CN105487405B - Low tracking Gravisat semi-physical system - Google Patents

Abstract

The invention belongs to satellite gravity survey technical fields, and in particular to a kind of low tracking Gravisat semi-physical system.Wherein, simulation management controller controls satellite simulator state for inputting initial parameter；Two satellite simulators, comprising: rail control device, executing agency, load simulator and data collector, load simulator in orbit, generate the original simulation observation data of satellite for analog satellite；Data collector is used to acquire the original emulation data of load simulator generation, and rail control device adjusts satellite simulator posture, track, and control executing agency and realize pose adjustment for collecting sensor data signal in satellite simulator；Number passes controller, and the data for transmitting two satellite simulators carry out framing and storage, and is transmitted to the data processing system for handling emulation data.The present invention realizes the emulation on Gravity Satellite star under data semi-physical simulation environment, and Satellite gravity data simulation efficiency greatly improved.

Description

Low tracking Gravisat semi-physical system

Technical field

The invention belongs to satellite gravity survey technical fields, and in particular to a kind of low tracking Gravisat semi physical Analogue system.

Background technique

21 century is human use's satellite to satellite tracking (SST) and Satellite gravity field (SGG) skill upgrading to the earth, the moon New era of other planet cognitive abilities of ball, Mars and the solar system.Terrestrial gravitation measure satellite CHAMP and GRACE, GOCE at Function lift-off and will emitting for GRACE Follow-On and lunar gravity explorer satellite GRAIL declare publicly the mankind and will welcome one A unprecedented Satellite gravity detects the epoch.Ground (moon) gravity field and its time-varying reflection ground (moon) ball surface layer and inner material Spatial distribution, movement and variation, while decide the fluctuating and variation of geoid.Accordingly, it is determined that ground (moon) ball gravity Fine structure and its time-varying be not only geodesy, oceanography, seismology, space science, astronomy, planetary science, The demand of deep space exploration, national defense construction etc., at the same will also seek for the whole mankind resource, protection environment and prediction disaster provide it is important Information resources.

The realization of satellite gravity survey technology is after GPS of America constellation successfully constructs in the another of geodesic survey field Item innovation and breakthrough are most efficient, most economical in the current Earth gravitational field detection study generally acknowledged by international geodesic survey educational circles Most there is one of the method for development potentiality, it had both been different from traditional vehicle-mounted, boat-carrying and airborne measurement, surveyed also different from satellite high It is analyzed with orbit perturbation, but passes through satellite to satellite tracking height/low low technical (SST-HL/LL) and gravity gradient technology (SGG), become using the earth gravitational field detector or sensor of Seeds of First Post-flight, the disturbed motion of research satellite track and its parameter Change, and then study the structure and variation of earth gravitational field, restores the earth gravitational field of high-precision and high spatial resolution.

The substantial advance being had been achieved in terms of Gravity Satellite measuring technique detects earth gravitational field in the world at present.Through Cross tireless exploration in more than 40 years and effort, high-low satellite to satellite tracking gravity measurement mode of Successful Practice (CHAMP, GOCE) and low-low tracking satellite gravity measurement mode (GRACE), wherein CHAMP is satellite gravity survey plan The forerunner of successful implementation, the superiority of GRACE are embodied in the middle high-precision long-wave signal and time-varying of detectably gravity field Signal, and GOCE is good at sensing intermediate waves static state earth gravitational field.It can although combining above-mentioned three phases satellite gravity survey plan With the static gravitational field and its Time-variable gravity of the precise measurement earth, thus obtain earth overall shape change over time, the earth The migration of each ring layer substance, the distribution of global ocean quality and variation, the increase of polar glacier and diminution and underground storage are total Measure the characteristic of information.Currently, the U.S., European Space Agency etc. are in the gravity measurement plan for formulating and implementing next-generation higher precision.

