CN106125749A - The teleoperation method of a kind of spacecraft and device - Google Patents
The teleoperation method of a kind of spacecraft and device Download PDFInfo
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- CN106125749A CN106125749A CN201610569866.3A CN201610569866A CN106125749A CN 106125749 A CN106125749 A CN 106125749A CN 201610569866 A CN201610569866 A CN 201610569866A CN 106125749 A CN106125749 A CN 106125749A
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- spacecraft
- time
- parameter
- delay
- kinematic parameter
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention relates to teleoperation method and the device of a kind of spacecraft, method includes: receive hand-held data information, described hand-held data information is converted into kinematic parameter and the control instruction of spacecraft；Described kinematic parameter and described control instruction are carried out form conversion, generates and inject instruction, and be sent to described spacecraft；Receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include the position and attitude data of described spacecraft；According to described downlink telemetry data, described kinematic parameter and delay parameter, the current location of described spacecraft is calculated and be shown.The teleoperation method of the spacecraft that the present invention provides and device, by delay parameter, the position and attitude delayed when showing spacecraft exactly, improve the accuracy of Time-delay Prediction.
Description
Technical field
The present invention relates to communication technical field, particularly relate to teleoperation method and the device of a kind of spacecraft.
Background technology
In recent years, along with spacecraft technology develops rapidly, kind and the function of spacecraft constantly promote.Distant to spacecraft
The accuracy requirement of operation is more and more higher.
Space teleoperation mainly uses Off-line control at present, is controlled spacecraft by the control instruction previously generated
System, and shown the emulation mode of spacecraft intuitively to operator by VR technology, thus complete Space teleoperation Mission Operations.
Under deep space state, upload control instruction is very big at the transmission delay of space communication link, the peace to spacecraft
Entirely will produce vital impact.But, existing Space teleoperation do not account for telemetry command send during time
Prolong.The precision causing remote operating reduces, thus reduces the safety of system.
The information being disclosed in this background section is merely intended to increase the understanding of the general background to the present invention, and should not
When being considered to recognize or imply in any form this information structure prior art well known to persons skilled in the art.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is, how to provide teleoperation method and the dress of a kind of spacecraft
Put, it is possible to increase the precision of remote operating, thus improve safety.
For solving above technical problem, the present invention provides the teleoperation method of a kind of spacecraft in first aspect, including:
Receive hand-held data information, described hand-held data information is converted into kinematic parameter and the control instruction of spacecraft；
Described kinematic parameter and described control instruction are carried out form conversion, generates and inject instruction, and be sent to described boat
It device；
Receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include the position of described spacecraft
Attitude data；
According to described downlink telemetry data, described kinematic parameter and delay parameter, described spacecraft is calculated and be shown
Current location.
In a kind of possible implementation, described delay parameter includes:
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data letter
The difference of the time of breath；
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to boat
The difference of the time of it device；
3rd time delay, the time starting change for the position and attitude of described spacecraft receives described note with described spacecraft
Enter the difference of the time of instruction.
In a kind of possible implementation, described delay parameter also includes that advance estimate modification value, described advance estimate modification value are
When first described spacecraft being carried out motor control, by described spacecraft is demarcated obtained to described delay parameter
Correction value.
In a kind of possible implementation, described according to described downlink telemetry data, described kinematic parameter and time delay
Parameter, the current location that described spacecraft is calculated and be shown includes:
The transmission Time Calculation display time according to described delay parameter and described spacecraft downlink telemetry data；
Using the position and attitude data in described downlink telemetry data as initial value, according to described kinematic parameter and described aobvious
Show the Space Vehicle position attitude that Time Calculation is estimated；
The Space Vehicle position attitude estimated described in display.
In a kind of possible implementation, the described kinematic parameter that described hand-held data information is converted into spacecraft and
Control instruction includes:
Walking manner according to spacecraft sets up the mapping relations of described hand-held data information and described kinematic parameter；
According to described mapping relations, described hand-held data information is converted to the kinematic parameter of described spacecraft.
