
:param p_target: landing target in m
:param g: gravitational acceleration in m/s^2
:param m: mass in kg
:param p0: position in m
:param v0: velocity in m/s
:param K: Number of discretization steps
:param h: discretization step in s
:param F_max: maximum thrust of engine in kg*m/s^2 (Newton)
:param alpha: Glide path angle in radian
:param gamma: converts fuel consumption to liters of fuel consumption
:return: position, thrust, fuel consumption, problem
"""
P_min = p_target[2]
# Variables
V = cp.Variable((K + 1, 3)) # velocity
P = cp.Variable((K + 1, 3)) # position
F = cp.Variable((K, 3)) # thrust
# Constraints
# Match initial position and initial velocity
constraints = [
V[0] == v0,
P[0] == p0,
P[:, 2] >= P_min,
# P[:, 2] <= P_max,
F[:, 2] >= 0,
V[:, 2] <= 0,
]
# Match final position and 0 velocity
constraints += [
V[K] == [0, 0, 0],
P[K] == p_target,
]
# Physics dynamics for velocity
constraints += [V[1:, :2] == V[:-1, :2] + h * (F[:, :2] / m)]
constraints += [V[1:, 2] == V[:-1, 2] + h * (F[:, 2] / m - g)]
# Physics dynamics for position
constraints += [P[1:] == P[:-1] + (h / 2) * (V[:-1] + V[1:])]
# Maximum thrust constraint
constraints += [cp.norm(F, 2, axis=1) <= F_max]
fuel_consumption = gamma * cp.sum(cp.norm(F, axis=1))
# Regularization
height_regularization = cp.sum(cp.abs(P[:, 2] - P_min))
xy_regularization = cp.sum(cp.abs(P[:, :2] - p_target[:2].reshape((1, -1))))
glide_violation = cp.pos(np.tan(alpha) * cp.norm(P[:, :2], axis=1) - P[:, 2])
glide_violation = cp.sum(glide_violation)
gamma_height = 1
gamma_xy = 1
gamma_glide = 1000
reg = (
gamma_height * height_regularization
+ gamma_xy * xy_regularization
+ gamma_glide * glide_violation
)
problem = cp.Problem(cp.Minimize(fuel_consumption + reg), constraints)
problem.solve(**kwargs)
return P.value, F.value, fuel_consumption.value, problem
def run() -> None:
"""
The main function containing the MPC loop
"""
conn = krpc.connect(name="Landing")
vessel = conn.space_center.active_vessel
print(f"the vessel's name is: {vessel.name}")
ref_frame = get_reference_frame(conn, vessel)
position = conn.add_stream(vessel.position, ref_frame)
velocity = conn.add_stream(vessel.velocity, ref_frame)
relative_frame = ref_frame.create_relative(
ref_frame, rotation=R.from_euler("yz", [-90, -90], degrees=True).as_quat()
)
vessel.auto_pilot.reference_frame = relative_frame
vessel.auto_pilot.target_pitch_and_heading(60, 0)
launch_rocket(vessel)
while True:
time.sleep(0.1)
p = np.array(position())
v = np.array(velocity())
max_thrust = vessel.max_thrust
if vessel.situation.name == "landed":
vessel.control.throttle = 0
break
# Update the glide angle
alpha = np.arctan(p[2] * 1.05 / np.linalg.norm(p[:2]))
try:
P, F, _, _ = optimize_fuel(
origin,
9.81,
vessel.mass,
p,
v,
100,
1,
max_thrust,
alpha,
1,
)
except (cp.SolverError, AssertionError) as e:
print(e)
if v[2] > 0:
vessel.control.throttle = 0
continue
if F is None:
print("no solution found")
vessel.control.throttle = 0
continue
else:
target_F = F[0]
thrust_level = np.linalg.norm(target_F) / max_thrust
direction = target_F / np.linalg.norm(target_F)
xy_len = np.linalg.norm(direction[[0, 1]])
# pitch between -90 and 90
target_pitch = np.arctan2(direction[2], xy_len) * 180 / np.pi
# heading between 0 and 360
target_heading = (np.arctan2(direction[1], direction[0]) * 180 / np.pi) % 360
vessel.auto_pilot.target_pitch_and_heading(target_pitch, target_heading)
vessel.auto_pilot.engage()
if thrust_level < 0.01:
thrust_level = 0
vessel.control.throttle = thrust_level
conn.drawing.clear()
draw_trajectory(conn, P, ref_frame)
draw_F(conn, target_F, ref_frame, vessel.reference_frame)
draw_autopilot_direction(
conn, vessel.auto_pilot.target_direction, relative_frame, vessel.reference_frame
)
print("thrust: ", round(thrust_level, 2))
conn.close()
def draw_trajectory(conn: krpc.Client, P: np.ndarray, ref_frame: ReferenceFrame) -> None:
"""
Draw the next 10 points of the trajectory
"""
for i in range(1, P.shape[0]):
p = P[i]
p0 = P[i - 1]
conn.drawing.add_line(p0, p, ref_frame)
if i > 10:
break
def draw_F(
conn: krpc.Client,
target_F: np.ndarray,
ref_frame: ReferenceFrame,
vessel_ref_frame: ReferenceFrame,
) -> None:
"""
Draw the target force vector in blue
"""
transformed_F = conn.space_center.transform_direction(target_F, ref_frame, vessel_ref_frame)
line = conn.drawing.add_line([0, 0, 0], transformed_F, vessel_ref_frame)
line.color = (0, 0, 1)
def draw_autopilot_direction(
conn: krpc.Client,
direction: np.ndarray,
ref_frame: ReferenceFrame,
vessel_ref_frame: ReferenceFrame,
) -> None:
"""
Draw the autopilot direction in red
"""
transformed_direction = conn.space_center.transform_direction(
direction, ref_frame, vessel_ref_frame
)
line = conn.drawing.add_line([0, 0, 0], np.array(transformed_direction) * 100, vessel_ref_frame)
line.color = (1, 0, 0)
def draw_coordinate_system(conn: krpc.Client, ref_frame: ReferenceFrame) -> None:
"""
Draw the coordinate system of the reference frame
"""
line = conn.drawing.add_line([0, 0, 0], [10, 0, 0], ref_frame)
line.color = (1, 0, 0)
line = conn.drawing.add_line([0, 0, 0], [0, 10, 0], ref_frame)
line.color = (0, 1, 0)
line = conn.drawing.add_line([0, 0, 0], [0, 0, 10], ref_frame)
line.color = (0, 0, 1)
def launch_rocket(vessel: Vessel) -> None:
"""
Launch the rocket on a hard-coded trajectory
"""
vessel.auto_pilot.engage()
vessel.control.throttle = 1
vessel.control.activate_next_stage()
time.sleep(2)
vessel.auto_pilot.target_pitch_and_heading(60, 180)
time.sleep(6)
vessel.control.throttle = 0
def get_reference_frame(conn: krpc.Client, vessel: Vessel) -> ReferenceFrame:
"""
Get the reference frame of the landing platform
"""
z = landing_platform
z = z / np.linalg.norm(z)
x = np.array([1, 0, 0])
y = np.cross(z, x)
y = y / np.linalg.norm(y)
x = np.cross(y, z)
x = x / np.linalg.norm(x)
q = R.from_matrix(np.array([x, y, z]).T).as_quat()
ref_frame = conn.space_center.ReferenceFrame.create_relative(
vessel.orbit.body.reference_frame, position=landing_platform, rotation=q
)
return ref_frame
if __name__ == "__main__":
run()