CN103257352A - Method for testing double-satellite GPS closed-loop control - Google Patents
Method for testing double-satellite GPS closed-loop control Download PDFInfo
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- CN103257352A CN103257352A CN2013101726162A CN201310172616A CN103257352A CN 103257352 A CN103257352 A CN 103257352A CN 2013101726162 A CN2013101726162 A CN 2013101726162A CN 201310172616 A CN201310172616 A CN 201310172616A CN 103257352 A CN103257352 A CN 103257352A
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Abstract
A method for testing double-satellite GPS closed-loop control is achieved on the basis of an orbit emulation computer, a GPS synchronous computer and a GPS dynamic emulation device. A novel GPS closed-loop control method is provided by utilizing a remote control model of the GPS dynamic emulation device and makes up for the defects of a static method and a dynamic method in a present test, the closed-loop control of multi-satellites under a completely real-time state is achieved, an existing verification mode for the closed-loop control through a fixed orbit scene is broken, and a multi-satellite relative positioning system is verified.
Description
Technical field
The present invention relates to a kind of double star GPS closed-loop control method of testing, be particularly useful for the systematicness checking of high dynamic, high-precision satellite relative positioning.
Background technology
In present satellite test, mainly contain the positioning function that two kinds of method of testings of static test and dynamic test are verified GPS, these two kinds of methods all also exist certain deficiency for the closed-loop control of satellite.Static test directly is linked into exterior aerial with the GPS receiver exactly, utilize disclosed satellite navigation system that the GPS receiver is positioned test, this method is relatively stable, and data reliability is higher, but working condition that can't verifying satellites GPS receiver in high-speed motion.In order to address this problem, introduced the dynamic test of GPS receiver.Dynamic test is exactly to utilize the GPS dynamic simulator to arrange and export 1 the road or the multi-channel rf signal orbital data of satellite, by emulator the high precision emulation of track is carried out closed-loop control to satellite, this method bearing accuracy height, dynamic is strong, but orbital data relative fixed, can't realize the real-time closed-loop control for double star, system-level checking also exists certain deficiency for relative positioning.Based on static and dynamic approach.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of GPS real-time location method is provided, solved the technical matters that double star in the current measuring technology can only be verified by fixing some bit data.
Technical solution of the present invention is:
A kind of double star GPS closed-loop control method of testing realizes that based on track simulation computer, GPS synchronous computer and GPS dynamic simulator track simulation computer, GPS synchronous computer and GPS dynamic simulator are connected in the same network, and step is as follows:
(1) by GNC topworks information on the star, the track simulation computer simulates the orbit information data that double star is put the position in real time, and according to the TCP/IP host-host protocol, the orbit information data of described double star being put in real time the position send on the GPS synchronous computer;
(2) the GPS synchronous computer receives by the orbit information data of synchronously described double star being put in real time the position of Clock Card, and according to form and the TCP/IP network transmission protocol of GPS dynamic simulator, the orbit information data of described double star being put in real time the position send to the GPS dynamic simulator; Described GPS dynamic simulator comprises control computing machine and signal source;
(3) scene of selection Long-distance Control in the control computing machine of GPS dynamic simulator is set up dummy vehicle, and initialization data is sent to GPS dynamic simulator signal source;
(4) load GPS dynamic simulator signal source, and the initialization scene, wait for that GPS dynamic simulator control computing machine enters Trigger Wait pattern;
(5) trigger the scene of described Long-distance Control by the trigger pip of a rising edge, wait for that next 1pps rising edge begins the emulation of scene;
(6) the GPS dynamic simulator simulates satellite in the real-time status data of rail flight by Long-distance Control scene and the some bit data that receives in real time, finally by two RF prevention at radio-frequency port send respectively double star in the real-time status data of rail flight to the GPS receiver on the double star;
(7) the GPS receiver of double star feeds back to GNC topworks on the star after calculating the relative position of double star and speed according to the information that receives, thereby realizes closed-loop control.
The rising edge signal of trigger pip continues 100ms at least in the described step (5).
The present invention's beneficial effect compared with prior art is:
(1) under checking relative positioning condition, the present invention has higher precision, better dirigibility and higher stability;
(2) be complete real-time method owing to what adopt, and on the basis of unified clock, effectively avoided the limitation of testing for relative positioning in the trapped orbit method of testing;
(3) traditional fixed point trapped orbit method of testing can only be made the orbit parameter that pre-sets corresponding track file, can't satisfy even can't carry out systematic checking is carried out in double star intersection butt joint.This system GNC centralized control unit via satellite sends to the ground rail simulation computer with real-time some bit data and calculates fully real-time satellite orbit data and carry out systematicness and verify;
(4) for double star, many stars networking relative positioning test provide more flexibly, more effectively, real more method of testing.
Description of drawings
Fig. 1 is the present invention's practical application process flow diagram in the test of double star relative positioning;
Fig. 2 is the present invention's 1PPS emulation sequential chart in the GPS dynamic simulator;
Fig. 3 is actual annexation figure of the present invention;
Fig. 4 is the inventive method process flow diagram.