The numerous scholars in China are carried out in terms of the theory and method for being restored earth gravitational field based on satellite gravity survey at present Extensive research, by the data processing tackling problems in key technologies of many years, precise orbit determination, the gravitational field for having breached Gravity Satellite are extensive The key technologies such as multiple, and the utility software for restoring earth gravitational field based on dynamic method etc. is successfully had developed, especially complete difficulty The tackling key problem for spending the data integrated processing technique of great satellite gravity survey " one-step method ", has developed prototype software, and utilize CHAMP, GRACE actual measurement data construct multiple earth gravity field models.As it can be seen that the domestic processing in Gravity Satellite data Plentiful and substantial research achievement is had been achieved in theory and method, has accumulated experience abundant.

Nevertheless, domestic, there are still huge spreads in terms of systems technology verifying and system development.Currently, the country is not yet Carry out to the generation of original 0 grade of data and its treatment research；Not yet carry out based on the verification items such as satellite data emulation and data processing Mesh is verified in particular for the data processing technique of the measuring devices initial data such as China's K-band rangefinder, accelerometer.This It is also meaning existing for this research project.

In order to obtain accurate gravity field model, it is necessary to which all observation data and status data are carried out integrated treatment and commented Estimate.Low tracking Gravisat star data both included K-band rangefinder, global navigation satellite receiver, accelerometer, Star sensor etc. observes data, further includes that the status datas such as the attitude of satellite, temperature, pressure and ground gravity survey, the whole world are defended The auxiliary datas such as star navigation system base station, laser observations station, ground observing and controlling receiving station, data class is more, precision is high, the degree of association By force, it handles and assessment difficulty is big.Therefore, Gravisat semi-physical simulation is carried out to be extremely important.

Summary of the invention

It is an object of the invention in view of the defects existing in the prior art and insufficient, a kind of low tracking gravity measurement is provided Satellite Semi-physical analogue system.

To achieve the above object, the invention adopts the following technical scheme:

Include: simulation management controller, for inputting initial parameter, and controls satellite simulator state；

Two satellite simulators, the satellite simulator includes: rail control device, executing agency, sensor, load simulated Device and data collector；It is original imitative to generate satellite for simulating two low rail Gravity Satellites in orbit for the load simulator True observation data；The data collector, for acquiring the original emulation data of load simulator generation；The rail control system Device adjusts satellite simulator posture, track, and control executing agency for collecting sensor data signal in satellite simulator Realize pose adjustment；

Number passes controller, and the data for transmitting two satellite simulators carry out framing and storage, and are transmitted to and are used for The data processing system of processing emulation data.

Further, the analogue system further includes environmental dynamics emulator, for unified time reference data, simulation Satellite actual trajcctorics and posture analog satellite running track environment, define satellite parametric reduction, and related data are reached two satellites and is imitated True device, the environmental dynamics emulator are connected with simulation management controller and two satellite simulators respectively.

Further, the analogue system further includes that data generate demo system, for monitoring two satellite simulators Motion state, and Visualization Demo is carried out to two satellite healths；The data generate demo system and adopt respectively with data Storage is connected.

Further, the load simulator includes that GNSS simulator, accelerometer simulator, KBR simulator and star are quick Sensor simulator.

Further, it is handled after the GNSS simulator reception primary data by functional module and generates GNSS observation number According to；

The functional module includes: space environment parameters simulation module, user trajectory data simulation module, space constellation with Rail module, antenna diagram emulation module and space-time system conversion module；

The GNSS observation data are generated by observation data generation module.

Further, the accelerometer simulator includes: displacement detection module, for detecting inspection quality in pole plate frame Position in frame；Feedback control module makes it remain at pole for passing through the position of feedback static Electric control inspection quality The center of plate framework.

Further, the data collector is provided with 5 data module interfaces, 5 data module interfaces difference Acquire the data of KBR simulator, GNSS simulator, accelerometer simulator, star sensor simulator and rail control device.

Further, the satellite simulator is provided under data simulation and 30 times of rates under real satellite operating rate Data accelerate emulation.

Further, the sensor includes: optical fibre gyro simulator, magnetometer simulator；

The executing agency includes: propeller simulator and magnetic torquer simulator.