The present invention provides the remote operating device of a kind of spacecraft in second aspect, including:
Conversion module, is used for receiving hand-held data information, and described hand-held data information is converted into the motion ginseng of spacecraft
Number and control instruction；
Injecting instruction sending module, for described kinematic parameter and described control instruction being carried out form conversion, generating note
Enter instruction, and be sent to described spacecraft；
Receiver module, for receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include institute
State the position and attitude data of spacecraft；
Computing module, for according to described downlink telemetry data, described kinematic parameter and delay parameter, is calculated and be shown
The current location of described spacecraft.
In a kind of possible implementation, the delay parameter in described computing module includes:
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data letter
The difference of the time of breath；
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to boat
The difference of the time of it device；
3rd time delay, the time starting change for the position and attitude of described spacecraft receives described note with described spacecraft
Enter the difference of the time of instruction.
In a kind of possible implementation, the delay parameter in described computing module also includes advance estimate modification value, described
When advance estimate modification value is for carrying out motor control to described spacecraft first, by described spacecraft being demarcated obtained right
The correction value of described delay parameter.
In a kind of possible implementation, described computing module is additionally operable to according to described delay parameter and described spacecraft
The transmission Time Calculation display time of downlink telemetry data；
Using the position and attitude data in described downlink telemetry data as initial value, according to described kinematic parameter and described aobvious
Show the Space Vehicle position attitude that Time Calculation is estimated；
The Space Vehicle position attitude estimated described in display.
In a kind of possible implementation, described conversion module is additionally operable to the walking manner according to spacecraft and sets up described
Hand-held data information and the mapping relations of described kinematic parameter；
According to described mapping relations, described hand-held data information is converted to the kinematic parameter of described spacecraft.
The teleoperation method of the spacecraft that the present invention provides and device, by receiving hand-held data information, according to manual number
It is believed that kinematic parameter and the control instruction of the spacecraft that breath is converted into generate and inject instruction, and be sent to described spacecraft, receive
The downlink telemetry data that described spacecraft sends, according to described downlink telemetry data, described kinematic parameter and delay parameter, meter
Calculate and show the current location of described spacecraft, by delay parameter, the position and attitude delayed when showing spacecraft accurately, carry
The accuracy of high Time-delay Prediction.
According to below with reference to the accompanying drawings detailed description of illustrative embodiments, the further feature of the present invention and aspect being become
Clear.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates the present invention's with description
Exemplary embodiment, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the flow chart of the teleoperation method of the spacecraft that one embodiment of the invention provides；
Fig. 2 illustrates the flow chart of the teleoperation method of the spacecraft that another embodiment of the present invention provides；
Fig. 3 illustrates the structural representation of the remote operating device of the spacecraft that one embodiment of the invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the detailed description of the invention of the present invention is described in detail, it is to be understood that the guarantor of the present invention
Scope of protecting is not limited by detailed description of the invention.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.Unless
Separately have other to explicitly indicate that, otherwise in entire disclosure and claims, term " include " or its conversion such as " comprising " or
" include " etc. and will be understood to comprise stated element or ingredient, and do not get rid of other element or other composition
Part.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous details.
It will be appreciated by those skilled in the art that do not have some detail, the present invention equally implements.In some instances, for
Method well known to those skilled in the art, means, element are not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the flow chart of the teleoperation method of the spacecraft that one embodiment of the invention provides, as it is shown in figure 1, should
Method includes:
Step S1, receives hand-held data information, described hand-held data information is converted into kinematic parameter and the control of spacecraft
System instruction；
Specifically, hand-held data information is operator when being controlled handheld device, the output data of handheld device.
Step S2, carries out form conversion to described kinematic parameter and described control instruction, generates and injects instruction, and is sent to
Described spacecraft；
Specifically, the form of frame can be injected by remote control, the kinematic parameter after conversion and control instruction are sent to boat
It device.Spacecraft, according to the control instruction received and kinematic parameter, carries out action.And at certain time interval, Xiang Di
Face control unit sends downlink telemetry data.