Embodiment
The present invention utilizes the distance control mode of GPS dynamic simulator to propose a kind of brand-new GPS closed loop control method.This method has remedied static method and the deficiency of dynamic approach in test at present, realized the closed-loop control of many stars under full real-time status, broken existing employing trapped orbit scene to the verification mode of closed-loop control, the relative positioning system of many stars has been verified.The real-time relative positioning data of GPS closed-loop system can receive the GNC subsystem orbital data of output in real time, be transmitted to the radiofrequency signal that the GPS emulator generates GPS in real time according to fixing data layout, for the RGPS receiver provides the simulating scenes support, thereby realize controlling from closed loop in real time of GPS metrical information and GNC subsystem orbit parameter.
The track simulation computer comprises A star and B star satellite simulation model trajectory, gather GNC topworks information on the star, generate the sensor signal, and to GNCC centralized control unit transmission sensor information and orbit information etc., and to GPS synchronous computer transmission A star and B star satellite orbit point position information (comprising position, speed, attitude and time etc.); The point position information translation that the GPS synchronous computer will receive is that the required data layout of GPS dynamic simulator is given GPS dynamic simulator, the GPS dynamic simulator generates corresponding GPS navigation satellite-signal and is transmitted to A star RGPS receiver and B star GPS receiver according to the track point position information of receiving.B star GPS receiver calculates B star satellite position speed, and raw measurement data is sent to the A star by communication equipment between star according to the GPS navigation satellite-signal that receives; Communication equipment is transmitted to the RGPS receiver to the B star satellite raw measurement data that demodulates by the CAN bus between A star satellite star, the RGPS receiver is according to the GPS navigation satellite-signal that receives, calculate A star satellite raw measurement data, and carry out Difference Calculation with the B star satellite raw measurement data of receiving, thereby calculate relative position and speed, the RGPS receiver is given GNCC centralized control unit the locating frame that comprises information such as two satellite position speed, relative position speed and time by the CAN bus.
Information such as the position and speed that the sensor information that the GNCC centralized control unit provides according to the track simulation computer etc. and RGPS receiver provide and relative position speed are guided navigation and control, thereby realize closed-loop control.Verify the influence to the GNC subsystem under data precision deficiency and the discontinuous situation of data of RGPS receiver.Its system forms as shown in Figure 1.
Hardware components of the present invention mainly comprises track simulation computer, data sync computing machine and GPS dynamic simulator, as shown in Figure 1, can adopt GPS8000 series dynamic simulator among the present invention.
The track simulation computer sends to the GNCC centralized control unit with GNC topworks information on double star orbit information and the star, and the track point bit data of double star is sent to the GPS synchronous computer.
The data that GPS synchronous computer (built-in synchronous clock card) sends over the track simulation computer, converting the GPS dynamic simulator to can recognition data information (comprising position, speed, attitude and time etc.), utilize the ICP/IP protocol of computing machine, guarantee the continuous and reliability of data, as shown in Figure 3.
As shown in Figure 4, the performing step of the inventive method is as follows:
(1) by GNC topworks information on the star, the track simulation computer simulates the orbit information data (comprising position, speed, attitude and time etc.) that double star is put the position in real time, and according to the TCP/IP host-host protocol, the orbit information data of described double star being put in real time the position send on the GPS synchronous computer;
(2) the GPS synchronous computer receives by the orbit information data of synchronously described double star being put in real time the position of Clock Card, and according to form and the TCP/IP network transmission protocol of GPS dynamic simulator, the orbit information data of described double star being put in real time the position send to the GPS dynamic simulator; Described GPS dynamic simulator comprises control computing machine and signal source;
(3) scene of selection Long-distance Control in the control computing machine of GPS dynamic simulator is set up dummy vehicle, and initialization data is sent to GPS dynamic simulator signal source;
(4) load GPS dynamic simulator signal source, and the initialization scene, wait for that GPS dynamic simulator control computing machine enters Trigger Wait pattern;
(5) trigger the scene of described Long-distance Control by the trigger pip of a rising edge, wait for that next 1pps rising edge begins the emulation of scene, 1PPS emulation sequential chart as shown in Figure 2; The rising edge signal of trigger pip continues 100ms at least;
(6) the GPS dynamic simulator simulates satellite in the real-time status data of rail flight by Long-distance Control scene and the some bit data that receives in real time, finally by two RF prevention at radio-frequency port send respectively double star in the real-time status data of rail flight to the GPS receiver on the double star;
(7) the GPS receiver of double star feeds back to GNC topworks on the star after calculating the relative position of double star and speed according to the information that receives, thereby realizes closed-loop control.
