CN106094563A - A kind of many spacecraft space steric information networking simulating system and the emulation mode using this system to realize - Google Patents
A kind of many spacecraft space steric information networking simulating system and the emulation mode using this system to realize Download PDFInfo
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Abstract
A kind of many spacecraft space steric information networking simulating system and the emulation mode using this system to realize, belong to many spacecraft space steric information networking arts.Solving existing many spacecraft simulations platform configuration single, each simulation unit movement dimension is limited, it is impossible to the problem of many spacecrafts information networking that simulation is complicated.Present invention employs the four-axle aircraft of six degree of freedom and based on planar translation be perpendicular to the differential driving of translation plane one-dimensional rotation and move robot as spacecraft simulation unit, by configurable WIFI and ZIGBEE technology as information interactive means, realize high accuracy position and the demarcation of attitude relatively with binocular vision system.According to different simulation requirements configuration duties, thus the analogue system of many spacecraft space steric information networking can be formed.It is mainly used in the networking of many spacecrafts.
Description
Technical field
The invention belongs to many spacecraft space steric information networking arts.
Background technology
Along with to the fierceness day by day of space resources contention and developing rapidly of military space technology, each major country of the world is equal
Strengthen the construction dynamics to space information system.Information Network is with space platform as carrier, obtains in real time, transmits and locates
The network system of reason spatial information.Its core is satellite communication network, is the further development of single satellite communication system, its culminant star
Between its key technology that must break through just such as networking, route, host-host protocol.
At present, numerous space flight department having been enter into validating in orbit stage or research of the world all pays much attention to the ground of key technology
Face checking work, establishes full physics/semi-physical simulation platform, reduces system development risk with this.Due to domestic spatial information
Networking is in the starting stage, and physical simulation experiment exists simulation equipment complexity simultaneously, development capital crosses high reason,
Domestic there is no the Physical Simulation Platform that this aspect is special.Many spacecraft simulations platform of similar functions have Harbin Institute of Technology with
The introduction of equipment Command technical college, two developing and setting up overlap based on five degree of freedom microsatellite Physical Simulation Platform, and with
Air floating platform is main distributed spacecraft emulation platform.Although the qualitative simulation of multi spacecraft system control algolithm is verified by it
Serve positive facilitation, but generally there is the confinement problems of emulation platform configuration solidification, emulate spacecraft unit
Movement dimension is single limited, and lacks the most logical communication equipment become, it is impossible to realize entering in the spacecraft in motor process
The copying of row information networking, constrains it to a great extent and applies further.In the urgent need to design and tool is built for this
Have do more physical exercises degree of freedom and enhanced scalability adaptation different task many spacecraft space steric information networking simulating system with
Meet the demand that this research direction is carried out ground matter emulation.
Summary of the invention
The present invention is single in order to solve existing many spacecraft simulations platform configuration, and each simulation unit movement dimension is subject to
Limit, it is impossible to the problem of many spacecrafts information networking that simulation is complicated.The invention provides a kind of many spacecraft space steric information
Networking simulating system and use the emulation mode that this system realizes.
A kind of many spacecraft space steric information networking simulating system, it includes multiple spacecraft simulation unit, ground control
Computer processed, display terminal, ground data storehouse terminal, total control terminal, 2 signal communication modules and No. 3 binocular camera shooting systems, described
The display signal output part of ground control computer is connected with the display signal input part of display terminal, ground control computer
Data signal input/output terminal is connected with the data signal input/output terminal of ground data storehouse terminal, ground control computer
Command signal input/output terminal is connected with the command signal input/output terminal of 2 signal communication modules, the control of ground control computer
Signal input/output terminal processed is connected with the control signal input/output terminal of total control terminal, the picture signal of ground control computer
Input/output terminal is connected with the picture signal input/output terminal of No. 3 binocular camera shooting systems,
Include each spacecraft simulation unit four-axle aircraft, differential driving move robot, two 1 signal communication modules, 1
Number binocular camera shooting system, No. 2 binocular camera shooting systems, two simulation computers；
Each differential driving move robot for complete two-dimensional space translation and be perpendicular to ground single shaft rotate,
Each four-axle aircraft has been used in simulation space, carries out the motion of six degree of freedom,
Wherein, a simulation computer, a 1 signal communication module and No. 1 binocular camera shooting system are each attached to four axle flights
The control signal input/output terminal of a simulation computer on device and described and the control signal of four-axle aircraft input/defeated
Go out end to connect, the data signal input of the data signal input/output terminal of a simulation computer and a 1 signal communication module/
Outfan connects, and the control signal input of the control signal outfan of a simulation computer and No. 1 binocular camera shooting system is even
Connecing, the image signal output end of the picture signal input of a simulation computer and No. 1 binocular camera shooting system connects,
No. 1 binocular camera shooting system is for gathering the image information around four-axle aircraft；
Another simulation computer, another 1 signal communication module and No. 2 binocular camera shooting systems are each attached to differential driving and move
The control signal input/output terminal of another simulation computer on mobile robot and described and differential driving move robot
Control signal input/output terminal connect, the data signal input/output terminal of another simulation computer with another No. 1 lead to
The data signal input/output terminal of letter module connects, the control signal outfan of another simulation computer and No. 2 binocular camera shootings
The control signal input connection of system, the picture signal input of another simulation computer and No. 2 binocular camera shooting systems
Image signal output end connects,
No. 2 binocular camera shooting systems are for gathering the image information that differential driving moves around robot；
Between multiple spacecraft simulation unit, four-axle aircraft and differential driving move robot, multiple spacecraft simulation
By the way of radio communication, information is all carried out mutual between unit and ground control computer.