Step S3, receives the downlink telemetry data that described spacecraft sends, and described downlink telemetry data include described space flight
The position and attitude data of device.
Downlink telemetry data can also include, the information such as the descending mileage of spacecraft, electrical parameter, and sends descending distant
Survey transmission time during data.
Step S4, according to described downlink telemetry data, described kinematic parameter and delay parameter, is calculated and be shown described boat
The current location of it device.
Thus, by receiving hand-held data information, the kinematic parameter of the spacecraft being converted into according to hand-held data information and
Control instruction generates injects instruction, and is sent to described spacecraft, receives the downlink telemetry data that described spacecraft sends, according to
Described downlink telemetry data, described kinematic parameter and delay parameter, be calculated and be shown the current location of described spacecraft.Pass through
Delay parameter, the position and attitude delayed when showing spacecraft accurately, the accuracy of the Time-delay Prediction that improve.
Preferably, delay parameter may include that the first time delay, the second time delay and the 3rd time delay.
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data letter
The difference of the time of breath.
Specifically, the first time delay can be by being calculated.Drawn by the control flow analysis of internal system, and can
Test process accurately calculates.
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to boat
The difference of the time of it device.
Specifically, the second time delay and up-link bit rate, telecommand frame length, spacecraft are relevant away from ground level.
Can draw according to other survey of deep space task is calculated.
3rd time delay, the time starting change for the position and attitude of described spacecraft receives described note with described spacecraft
Enter the difference of the time of instruction.
Specifically, the 3rd time delay cannot accurately calculate, but when can carry out ground experiment by spacecraft carries out data
Analyze and statistics draws.
Thus, by measuring and calculating in ground experiment and other survey of deep space task draw the first time delay, the second time delay, the
Three time delays, the accuracy of the Time-delay Prediction that improve.
Further, delay parameter also includes advance estimate modification value, and advance estimate modification value is for transport described spacecraft first
During dynamic control, by described spacecraft being demarcated the correction value to described delay parameter obtained.
Calibration process is as follows: first control spacecraft motion, after motion terminates, and the Space Vehicle position data of record prediction
And obtain the position data in spacecraft telemetry, calculate the Space Vehicle position of the position data in telemetry and prediction
The difference of data, according to the movement velocity of spacecraft, calculates advance estimate modification value.
Thus, by arranging advance estimate modification value, carry out when the space motor control first of spacecraft demarcating 1-3 time, time
Prolong parameter to be modified.The safety of spacecraft can be ensured further.
Embodiment two
Fig. 2 illustrates the flow chart of the teleoperation method of the spacecraft that another embodiment of the present invention provides, in fig. 2 with figure
1 step using same reference numerals, is all applicable to identical explanatory note, does not repeats them here with Fig. 1.
Refer to Fig. 2, step S1 in embodiment one, the described motion that described hand-held data information is converted into spacecraft
Parameter and control instruction can specifically include:
Step S101, sets up the mapping of described hand-held data information and described kinematic parameter according to the walking manner of spacecraft
Relation；
Specifically, the walking manner of spacecraft includes: straight line moving, by motion modes such as curvature walking, pivot turns, no
Same walking manner hand-held data information is different from the mapping relations of described kinematic parameter.
Step S102, according to described mapping relations, is converted to the motion ginseng of described spacecraft by described hand-held data information
Number.
Step S4 in embodiment one, described according to described downlink telemetry data, described kinematic parameter and delay parameter,
The current location that described spacecraft is calculated and be shown can specifically include:
Step S401, when showing according to the transmission Time Calculation of described delay parameter and described spacecraft downlink telemetry data
Between；
Step S402, using the position and attitude data in described downlink telemetry data as initial value, according to described motion ginseng
The Space Vehicle position attitude that number and described display Time Calculation are estimated；
Step S403, the Space Vehicle position attitude estimated described in display.