Compared with prior art, the invention has the following beneficial technical effects: setting satellite simulation system passes through overloading The configuration of lotus spatial parameter simulates low rail Gravisat in orbit using semi physical satellite simulator, generates original emulation Data, and by original emulation data down transmission to Ground Processing System.It is imitative that the present invention realizes data semi physical on Gravity Satellite star Emulation under true environment can support multi-rate data to accelerate emulation and the configuration of multi-load spatial parameter, can greatly improve number According to simulation efficiency.The present invention completes the design of the core contents such as interface, frame on Gravity Satellite star between load, can be realized The defect in overal system design and performance is checked and modified before Gravity Satellite transmitting, and to the satellite carried load of gravity The index of lotus is proved.

Detailed description of the invention

Fig. 1 is present system composite structural diagram；

Fig. 2 is present system interface relationship figure；

Fig. 3 is that KBR of the present invention observes data simulator work flow diagram；

Fig. 4 is GNSS simulator functional module of the present invention composition figure；

Fig. 5 is the hardware structure schematic diagram of emulation platform main node/module of the present invention；

Fig. 6 is the attitude of satellite of the present invention and track controller module main logic flow chart；

Fig. 7 is emulation platform specific composition of the present invention and its service route schematic diagram；

Fig. 8 is satellite transit environment of the present invention and appearance track-like state dynamics simulation main logic flow chart.

Specific embodiment

The invention will be described in further detail with reference to the accompanying drawing.

Referring to Fig. 1, the present invention includes simulation management controller, for inputting initial parameter, and controls satellite simulator shape State；Two satellite simulators, the satellite simulator include: rail control device, executing agency, load simulator and data acquisition Device, the load simulator generate the original simulation observation data of satellite, packet for simulating two low rail Gravity Satellites in orbit It includes simulation and generates GNSS data, four kinds of accelerometer data, KBR data and star sensor load datas；The data collector, For acquiring the original emulation data of load simulator generation, the rail control device is sensitive in satellite simulator for collecting Device data-signal adjusts satellite simulator posture, track, and controls executing agency and realize pose adjustment；The number passes controller, Data for transmitting A star and B star simulator carry out framing and storage, and are transmitted at the data for handling emulation data Reason system；It further include environmental dynamics emulator, for unified time reference data, analog satellite actual trajcctorics and posture, mould Quasi- satellite transit orbital environment defines satellite parametric reduction, and related data is reached two satellite simulators, and the environmental dynamics are imitative True device is connected with simulation management controller and two satellite simulators respectively.

This system further includes that data generate demo system, for simulating and monitoring the motion state of two satellite simulators, And Visualization Demo is carried out to two satellite healths；The data generate demo system respectively with two data collector phases Connection.

The load simulator includes GNSS simulator, accelerometer simulator, KBR simulator and star sensor simulation Device.Satellite simulator is additionally provided with sensor, comprising: optical fibre gyro simulator, magnetometer simulator；Executing agency's packet It includes: propeller simulator and magnetic torquer simulator.

Data collector is provided with 5 data module interfaces, 5 data module interfaces acquire respectively KBR simulator, GNSS simulator, accelerometer simulator, star sensor simulator and rail control device data.Data are acquired after framing by finger The formula of fixing, which is stored in, deposits admittedly in (hard disk), and carries out data readback under managing and control system instruction control, and when playback, down-transmitting data is logical It crosses Ethernet interface and is sent to user.

Five functional modules are effectively observed and status data rate see the table below.

Serial number	Node	The amount of bytes of data module output counts (signal period)	Remarks
				1	KBR	550
2	GNSS	648
				3	ACC	49
4	SS	66
				5	AOCS	285

Referring to fig. 2, system interface relational graph:

1) major function of satellite parametric reduction and running track environment includes unified time reference data, the true rail of analog satellite Road and posture, the environmental simulation of analog satellite running track define satellite parametric reduction, and related data are reached A star and the simulation of B star Device；

2) the accelerometer simulator in A star and B star simulator, KBR simulator, GNSS simulator, star sensitive analog device The data that satellite parametric reduction and running track environment are transmitted are received with other associated analog devices, according to respective rail and posture etc. Parameter setting simulation generates corresponding data, and data are reached number and pass software；

3) number passes controller and carries out framing and storage to the data that A star and B star simulator transmit, finally extremely by data down transmission Ground data processing demonstration subsystem, receives original observed data by data receiver subsystem therein, and carry out Xie Geshichu Reason generates 0 grade of data.