1 described signal communication module includes two antenna rotators, WIFI communication module, ZIGBEE communication module, No. 1 shifting
Phase mixed-media network modules mixed-media, No. 2 phase-shift network modules, No. 1 aerial array and No. 2 aerial arrays；
WIFI communication module, No. 1 phase-shift network module and No. 1 aerial array are fixed on an antenna rotator, WIFI
First data signal input/output terminal of communication module connects with the first data signal input/output terminal of No. 1 phase-shift network module
Connect, the second data signal input/output terminal of No. 1 phase-shift network module and the data signal input/output terminal of No. 1 aerial array
Connect；
ZIGBEE communication module, No. 2 phase-shift network modules and No. 2 aerial arrays are fixed on another antenna rotator,
First data signal input of the first data signal input/output terminal of ZIGBEE communication module and No. 2 phase-shift network modules/defeated
Go out end to connect, the data signal input of the second data signal input/output terminal of No. 2 phase-shift network modules and No. 2 aerial arrays/
Outfan connects；
The data signal input/output terminal of two antenna rotators, WIFI communication module second data signal input/defeated
Go out end, the second data signal input/output terminal of ZIGBEE communication module and the data signal input/output terminal of simulation computer
It is simultaneously connected with.
1 described signal communication module is identical with the structure of 2 signal communication modules.
No. 1 described binocular camera shooting system includes 6 binocular camera and a visual processes computer；
6 described binocular camera are each attached on four-axle aircraft, and one of them binocular camera is fixed on four
Axle aircraft top, another binocular camera is fixed on bottom four-axle aircraft, and remaining 4 binocular camera are fixed respectively
In the front, rear, left and right of four-axle aircraft,
The data signal input/output terminal of 6 binocular camera and the data signal input/output of visual processes computer
End connects, and the picture signal input of the image signal output end of visual processes computer and a simulation computer connects, depending on
The control signal outfan of control signal input and a simulation computer that feel processes computer connects；
The image signal output end of visual processes computer is as the image signal output end of No. 1 binocular camera shooting system；
The control signal input of visual processes computer is as the control signal input of No. 1 binocular camera shooting system.
No. 2 described binocular camera shooting systems include 5 binocular camera and a visual processes computer；
5 described binocular camera are each attached to differential driving and move in robot, and one of them binocular camera
Being fixed on differential driving and move robot top, remaining 4 binocular camera are separately fixed at differential driving and move robot
Front, rear, left and right,
The data signal input/output terminal of 5 binocular camera and the data signal input/output of visual processes computer
End connects, and the image signal output end of visual processes computer is connected with the picture signal input of another simulation computer,
The control signal input of visual processes computer is connected with the control signal outfan of another simulation computer；
The image signal output end of visual processes computer is as the image signal output end of No. 2 binocular camera shooting systems；
The control signal input of visual processes computer is as the control signal input of No. 2 binocular camera shooting systems.
No. 2 described binocular camera shooting systems are identical with the structure of No. 1 binocular camera shooting system.
Described WIFI communication module and ZIGBEE communication module are respectively provided with transmitting power and can configure, and channel code rate can be joined
The function put.
