We propose an easy-to-implement algorithm providing the safe (collision-free) separation of the Soyuz MS crew transfer vehicle from the ports of the Rassvet (MRM-1) and Poisk (MRM-2) mini-research modules of the International Space Station at an arbitrary station attitude at the time of separation and angular velocities exceeding the maximum permissible for the current undocking algorithm. A criterion of collision-free separation process is described and a comprehensive mathematical model used for calculation is presented.

中文翻译：

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联盟号MS航天器与不稳定国际空间站的分离算法

我们提出了一种易于实现的算法，该算法可将Soyuz MS乘员转移车与国际Rassvet（MRM-1）和Poisk（MRM-2）微型研究模块的端口安全（无碰撞）分离空间站在分离时的任意站姿和角速度都超过了当前对接算法所允许的最大值。描述了无碰撞分离过程的准则，并提出了用于计算的综合数学模型。