Specifically, existing virtual display, when being typically spacecraft transmission downlink telemetry data of display, spacecraft
Position and attitude.Owing to, under deep space state, up-on command control instruction is very big, from note at the transmission delay of space communication link
Enter instruction be sent to spacecraft receive injection instruction setting in motion, to terrestrial contr receive spacecraft send remote measurement
Data, the position and attitude of spacecraft can produce certain deviation, if at display screen with position and attitude when sending downlink telemetry data
Upper display spacecraft sends the position and attitude of downlink telemetry data, makes operator control spacecraft in real time, can produce position
Putting error, the safety on spacecraft will produce vital impact.
By delay parameter and the transmission time of spacecraft downlink telemetry data, the display time can be calculated.By descending
Position and attitude data in telemetry, as initial value, according to described kinematic parameter and described display time, can calculate
Through time the position and attitude of spacecraft delayed, as the Space Vehicle position attitude estimated；The Space Vehicle position appearance that display is estimated
State, makes the position and attitude that operator delays when can see spacecraft accurately.Such as, delay parameter is τu, spacecraft descending
The kinematic parameter v of position and attitude data and hand-held data information, the t ' time in motor process, is calculated and be shown t '+τu
The position and attitude P of spacecraft (t '+τu), simulate the task scene of this time.
P(t'+τu)=f (τu, v)
Thus, the time is shown by the transmission Time Calculation of delay parameter and downlink telemetry data, by described downlink telemetry
Position and attitude data in data are as initial value, the Space Vehicle position appearance estimated according to kinematic parameter and display Time Calculation
State.The kinestate of the spacecraft delayed during by display current time plus up-on command, ensures spacecraft further
Safety.
In a kind of possible implementation, handheld device can be set, receive the command information of operator.Analog meter
The descending mileage of dash board display spacecraft and electrical parameter, virtual scene display device, the Space Vehicle position attitude that display is estimated, side
Just spacecraft is controlled by operator in real time.
Concrete process can include, operator arranges spacecraft motion path, system opponent by controlling handheld device
Control equipment carries out data sampling, and is converted to the kinematic parameter of spacecraft, and then these control upper according to spacecraft of parameters
It is that frame is injected in remote control that row injects control Data Format Transform, is sent to spacecraft by space communication link.Spacecraft receives
After motor control injects instruction, perform according to its predetermined way, complete once to move.Spacecraft sends descending according to certain frequency
Telemetry, is sent its kinestate and other parameter to ground control centre by space communication link, and ground controls
Center, according to the descending position and attitude data of spacecraft and test parameters, generates revised Space Vehicle position attitude data,
Generate the moving scene that spacecraft is virtual.
Thus, operator, according to motor process virtual, that prediction scene observes spacecraft, sends control instruction, real
The remote real_time control of existing spacecraft.
Embodiment 3
Fig. 3 illustrates the structural representation of the remote operating device of the spacecraft that one embodiment of the invention provides, such as Fig. 3 institute
Showing, this device includes: conversion module 110, injection instruction sending module 120, receiver module 130 and computing module 140.
Conversion module 110, is used for receiving hand-held data information, and described hand-held data information is converted into the motion of spacecraft
Parameter and control instruction；
Inject instruction sending module 120, for described kinematic parameter and described control instruction are carried out form conversion, generate
Inject instruction, and be sent to described spacecraft；
Receiver module 130, for receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include
The position and attitude data of described spacecraft；
Computing module 140, for according to described downlink telemetry data, described kinematic parameter and delay parameter, calculates also
Show the current location of described spacecraft.
Thus, by receiving hand-held data information, the kinematic parameter of the spacecraft being converted into according to hand-held data information and
Control instruction generates injects instruction, and is sent to described spacecraft, receives the downlink telemetry data that described spacecraft sends, according to
Described downlink telemetry data, described kinematic parameter and delay parameter, be calculated and be shown the current location of described spacecraft.Pass through
Delay parameter, the position and attitude delayed when showing spacecraft accurately, the accuracy of the Time-delay Prediction that improve.