The emulation mode that a kind of many spacecraft space steric information networking simulating system described in employing realizes, the method
Detailed process is:
Step one, communication function to many spacecraft space steric information networking simulating system are tested, test item bag
Include and antenna data is launched power, antenna data transfer rate, antenna beam angle and the demarcation of antenna rotator, it is ensured that each are four years old
The communication link that axle aircraft, differential driving move between robot and ground control computer normally works；
Step 2, each spacecraft simulation unit is sprayed paint in different colors and numbers, to many spacecraft space
The binocular visual positioning function of steric information networking simulating system, determine appearance function and test, certain normal work of each visual apparatus
Make；By the visual system in each spacecraft simulation unit, to the four-axle aircraft in its each spacecraft simulation unit and difference
Divide and drive mobile robot to carry out initial position, and the demarcation of initial attitude；
Step 3, foundation mission requirements, be distributed to control instruction respectively by 2 signal communication modules by ground control computer
In spacecraft simulation unit, four-axle aircraft is made to be in state of flight；
Step 4, sent control instruction by ground control computer, make each four-axle aircraft, differential driving move robot
In running order, and carry out communication each other as requested, to realize information networking between each spacecraft simulation unit；
Step 5, ground control computer receive, and record all emulation data that each spacecraft simulation unit sends and
Duty, and the amendment of Simulation Control, display each spacecraft simulation unit that display terminal is real-time is carried out according to emulation data
Transmitting power, received signal strength, the bit error rate, link break-make situation, position and attitude information.
It is empty that many spacecraft space steric information networking of the present invention and collaborated control simulation system are mainly used in many spacecrafts
Between the ground simulation of information network key technology, it is also possible to being directly used in spatial information networking topology and control, networking route, network
Agreement, network resource management controls and the demonstration and verification optimized.
The present invention brings and provides the benefit that, present invention employs the four-axle aircraft of six degree of freedom and based on plane two
Dimension translation and be perpendicular to the differential driving of translation plane one-dimensional rotation and move robot as spacecraft simulation unit, by joining
The WIFI put and ZIGBEE technology, as information interactive means, realize high accuracy position and attitude relatively with binocular vision system
Demarcation.According to different simulation requirements configuration duties, thus the imitative of many spacecraft space steric information networking can be formed
True system.The present invention can carry out different configuration according to mission requirements to each spacecraft simulation unit, sets up complicated space multistory
Environment, carries out the relevant emulation of information networking between spacecraft, and has good practicality and autgmentability.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of many spacecraft space steric information networking simulating system of the present invention；
Fig. 2 is 1 signal communication module and the structural representation of No. 1 binocular camera shooting system.
Detailed description of the invention
Detailed description of the invention one: see Fig. 1 and present embodiment is described, the many spacecraft space of one described in present embodiment
Steric information networking simulating system, it includes multiple spacecraft simulation unit, ground control computer 3, display terminal 4, ground
Database terminal 5, total control terminal 6,2 signal communication module 10 and No. 3 binocular camera shooting systems 11, described ground control computer 3
Display signal output part be connected with the display signal input part of display terminal 4, the data signal of ground control computer 3 is defeated
Enter/outfan is connected with the data signal input/output terminal of ground data storehouse terminal 5, the command signal of ground control computer 3
Input/output terminal is connected with the command signal input/output terminal of 2 signal communication modules 10, the control signal of ground control computer 3
Input/output terminal is connected with the control signal input/output terminal of total control terminal 6, and the picture signal of ground control computer 3 is defeated
Enter/the picture signal input/output terminal of outfan and No. 3 binocular camera shooting systems 11 connects,
Include each spacecraft simulation unit four-axle aircraft 1, differential driving move 2, two 1 signal communication modules of robot
7, No. 1 binocular camera shooting system 8-1, No. 2 binocular camera shooting systems 8-2, two simulation computers 9；
Each differential driving move robot 2 for complete two-dimensional space translation and be perpendicular to ground single shaft rotate,
Each four-axle aircraft 1 has been used in simulation space, carries out the motion of six degree of freedom,
Wherein, 9,1 signal communication module 7 of a simulation computer and No. 1 binocular camera shooting system 8-1 are each attached to four axles
The control signal input/output terminal of a simulation computer 9 on aircraft 1 and described and the control signal of four-axle aircraft 1
Input/output terminal connects, the data signal input/output terminal of a simulation computer 9 and the data of a 1 signal communication module 7
Signal input/output terminal connects, the control signal outfan of a simulation computer 9 and the control of No. 1 binocular camera shooting system 8-1
Signal input part connects, the picture signal input of a simulation computer 9 and the picture signal of No. 1 binocular camera shooting system 8-1
Outfan connects,
No. 1 binocular camera shooting system 8-1 is for gathering the image information around four-axle aircraft 1；
Another simulation computer 9, another 1 signal communication module 7 and No. 2 binocular camera shooting systems 8-2 are each attached to difference
Drive in mobile robot 2, and the control signal input/output terminal of another described simulation computer 9 is moved with differential driving
The control signal input/output terminal of mobile robot 2 connects, and the data signal input/output terminal of another simulation computer 9 is with another
The data signal input/output terminal of one 1 signal communication module 7 connects, the control signal outfan of another simulation computer 9 with
The control signal input of No. 2 binocular camera shooting systems 8-2 connects, the picture signal input of another simulation computer 9 and No. 2
The image signal output end of binocular camera shooting system 8-2 connects,
No. 2 binocular camera shooting systems 8-2 move the image information around robot 2 for gathering differential driving；
Between multiple spacecraft simulation unit, four-axle aircraft 1 moves robot 2 with differential driving, multiple spacecraft is imitated
By the way of radio communication, information is all carried out mutual between true unit and ground control computer 3.