Claims (2)
1. double star GPS closed-loop control method of testing, realize based on track simulation computer, GPS synchronous computer and GPS dynamic simulator, track simulation computer, GPS synchronous computer and GPS dynamic simulator are connected in the same network, it is characterized in that step is as follows:
(1) by GNC topworks information on the star, the track simulation computer simulates the orbit information data that double star is put the position in real time, and according to the TCP/IP host-host protocol, the orbit information data of described double star being put in real time the position send on the GPS synchronous computer;
(2) the GPS synchronous computer receives by the orbit information data of synchronously described double star being put in real time the position of Clock Card, and according to form and the TCP/IP network transmission protocol of GPS dynamic simulator, the orbit information data of described double star being put in real time the position send to the GPS dynamic simulator; Described GPS dynamic simulator comprises control computing machine and signal source;
(3) scene of selection Long-distance Control in the control computing machine of GPS dynamic simulator is set up dummy vehicle, and initialization data is sent to GPS dynamic simulator signal source;
(4) load GPS dynamic simulator signal source, and the initialization scene, wait for that GPS dynamic simulator control computing machine enters Trigger Wait pattern;
(5) trigger the scene of described Long-distance Control by the trigger pip of a rising edge, wait for that next 1pps rising edge begins the emulation of scene;
(6) the GPS dynamic simulator simulates satellite in the real-time status data of rail flight by Long-distance Control scene and the some bit data that receives in real time, finally by two RF prevention at radio-frequency port send respectively double star in the real-time status data of rail flight to the GPS receiver on the double star;
(7) the GPS receiver of double star feeds back to GNC topworks on the star after calculating the relative position of double star and speed according to the information that receives, thereby realizes closed-loop control.
2. a kind of double star GPS closed-loop control method of testing according to claim 1 is characterized in that: the lasting at least 100ms of the rising edge signal of trigger pip in the described step (5).
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| CN105245281A (en) * | 2015-08-31 | 2016-01-13 | 深圳市艾励美特科技有限公司 | Industrial concentrator system and signal transmission method thereof |
| CN105445763A (en) * | 2014-09-17 | 2016-03-30 | 上海新跃仪表厂 | Target reconstruction method based on tracking-pointing information |
| CN106842157A (en) * | 2017-03-20 | 2017-06-13 | 北京空间飞行器总体设计部 | A kind of in-orbit load data of SAR Satellite Simulations obtains system and acquisition methods |
| CN107315182A (en) * | 2017-05-17 | 2017-11-03 | 上海卫星工程研究所 | Passive location excitation equivalence aptitude tests method based on semi-physical simulation |
| CN108128484A (en) * | 2017-12-18 | 2018-06-08 | 北京理工大学 | A kind of binary-star system Maneuver strategy based on linearquadratic regulator |
| CN110161538A (en) * | 2019-04-26 | 2019-08-23 | 湖南卫导信息科技有限公司 | A kind of test method and system of navigation signal source real-time closed-loop performance |
| CN114509063A (en) * | 2022-01-17 | 2022-05-17 | 上海卫星工程研究所 | Multi-satellite combined test method and system for multi-satellite distributed information fusion system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105445763A (en) * | 2014-09-17 | 2016-03-30 | 上海新跃仪表厂 | Target reconstruction method based on tracking-pointing information |
| CN105245281A (en) * | 2015-08-31 | 2016-01-13 | 深圳市艾励美特科技有限公司 | Industrial concentrator system and signal transmission method thereof |
| CN105245281B (en) * | 2015-08-31 | 2018-02-13 | 深圳市艾励美特科技有限公司 | Industrial concentrator system and signal transmission method thereof |
| CN106842157A (en) * | 2017-03-20 | 2017-06-13 | 北京空间飞行器总体设计部 | A kind of in-orbit load data of SAR Satellite Simulations obtains system and acquisition methods |
| CN106842157B (en) * | 2017-03-20 | 2019-06-18 | 北京空间飞行器总体设计部 | A kind of in-orbit load data of SAR Satellite Simulation obtains system and acquisition methods |
| CN107315182A (en) * | 2017-05-17 | 2017-11-03 | 上海卫星工程研究所 | Passive location excitation equivalence aptitude tests method based on semi-physical simulation |
| CN108128484A (en) * | 2017-12-18 | 2018-06-08 | 北京理工大学 | A kind of binary-star system Maneuver strategy based on linearquadratic regulator |
| CN108128484B (en) * | 2017-12-18 | 2020-08-28 | 北京理工大学 | Double-star system track keeping method based on linear quadratic regulator |
| CN110161538A (en) * | 2019-04-26 | 2019-08-23 | 湖南卫导信息科技有限公司 | A kind of test method and system of navigation signal source real-time closed-loop performance |
| CN114509063A (en) * | 2022-01-17 | 2022-05-17 | 上海卫星工程研究所 | Multi-satellite combined test method and system for multi-satellite distributed information fusion system |
| CN114509063B (en) * | 2022-01-17 | 2024-01-30 | 上海卫星工程研究所 | Multi-star joint test method and system for multi-star distributed information fusion system |
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