Referring to Fig. 3, satellite platform generate it is low tracking Gravity Satellite kinetic model, obtain satellite actual trajcctorics and Posture simultaneously passes through data-interface, by the time scale information of satellite, orbital data (including co-ordinates of satellite, satellite velocities), attitude data Etc. information framing be sent to KBR observation data simulator, on this basis, gravity under in-orbit state is obtained according to platform model and is defended The centrical interstellar distance of star A/B astrology provides ionosphere delay in conjunction with the channel model in receiver module, calculates signal and pass Broadcast delay.Then unidirectional KBR measurement data is obtained according to KBR system model.In entire analogue data sampling instant, and by when Between benchmark be sent to respective GNSS observation data simulator, accelerometer simulator and star sensor simulator.

Referring to fig. 4, the time system that GNSS simulator number imitates that software needs are used has: Coordinated Universal Time(UTC) UTC, the BD2 time The time system GPST of system BDT, GPS.In view of UTC be used with the independent time reference of navigation system and people it is upper Habit, mathematical simulation calculating in using UTC as benchmark simulation time.BDT and GPST is obtained from UTC conversion, and transformation model is adopted Model is announced with the ICD file of BD2 and GPS.

In mathematical simulation, the coordinate system being related to is specifically included that

1) J2000 geocentric inertial coordinate system: satellite orbit is calculated；

2) CGCS2000 coordinate system: BD2 earth coordinates；

3) WGS84 coordinate system: GPS system geodetic coordinates；

4) topocentric coordinate system: it is taken as northeast day coordinate system, is mainly used for the calculating observation elevation angle and observation station height.

Satellite trajectory simulation uses the Kinematics Simulation based on broadcast ephemeris orbital tracking, needs to consider bias in simulations Rate is zero, orbit inclination angle is the orbital trackings transformation situation such as zero, and satellite trajectory simulation realizes the orbit parameter to navigation satellite It generates, position, speed including navigation satellite etc..

The design of accelerometer in simulation model, the SuperSTAR accelerometer of Primary Reference GRACE Seeds of First Post-flight: its Comprising two highly sensitive axis and a low sensitive axis, inspection quality is 40 × 40 × 10mm³Cube, quality 70g. The effect of accelerometer is nonconservative force suffered by detection satellite, if accelerometer is not the mass center in satellite, that The acceleration that will be introduced comprising angular speed, angular acceleration and gravity gradient in the nonconservative force detected.Accelerometer Two parts: displacement detection module can be divided into principle, for detecting position of the inspection quality in pole plate frame；Feedback Control module makes it remain at the center of pole plate frame by the position of feedback static Electric control inspection quality.

Referring to Fig. 5, system-wide hardware structure scheme general thought is that the generation and processing of all module datas are based on mathematics Mechanism, and being simulated by independent computing platform, and transmission of the data between different computing platforms with communicate then using commercialization Communication equipment (serial ports, Ethernet).

Referring to Fig. 6, the main logic process of the attitude of satellite and track controller specifically includes that track and posture determine and calculates Method, control and executing agency's allocation algorithm, pattern switching logic.

Rail control device (AOCS) acquisition sensor signal is simultaneously handled, and determines that algorithm provides the appearance of satellite by posture State information, and the control signal that gesture stability calculating provides executing agency is carried out according to appearance/rail control target, carry out the attitude of satellite And the holding and adjustment of track.

Pattern switching logic determines that information carries out comprehensive descision according to control computer instruction and track profile, and satellite is made to exist Normal tasks mode and neck fly to keep to switch between rail control mode.Each mode determines appearance and control calculation using relatively independent Method.

When normal tasks mode track determine calculate satellite where orbit information, according to two star orbit informations calculate be directed toward with Track pitching and yaw instruction angle, posture, which determines, uses gyro and star sensor information, satellite three-axis attitude is estimated by gyro, by star Sensor Information revision posture and estimation gyroscopic drift.Gesture stability calculates satellite and is directed toward deviation and corresponding control moment, raw Signal is controlled at cold air propulsion device and magnetic torquer, control moment distribution is carried out to the two by algorithm.