Present embodiment, one many spacecraft space steric information networking simulating system of the present invention is by four part structures
Become, including: basic platform unit, wireless communication system, binocular visual positioning, attitude determination system, ground control system.
Between multiple spacecraft simulation unit, four-axle aircraft 1 moves robot 2 with differential driving, multiple spacecraft is imitated
By the way of radio communication, information is all carried out mutual between true unit and ground control computer 3,
Configured by the wireless kinestate carrying out each spacecraft simulation unit, set up the spacecraft configuation environment of time-varying,
Configuration in conjunction with communication module, it is achieved information networking, this networking is adjusted by network topology skill, route technology, agreement cross-layer resource
Technology of joining realizes.
No. 1 binocular camera shooting system 8-1 and No. 2 binocular camera shooting systems 8-2 that arrange in spacecraft simulation unit are used for realizing
High accuracy between each base unit determines relative to position demarcates with attitude；
Ground data storehouse terminal 5 is for storing and record data and the simulation result of all downloads, and total control terminal 6 is for real
Now reach instruction.
Detailed description of the invention two: see Fig. 1 and Fig. 2 and present embodiment, present embodiment and detailed description of the invention one are described
The difference of described a kind of many spacecraft space steric information networking simulating system is, 1 described signal communication module 7 includes two
Individual antenna rotator 7-1, WIFI communication module 7-2, ZIGBEE communication module 7-3, No. 1 phase-shift network module 7-4, No. 2 phase shifts
Mixed-media network modules mixed-media 7-5, No. 1 aerial array 7-6 and No. 2 aerial array 7-7；
WIFI communication module 7-2, No. 1 phase-shift network module 7-4 and No. 1 aerial array 7-6 are fixed on an antenna and rotate
On device 7-1, the first data signal input/output terminal of WIFI communication module 7-2 counts with the first of No. 1 phase-shift network module 7-4
The number of it is believed that input/output terminal connects, the second data signal input/output terminal of No. 1 phase-shift network module 7-4 and No. 1 antenna array
The data signal input/output terminal of row 7-6 connects；
ZIGBEE communication module 7-3, No. 2 phase-shift network modules 7-5 and No. 2 aerial array 7-7 are fixed on another antenna
On rotator 7-1, the first data signal input/output terminal of ZIGBEE communication module 7-3 and No. 2 phase-shift network modules 7-5
First data signal input/output terminal connects, the second data signal input/output terminal of No. 2 phase-shift network modules 7-5 and No. 2
The data signal input/output terminal of aerial array 7-7 connects；
The data signal input/output terminal of two antenna rotator 7-1, the second data signal of WIFI communication module 7-2
Input/output terminal, the second data signal input/output terminal of ZIGBEE communication module 7-3 and the data signal of simulation computer 9
Input/output terminal is simultaneously connected with.
Present embodiment, each differential driving moves robot 2, four-axle aircraft 1, ground control computer 3 are all equipped
WIFI and ZIGBEE communication module, can carry out the data down transmission of spacecraft simulation unit, constructing communication network each other and
The instruction of ground control computer 3 is uploaded.
WIFI communication module 7-2 and ZIGBEE communication module 7-3 have the adjustable feature in antenna beam angle, and (a) can pass through
Configuration motor carries out the rotation of antenna, and b, by the control to phase-shift network, carries out the adjustment at antenna beam angle.