Further, the delay parameter in described computing module 140 includes:
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data letter
The difference of the time of breath；
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to boat
The difference of the time of it device；
3rd time delay, the time starting change for the position and attitude of described spacecraft receives described note with described spacecraft
Enter the difference of the time of instruction.
Thus, by measuring and calculating in ground experiment and other survey of deep space task draw the first time delay, the second time delay, the
Three time delays, the accuracy of the Time-delay Prediction that improve.
Further, the delay parameter in described computing module 140 also includes that advance estimate modification value, described advance estimate modification value are
When first described spacecraft being carried out motor control, by described spacecraft is demarcated obtained to described delay parameter
Correction value.
Thus, by arranging advance estimate modification value, carry out when the space motor control first of spacecraft demarcating 1-3 time, right
Delay parameter is modified.The safety of spacecraft can be ensured further.
Further, described computing module 140 is additionally operable to according to described delay parameter and described spacecraft downlink telemetry number
According to transmission Time Calculation display the time；
Using the position and attitude data in described downlink telemetry data as initial value, according to described kinematic parameter and described aobvious
Show the Space Vehicle position attitude that Time Calculation is estimated；
The Space Vehicle position attitude estimated described in display.
Described conversion module 110 is additionally operable to the walking manner according to spacecraft and sets up described hand-held data information and described fortune
The mapping relations of dynamic parameter；
According to described mapping relations, described hand-held data information is converted to the kinematic parameter of described spacecraft.
Thus, the time is shown by the transmission Time Calculation of delay parameter and downlink telemetry data, by described downlink telemetry
Position and attitude data in data are as initial value, the Space Vehicle position appearance estimated according to kinematic parameter and display Time Calculation
State.The kinestate of the spacecraft delayed during by display current time plus up-on command, ensures spacecraft further
Safety.
The aforementioned description to the specific illustrative embodiment of the present invention illustrates that and the purpose of illustration.These describe
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can much change
And change.The purpose selected exemplary embodiment and describe is to explain that the certain principles of the present invention and reality thereof should
With so that those skilled in the art be capable of and utilize the present invention various different exemplary and
Various different selections and change.The scope of the present invention is intended to be limited by claims and equivalents thereof.
Device embodiment described above is only schematically, and the wherein said unit illustrated as separating component can
To be or to may not be physically separate, the parts shown as unit can be or may not be physics list
Unit, i.e. may be located at a place, or can also be distributed on multiple NE.Can be selected it according to the actual needs
In some or all of module realize the purpose of the present embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, be i.e. appreciated that and implement.
Claims (10)
1. the teleoperation method of a spacecraft, it is characterised in that including:
Receive hand-held data information, described hand-held data information is converted into kinematic parameter and the control instruction of spacecraft；
Described kinematic parameter and described control instruction are carried out form conversion, generates and inject instruction, and be sent to described spacecraft；
Receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include the position and attitude of described spacecraft
Data；
According to described downlink telemetry data, described kinematic parameter and delay parameter, described spacecraft current is calculated and be shown
Position.
The teleoperation method of spacecraft the most according to claim 1, it is characterised in that described delay parameter includes:
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data information
The difference of time；
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to spacecraft
The difference of time；
3rd time delay, starts time of change for the position and attitude of described spacecraft and receives described injection with described spacecraft and refer to
The difference of the time of order.
The teleoperation method of spacecraft the most according to claim 2, it is characterised in that described delay parameter also includes estimating
Correction value, when described advance estimate modification value is for carrying out motor control to described spacecraft first, by marking described spacecraft
The fixed correction value to described delay parameter obtained.
