CN106301528A - The cooperative control method of a kind of spacecraft and device - Google Patents
The cooperative control method of a kind of spacecraft and device Download PDFInfo
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- CN106301528A CN106301528A CN201610573955.5A CN201610573955A CN106301528A CN 106301528 A CN106301528 A CN 106301528A CN 201610573955 A CN201610573955 A CN 201610573955A CN 106301528 A CN106301528 A CN 106301528A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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Abstract
nullThe present invention relates to cooperative control method and the device of a kind of spacecraft，Method includes: according to telemetry，Judge whether to occur to control, with current, the key state that sequence pair is answered，If generation key state，Then send time difference computation requests information to the current terrestrial contr controlling other spacecrafts that sequence exists restriction relation，The difference that terrestrial contr according to other spacecrafts in preset duration returns，Calculate and return the correction time，According to the correction time，The transmission time of telecommand in current control sequence is modified，Article 1 telecommand is sent to the first spacecraft in the revised transmission time，Can realize all instructions of multiple Spacecraft Control sequences are used the unified time complexity curve time，First spacecraft key state is judged、The calculating of difference、The time of transmission is repaiied and is exactly based on what the terrestrial contr of spacecraft completed，Need not manually participate in，Efficiency is high.
Description
Technical field
The present invention relates to communication technical field, particularly relate to cooperative control 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.To spacecraft control
The accuracy requirement of system is more and more higher.
At present, the control to spacecraft, is to send telecommand by ground control centre, it is achieved the track of spacecraft,
Attitude or the control of equipment state.Each terrestrial contr is the instruction control sequence that the establishment of each spacecraft is independent, according to
The time sequencing planned sth. ahead sends telecommand, implements the control of single spacecraft.The meeting in flight course of multiple spacecrafts
Exist and cooperate and affect, accordingly, it sometimes is necessary to multiple terrestrial contr carries out Collaborative Control to multiple spacecrafts.This
Time, it is stored in advance in multiple terrestrial contr the telecommand multiple spacecrafts instructed in control sequence and there is elder generation
Rear order and the constraint of time interval.Terrestrial contr has been worked out the instruction of multiple spacecraft and has been controlled sequence, by according to meter
The time of drawing instructs transmission control automatically, it is achieved the Collaborative Control of multiple spacecrafts.
Multiple spacecraft Collaborative Control are implemented in ground control centre, and the time sends remote control successively the most according to schedule
Instruction automatically controls.But, some telecommands need to wait the telemetry of spacecraft, and then whether judge spacecraft
Reach the state that can be controlled.Occur if spacecraft has reached the state that can be controlled, referred to as key state.When
When the key state of one spacecraft occurs, owing to the control sequence of multiple spacecrafts has mutual time and sequence constraint,
The instruction of other spacecrafts can be affected and control the transmission time of the telecommand in sequence.In prior art, it is by suspending automatically
Controlling sequence, use the mode sending telecommand manually, order and time-constrain according to instruction implement multiple space flight
The control of device.
But, the mode manually sending instruction needs operator to carry out fast reaction, frequent computations send the time and
Check the restriction relation between instruction, constantly send telecommand to multiple spacecrafts.Efficiency of the practice is low, and manual operation is many, causes
Relatively low to the precise control rate of spacecraft.
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 a kind of spacecraft cooperative control method and
Device, it is possible to increase control efficiency and the accuracy rate to spacecraft.
For solving above technical problem, the present invention provides the cooperative control method of a kind of spacecraft in first aspect, including:
Receive a spacecraft or the telemetry of multiple spacecraft transmission, according to described telemetry, it may be judged whether send out
The key state that raw and current control sequence pair is answered, wherein, the key state that described generation is answered with current control sequence pair includes
One spacecraft or the plurality of spacecraft meet the criterion prestored；
If the key state occurring described and current control sequence pair to answer, then obtain the difference of the first terrestrial contr,
And send time difference calculating to the terrestrial contr of other spacecrafts that there is restriction relation with described current control sequence
Solicited message, wherein, described first terrestrial contr is the key judging whether to occur described and current control sequence pair to answer
The terrestrial contr of state, the difference of the first terrestrial contr is the plan of Article 1 instruction in described current control sequence
Transmission time and the difference of current time；
The difference that the terrestrial contr of other spacecrafts described returns is received, according to other boats described in preset duration
The difference of the terrestrial contr return of it device and the difference of described first terrestrial contr of acquisition, calculate the correction time；
The described correction time is sent to returning the terrestrial contr of other spacecrafts described in difference in preset duration；
According to the described correction time, the transmission time of telecommand in described current control sequence is modified, is repairing
The time that sends after just sends described Article 1 telecommand to the first spacecraft corresponding with described first terrestrial contr.