The present invention both can pass through WIFI communication module 7-2 and ZIGBEE communication module 7-3 to No. 1 phase-shift network module 7-
The control realization of the current feed phase of 4, No. 2 phase-shift network modules 7-5 control to antenna beam angle, it is also possible to by antenna is revolved
The control turning device 7-1 adjusts antenna sensing, is finally reached the control to radiant power.
Detailed description of the invention three: present embodiment and the one many spacecraft space solid letter described in detailed description of the invention two
The difference of breath networking simulating system is, 1 described signal communication module 7 is identical with the structure of 2 signal communication modules 10.
Detailed description of the invention four: present embodiment is stood with the many spacecraft space of one described in detailed description of the invention one or two
The difference of body information networking simulating system is, No. 1 described binocular camera shooting system 8-1 include 6 binocular camera 8-1-1 and
One visual processes computer 8-1-2；
6 described binocular camera 8-1-1 are each attached on four-axle aircraft 1, and one of them binocular camera 8-
1-1 is fixed on four-axle aircraft 1 top, and another binocular camera 8-1-1 is fixed on bottom four-axle aircraft 1, remaining 4
Binocular camera 8-1-1 is separately fixed at the front, rear, left and right of four-axle aircraft 1,
The data letter of the data signal input/output terminal of 6 binocular camera 8-1-1 and visual processes computer 8-1-2
Number input/output terminal connects, the image signal output end of visual processes computer 8-1-2 and the image of a simulation computer 9
Signal input part connects, the control signal input of visual processes computer 8-1-2 and the control signal of a simulation computer 9
Outfan connects；
The image signal output end of visual processes computer 8-1-2 is defeated as the picture signal of No. 1 binocular camera shooting system 8-1
Go out end；
The control signal input of visual processes computer 8-1-2 is defeated as the control signal of No. 1 binocular camera shooting system 8-1
Enter end.
Present embodiment, 6 binocular camera 8-1-1 installation directions that four-axle aircraft 1 is installed are, wherein 4 difference
Outside for decile horizontal plane, two other is for being perpendicular to horizontal plane upwards with downwards, respectively to four-axle aircraft 1 upper and lower,
The directional image collection of 6, left, right, front and rear.
Detailed description of the invention five: present embodiment is stood with the many spacecraft space of one described in detailed description of the invention one or two
The difference of body information networking simulating system is, No. 2 described binocular camera shooting systems 8-2 include 5 binocular camera 8-1-1 and
One visual processes computer 8-1-2；
5 described binocular camera 8-1-1 are each attached to differential driving and move in robot 2, and one of them binocular
The differential driving that is fixed on photographic head 8-1-1 moves robot 2 top, and remaining 4 binocular camera 8-1-1 are separately fixed at difference
Divide the front, rear, left and right driving mobile robot 2,
The data letter of the data signal input/output terminal of 5 binocular camera 8-1-1 and visual processes computer 8-1-2
Number input/output terminal connects, the image signal output end of visual processes computer 8-1-2 and the figure of another simulation computer 9
Image signal input connects, the control signal input of visual processes computer 8-1-2 and the control of another simulation computer 9
Signal output part connects；
The image signal output end of visual processes computer 8-1-2 is defeated as the picture signal of No. 2 binocular camera shooting systems 8-2
Go out end；
The control signal input of visual processes computer 8-1-2 is defeated as the control signal of No. 2 binocular camera shooting systems 8-2
Enter end.
Present embodiment, differential driving moves 5 binocular camera 8-1-1 installation directions of robot 2 installation and is, wherein
Four are outwards respectively decile plane of movement, and another one is for being perpendicular to plane of movement upwards, for differential driving moving machine
Upper, the image acquisition in five directions, front, rear, left and right of device people 2.
Simulation computer 9 is the primary control of each spacecraft simulation unit, is responsible for operational network control algolithm, it is achieved
Visual processes computer 8-1-2,1 signal communication module 7 and each differential driving are moved on robot 2 and four-axle aircraft 1
The process of motion control computer information and control.
Simulation computer 9 is by realizing and ground with the data interaction of WIFI communication module 7-2, ZIGBEE communication module 7-3
Face and the information sharing of other simulation unit, and according to the bit rate of predetermined algorithm autonomous configuration communication module, launch merit
Rate, time delay and control antenna rotator 7-1, to create the communication condition meeting simulation requirements；Surface instruction can also be passed through
The motion control computer carrying out moving communication module and each differential driving in robot 2 and four-axle aircraft 1 assigns control
System instruction.