Referring to Fig. 7, system constitutes as follows:

1) controller is input terminal, is responsible for joining A star and B star simulator input satellite preliminary orbit parameter, power model The parameters such as number, emulation period parameters, load noise parameter and satellite noise, and A star and B star simulator are controlled；

2) supplemental characteristic that A star and B star simulator receive controller generates the data such as track and posture, and reaches each mould Quasi- device；

3) load simulator includes GNSS simulator, accelerometer simulator, KBR simulator and star sensor simulator, GNSS data, accelerometer data, KBR data and star sensor data are generated respectively；

4) data collector is responsible for acquiring data caused by load simulator, and under reach ground data processing demonstration The data receiver subsystem of subsystem.

Referring to Fig. 8, the main logic process of satellite transit true environment and appearance track-like state dynamics simulation as shown, Relating generally to module includes: dynamics of orbits model (containing gravity field model, Atmospheric models etc.), Geomagnetic Field Model, environment Moment model (including atmospheric drag, solar light pressure, gravity gradient, magnetic disturbance etc.) and attitude dynamics model.

Dynamics of orbits model includes earth center gravitational acceleration and perturbation acceleration composition.Perturbation acceleration considers Earth nonspherical gravitation perturbation, three-body (life) Gravitational perturbation, solar radiation pressure perturbation, earth light pressure perturbation, the theory of relativity effect Should perturb and jet power perturbation etc. items.Wherein Earth nonspherical gravitation perturbation, which calculates, uses 120 rank gravity field models.

Claims (6)

1. a kind of low tracking Gravisat semi-physical system characterized by comprising

Simulation management controller for inputting initial parameter, and controls satellite simulator state；

Two satellite simulators, the satellite simulator include: rail control device, executing agency, sensor, load simulator and Data collector；The load simulator generates the original emulation of satellite and sees for simulating two low rail Gravity Satellites in orbit Measured data；The data collector, for acquiring the original emulation data of load simulator generation；The rail control device is used In collecting sensor data signal in satellite simulator, satellite simulator posture, track are adjusted, and controls executing agency and realizes appearance State adjustment；

Number passes controller, and the data for transmitting two satellite simulators carry out framing and storage, and are transmitted to for handling Emulate the data processing system of data；The load simulator includes GNSS simulator, accelerometer simulator, KBR simulator With star sensor simulator；The accelerometer simulator includes: displacement detection module, for detecting inspection quality in pole plate frame Position in frame；Feedback control module makes it remain at pole for passing through the position of feedback static Electric control inspection quality The center of plate framework；The satellite simulator is provided under data simulation and 30 times of rates under real satellite operating rate Data accelerate emulation.

2. the low tracking Gravisat semi-physical system of one kind according to claim 1, which is characterized in that institute Stating analogue system further includes environmental dynamics emulator, for unified time reference data, analog satellite actual trajcctorics and posture, Analog satellite running track environment defines satellite parametric reduction, and related data is reached two satellite simulators, the environmental dynamics Emulator is connected with simulation management controller and two satellite simulators respectively.

3. the low tracking Gravisat semi-physical system of one kind according to claim 1 or 2, feature exist In the analogue system further includes that data generate demo system, for monitoring the motion state of two satellite simulators, and to two Satellite health carries out Visualization Demo；The data generate demo system and are connected respectively with data collector.

4. the low tracking Gravisat semi-physical system of one kind according to claim 1, which is characterized in that institute It states after GNSS simulator receives primary data and generates GNSS by functional module and observation data generation module processing and observe data；

The functional module includes: space environment parameters simulation module, user trajectory data simulation module, space constellation and track Module, antenna diagram emulation module and space-time system conversion module.

5. the low tracking Gravisat semi-physical system of one kind according to claim 1, which is characterized in that institute It states data collector and is provided with 5 data module interfaces, 5 data module interfaces acquire KBR simulator, GNSS mould respectively The data of quasi- device, accelerometer simulator, star sensor simulator and rail control device.

6. the low tracking Gravisat semi-physical system of one kind according to claim 1, which is characterized in that institute Stating sensor includes: optical fibre gyro simulator, magnetometer simulator；

The executing agency includes: propeller simulator and magnetic torquer simulator.