The teleoperation method of spacecraft the most according to claim 1, it is characterised in that described according to described downlink telemetry number
According to, described kinematic parameter and delay parameter, the current location that described spacecraft is calculated and be shown includes:
The transmission Time Calculation display time according to described delay parameter and described spacecraft downlink telemetry data；
Using the position and attitude data in described downlink telemetry data as initial value, during according to described kinematic parameter and described display
Between calculate the Space Vehicle position attitude estimated；
The Space Vehicle position attitude estimated described in display.
The teleoperation method of spacecraft the most according to claim 1, it is characterised in that described by described hand-held data information
The kinematic parameter and the control instruction that are converted into spacecraft include:
Walking manner according to spacecraft sets up the mapping relations of described hand-held data information and described kinematic parameter；
According to described mapping relations, described hand-held data information is converted to the kinematic parameter of described spacecraft.
6. the remote operating device of a spacecraft, it is characterised in that including:
Conversion module, is used for receiving hand-held data information, described hand-held data information is converted into spacecraft kinematic parameter and
Control instruction；
Inject instruction sending module, for described kinematic parameter and described control instruction being carried out form conversion, generating injection and referring to
Order, and it is sent to described spacecraft；
Receiver module, for receiving the downlink telemetry data that described spacecraft sends, described downlink telemetry data include described boat
The position and attitude data of it device；
Computing module, for according to described downlink telemetry data, described kinematic parameter and delay parameter, is calculated and be shown described
The current location of spacecraft.
The remote operating device of spacecraft the most according to claim 6, it is characterised in that the time delay ginseng in described computing module
Number includes:
First time delay, for instructing the time being sent to described spacecraft by described injection and receive described hand-held data information
The difference of time；
Second time delay, receives the described time injecting instruction for described spacecraft and described injection instruction is sent to spacecraft
The difference of time；
3rd time delay, starts time of change for the position and attitude of described spacecraft and receives described injection with described spacecraft and refer to
The difference of the time of order.
The remote operating device of spacecraft the most according to claim 7, it is characterised in that the time delay ginseng in described computing module
Number also includes advance estimate modification value, when described advance estimate modification value is for carrying out motor control to described spacecraft first, by described
Spacecraft carries out demarcating the correction value to described delay parameter obtained.
The remote operating device of spacecraft the most according to claim 6, it is characterised in that described computing module is additionally operable to basis
The transmission Time Calculation display time of described delay parameter and described spacecraft downlink telemetry data；
Using the position and attitude data in described downlink telemetry data as initial value, during according to described kinematic parameter and described display
Between calculate the Space Vehicle position attitude estimated；
The Space Vehicle position attitude estimated described in display.
The remote operating device of spacecraft the most according to claim 6, it is characterised in that described conversion module is additionally operable to root
The mapping relations of described hand-held data information and described kinematic parameter are set up according to the walking manner of spacecraft；
According to described mapping relations, described hand-held data information is converted to the kinematic parameter of described spacecraft.
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| CN108428335A (en) * | 2018-01-24 | 2018-08-21 | 中国人民解放军63920部队 | Change in count is the telecommand executive condition judgment method of criterion based on instruction |
| CN108428335B (en) * | 2018-01-24 | 2020-05-22 | 中国人民解放军63920部队 | Remote control instruction execution condition judgment method based on instruction count change as criterion |
| CN111211943A (en) * | 2020-01-03 | 2020-05-29 | 中国人民解放军63920部队 | Method and device for determining instruction sending time delay of spacecraft and storage medium |
| CN110794851A (en) * | 2020-01-06 | 2020-02-14 | 中智行科技有限公司 | Vehicle remote control safety protection method and device and unmanned vehicle |
| CN111812966A (en) * | 2020-07-02 | 2020-10-23 | 北京航天飞行控制中心 | Multi-spacecraft-based time difference between heaven and earth determining method, determining device and processor |
| CN113815909A (en) * | 2021-09-09 | 2021-12-21 | 中国人民解放军63920部队 | Uplink determining method and device for peer-to-peer mode combined configuration spacecraft |
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