Detailed description of the invention six: present embodiment and the one many spacecraft space solid letter described in detailed description of the invention five
The difference of breath networking simulating system is, No. 2 described binocular camera shooting systems 8-2 and the structure of No. 1 binocular camera shooting system 8-1 are complete
Exactly the same.
Detailed description of the invention seven: present embodiment and the one many spacecraft space solid letter described in detailed description of the invention two
The difference of breath networking simulating system is, described WIFI communication module 7-2 and ZIGBEE communication module 7-3 are respectively provided with transmitting merit
Rate can configure, the configurable function of channel code rate.
Present embodiment, described WIFI communication module 7-2 and ZIGBEE communication module 7-3 are respectively provided with transmitting power and can join
Put, the configurable function of channel code rate, it is possible to achieve the displacement simulated between each spacecraft from the signal attenuation caused and enters
The corresponding network topology of row and resources configuration management control.
Detailed description of the invention eight: use the one many spacecraft space steric information networking described in detailed description of the invention one to imitate
The emulation mode that true system realizes, the detailed process of the method is:
Step one, communication function to many spacecraft space steric information networking simulating system are tested, test item bag
Include and antenna data is launched power, antenna data transfer rate, antenna beam angle and the demarcation of antenna rotator 7-1, it is ensured that be each
The communication link that individual four-axle aircraft 1, differential driving move between robot 2 and ground control computer 3 normally works；
Step 2, each spacecraft simulation unit is sprayed paint in different colors and numbers, to many spacecraft space
The binocular visual positioning function of steric information networking simulating system, determine appearance function and test, certain normal work of each visual apparatus
Make；By the visual system in each spacecraft simulation unit, to the four-axle aircraft 1 in its each spacecraft simulation unit and poor
Divide and drive mobile robot 2 to carry out initial position, and the demarcation of initial attitude；
Step 3, foundation mission requirements, distributed control instruction by 2 signal communication modules 10 by ground control computer 3
In each spacecraft simulation unit, four-axle aircraft 1 is made to be in state of flight；
Step 4, sent control instruction by ground control computer 3, make each four-axle aircraft 1, differential driving move machine
People 2 is in running order, and carries out communication each other as requested, to realize information group between each spacecraft simulation unit
Net；
Step 5, ground control computer 3 receive, and record all emulation data that each spacecraft simulation unit sends and
Duty, and the amendment of Simulation Control, display each spacecraft simulation unit that display terminal 4 is real-time is carried out according to emulation data
Transmitting power, received signal strength, the bit error rate, link break-make situation, position and attitude information.
In present embodiment, each differential driving moves robot 2 can use different colours with four-axle aircraft 1 outer surface
Pattern sprays paint and reaches the individual purpose identifying and determining with relative attitude.
Visual processes computer 8-1-2, is responsible for the unified image information collecting the collection of binocular camera 8-1-1 and counts
Calculate, draw the numbering of remaining spacecraft simulation unit in visual field, relative position and attitude information by result of calculation comparison, emulation
Computer 9 using the different simulation unit that get relative to position and attitude information as input quantity, obtain in conjunction with other control condition
Go out control instruction, control instruction is sent into four-axle aircraft 1 and differential driving and moves the motion control computer of robot 2, real
The now dynamics Controlling to each spacecraft simulation unit；
Display terminal 4 receives all emulation data that each spacecraft simulation unit is sent, including telemetry, headend equipment
Gather data and duty, it is provided that the man machine interface that user is good, the various ways such as text, curve, figure can be used to show
Data, and the data query and analysis means that user enriches is provided, make emulation personnel can grasp simulation process quickly, comprehensively,
Realize making full use of of emulation data.
The artificial intelligence that terminal 5 omnidistance record in ground data storehouse gathers is easy to inquiry afterwards, retrieval, and carries in application layer
For WEB-browsing services, emulation data, simulation status, emulator command etc. can be inquired about, reappear simulation process.
Total control terminal 6 has the sending function of individual instructions or job sequence, to simulation process implementation centralized Control, but not
Possess and telemetry is carried out automatic interpretation function.
Claims (8)
1. the steric information networking simulating system of spacecraft space more than, it includes that multiple spacecraft simulation unit, ground control
Computer (3), display terminal (4), ground data storehouse terminal (5), total control terminal (6), 2 signal communication modules (10) and No. 3 binoculars
Camera system (11), the display signal output part of described ground control computer (3) is defeated with the display signal of display terminal (4)
Enter end to connect, the data signal input/output terminal of ground control computer (3) and the data signal in ground data storehouse terminal (5)
Input/output terminal connects, the command signal input/output terminal of ground control computer (3) and the instruction of 2 signal communication modules (10)
Signal input/output terminal connects, the control signal input/output terminal of ground control computer (3) and the control of total control terminal (6)
Signal input/output terminal connects, the picture signal input/output terminal of ground control computer (3) and No. 3 binocular camera shooting systems
(11) picture signal input/output terminal connects,
It is characterized in that, each spacecraft simulation unit include four-axle aircraft (1), differential driving move robot (2), two
1 signal communication module (7), No. 1 binocular camera shooting system (8-1), No. 2 binocular camera shooting systems (8-2), two simulation computers (9)；
Each differential driving move robot (2) be used for two-dimensional space translation and be perpendicular to ground single shaft rotate,
Each four-axle aircraft (1) has been used in simulation space, carries out the motion of six degree of freedom,
Wherein, a simulation computer (9), a 1 signal communication module (7) and No. 1 binocular camera shooting system (8-1) are each attached to four
The control signal input/output terminal of a simulation computer (9) on axle aircraft (1) and described and four-axle aircraft (1)
Control signal input/output terminal connects, the data signal input/output terminal of a simulation computer (9) and a 1 signal communication mould
The data signal input/output terminal of block (7) connects, the control signal outfan of a simulation computer (9) and No. 1 binocular camera shooting
The control signal input of system (8-1) connects, the picture signal input of a simulation computer (9) and No. 1 binocular camera shooting
The image signal output end of system (8-1) connects,
No. 1 binocular camera shooting system (8-1) is used for gathering four-axle aircraft (1) image information around；
It is poor that another simulation computer (9), another 1 signal communication module (7) and No. 2 binocular camera shooting systems (8-2) are each attached to
Point drive on mobile robot (2), and the control signal input/output terminal of described another simulation computer (9) and difference
The control signal input/output terminal driving mobile robot (2) connects, and the data signal input of another simulation computer (9)/
Outfan is connected with the data signal input/output terminal of another 1 signal communication module (7), the control of another simulation computer (9)
The control signal input of signal output part processed and No. 2 binocular camera shooting systems (8-2) connects, another simulation computer (9)
The image signal output end of picture signal input and No. 2 binocular camera shooting systems (8-2) connects,
No. 2 binocular camera shooting systems (8-2) are used for gathering differential driving and move robot (2) image information around；
Between multiple spacecraft simulation unit, four-axle aircraft (1) moves robot (2) with differential driving, multiple spacecraft is imitated
By the way of radio communication, information is all carried out mutual between true unit and ground control computer (3).
One many spacecraft space steric information networking simulating system the most according to claim 1, it is characterised in that described
1 signal communication module (7) include two antenna rotators (7-1), WIFI communication module (7-2), ZIGBEE communication module (7-
3), No. 1 phase-shift network module (7-4), No. 2 phase-shift network modules (7-5), No. 1 aerial array (7-6) and No. 2 aerial array (7-
7)；
WIFI communication module (7-2), No. 1 phase-shift network module (7-4) and No. 1 aerial array (7-6) are fixed on an antenna rotation
Turn on device (7-1), the first data signal input/output terminal of WIFI communication module (7-2) and No. 1 phase-shift network module (7-4)
First data signal input/output terminal connect, the second data signal input/output terminal of No. 1 phase-shift network module (7-4) with
The data signal input/output terminal of No. 1 aerial array (7-6) connects；
ZIGBEE communication module (7-3), No. 2 phase-shift network modules (7-5) and No. 2 aerial arrays (7-7) are fixed on another sky
On line rotator (7-1), the first data signal input/output terminal of ZIGBEE communication module (7-3) and No. 2 phase-shift network modules
(7-5) the first data signal input/output terminal connects, the second data signal input of No. 2 phase-shift network modules (7-5)/defeated
Go out end to be connected with the data signal input/output terminal of No. 2 aerial arrays (7-7)；
The data signal input/output terminal of two antenna rotators (7-1), the second data signal of WIFI communication module (7-2)
Input/output terminal, the second data signal input/output terminal of ZIGBEE communication module (7-3) and the data of simulation computer (9)
Signal input/output terminal is simultaneously connected with.
One many spacecraft space steric information networking simulating system the most according to claim 2, it is characterised in that described
1 signal communication module (7) identical with the structure of 2 signal communication modules (10).
One many spacecraft space steric information networking simulating system the most according to claim 1 and 2, it is characterised in that
No. 1 described binocular camera shooting system (8-1) includes 6 binocular camera (8-1-1) and a visual processes computer (8-1-
2)；
6 described binocular camera (8-1-1) are each attached on four-axle aircraft (1), and one of them binocular camera (8-
1-1) being fixed on four-axle aircraft (1) top, another binocular camera (8-1-1) is fixed on four-axle aircraft (1) bottom, surplus
4 remaining binocular camera (8-1-1) are separately fixed at the front, rear, left and right of four-axle aircraft (1),
The data letter of the data signal input/output terminal of 6 binocular camera (8-1-1) and visual processes computer (8-1-2)
Number input/output terminal connects, the image signal output end of visual processes computer (8-1-2) and a simulation computer (9)
Picture signal input connects, the control signal input of visual processes computer (8-1-2) and a simulation computer (9)
Control signal outfan connects；
The image signal output end of visual processes computer (8-1-2) is defeated as the picture signal of No. 1 binocular camera shooting system (8-1)
Go out end；
The control signal input of visual processes computer (8-1-2) is defeated as the control signal of No. 1 binocular camera shooting system (8-1)
Enter end.
One many spacecraft space steric information networking simulating system the most according to claim 1 and 2, it is characterised in that
No. 2 described binocular camera shooting systems (8-2) include 5 binocular camera (8-1-1) and a visual processes computer (8-1-
2)；
5 described binocular camera (8-1-1) are each attached to differential driving and move in robot (2), and one of them binocular
The differential driving that is fixed on photographic head (8-1-1) moves robot (2) top, and remaining 4 binocular camera (8-1-1) are solid respectively
It is scheduled on differential driving and moves the front, rear, left and right of robot (2),
The data letter of the data signal input/output terminal of 5 binocular camera (8-1-1) and visual processes computer (8-1-2)
Number input/output terminal connects, the image signal output end of visual processes computer (8-1-2) and another simulation computer (9)
Picture signal input connect, the control signal input of visual processes computer (8-1-2) and another simulation computer
(9) control signal outfan connects；
The image signal output end of visual processes computer (8-1-2) is defeated as the picture signal of No. 2 binocular camera shooting systems (8-2)
Go out end；
The control signal input of visual processes computer (8-1-2) is defeated as the control signal of No. 2 binocular camera shooting systems (8-2)
Enter end.
One many spacecraft space steric information networking simulating system the most according to claim 5, it is characterised in that described
No. 2 binocular camera shooting systems (8-2) identical with the structure of No. 1 binocular camera shooting system (8-1).
One many spacecraft space steric information networking simulating system the most according to claim 2, it is characterised in that described
WIFI communication module (7-2) and ZIGBEE communication module (7-3) be respectively provided with transmitting power can configure, channel code rate can configure
Function.
8. use the emulation mode that a kind of many spacecraft space steric information networking simulating system described in claim 1 realizes,
It is characterized in that, the detailed process of the method is:
Step one, communication function to many spacecraft space steric information networking simulating system are tested, and test item includes right
Antenna data launches power, antenna data transfer rate, antenna beam angle and the demarcation of antenna rotator (7-1), it is ensured that each
The communication link that four-axle aircraft (1), differential driving move between robot (2) and ground control computer (3) normally works；
Step 2, each spacecraft simulation unit is sprayed paint in different colors and numbers, three-dimensional to many spacecraft space
The binocular visual positioning function of information networking simulating system, determining appearance function and test, certain each visual apparatus normally works；Logical
Cross the visual system in each spacecraft simulation unit, to the four-axle aircraft (1) in its each spacecraft simulation unit and difference
Mobile robot (2) is driven to carry out initial position, and the demarcation of initial attitude；
Step 3, foundation mission requirements, distributed control instruction by 2 signal communication modules (10) by ground control computer (3)
In each spacecraft simulation unit, four-axle aircraft (1) is made to be in state of flight；
Step 4, sent control instruction by ground control computer (3), make each four-axle aircraft (1), differential driving move machine
People (2) is in running order, and carries out communication each other as requested, to realize information between each spacecraft simulation unit
Networking；
Step 5, ground control computer (3) receive, and record all emulation data and the work that each spacecraft simulation unit is sent
Make state, and carry out the amendment of Simulation Control, display each spacecraft simulation unit that display terminal (4) is real-time according to emulation data
Transmitting power, received signal strength, the bit error rate, link break-make situation, position and attitude information.
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