In a kind of possible implementation, a spacecraft or multiple spacecraft at described reception the first spacecraft are sent out
Before the telemetry sent, also include:
Storing described current control sequence, described current control sequence includes that multiple telecommand and the plurality of remote control refer to
The triggered time of each described telecommand in order.
In a kind of possible implementation, the difference that the terrestrial contr of other spacecrafts described in described basis returns
With the difference of described first terrestrial contr obtained, calculate the correction time, including:
Choose difference minimum in described difference poor as minimum time；
If described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor and described default
The difference of duration.
In a kind of possible implementation, the difference returned according to the terrestrial contr of other spacecrafts described, meter
Calculate the correction time, including:
If described minimum time difference is less than described preset duration, then the correction time is that described minimum time is poor.
The present invention provides the cooperative control method of a kind of spacecraft in second aspect, including:
Receive the time difference computation requests information that the first terrestrial contr sends；
Time, meter is sent according to described time difference computation requests information and the current plan controlling sequence prestored
The difference planning transmission time and current time of Article 1 instruction in calculation current control sequence；
Described difference is sent to described first terrestrial contr；
Receive the correction time that described first terrestrial contr sends；
According to the described correction time, the transmission time of telecommand in described current control sequence is modified, is repairing
The transmission time after just is to other spacecrafts described Article 1 telecommand of transmission answered with described current control sequence pair.
The present invention provides the Collaborative Control device of a kind of spacecraft in the third aspect, including:
First receiver module, for receiving a spacecraft or the telemetry of multiple spacecraft transmission, according to described distant
Survey data, it may be judged whether occur to control, with current, the key state that sequence pair is answered, wherein, described generation and currently control sequence pair
The key state answered includes that one spacecraft or the plurality of spacecraft meet the criterion prestored；
First key state judge module, if the key state occurring described and current control sequence pair to answer, then obtains the
The difference of one terrestrial contr, and control to the ground of other spacecrafts that there is restriction relation with described current control sequence
Unit sends time difference computation requests information, and wherein, described first terrestrial contr is for judging whether occur described and work as
The terrestrial contr of the key state that front control sequence pair is answered, the difference of the first terrestrial contr is described current control sequence
The difference planning transmission time and current time of Article 1 instruction in row；
First correction time computing module, for receiving the terrestrial contr of other spacecrafts described in preset duration
Described first ground of the difference returned, the difference returned according to the terrestrial contr of other spacecrafts described and acquisition controls
The difference of unit, calculates the correction time；
First sending module, for returning the terrestrial contr of other spacecrafts described in difference in preset duration
Send the described correction time；
First instruction correcting module, for according to the described correction time, to telecommand in described current control sequence
The transmission time is modified, and sends out to first spacecraft corresponding with described first terrestrial contr in the revised transmission time
Send described Article 1 telecommand.
In a kind of possible implementation, described first correction time computing module is additionally operable to store described current control
Sequence, described current control sequence includes each described telecommand in multiple telecommand and the plurality of telecommand
Triggered time.
In a kind of possible implementation, described first correction time computing module is additionally operable to choose in described difference
Little difference is poor as minimum time；
If described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor and described default
The difference of duration.
In a kind of possible implementation, described first correction time computing module is additionally operable to, if described minimum time
Difference is less than described preset duration, then the correction time is that described minimum time is poor.
The present invention provides the Collaborative Control device of a kind of spacecraft in fourth aspect, including:
Second receiver module, for receiving the time difference computation requests information that the first terrestrial contr sends；
Second time difference computing module, for according to described time difference computation requests information and the current control prestored
The plan transmission time of sequence processed, the difference planning transmission time and current time of Article 1 instruction in calculating current control sequence
Value；
Second sending module, for sending described difference to described first terrestrial contr；
Described second receiver module, is additionally operable to receive the correction time that described first terrestrial contr sends；
Second instruction correcting module, for according to the described correction time, to telecommand in described current control sequence
The transmission time is modified, and sends institute in the revised transmission time to other spacecrafts answered with described current control sequence pair
State telecommand.
The cooperative control method of the spacecraft that the present invention provides and device, by carrying out key state according to telemetry
Judging, if there is key state, then the ground to other spacecrafts that there is restriction relation with described current control sequence controls
Unit sends time difference computation requests information, calculates and return the described correction time in preset duration so that it is his spacecraft
Terrestrial contr and the transmission according to the correction time, to the current telecommand controlled in sequence of first terrestrial contr
Time is modified, and sends described Article 1 telecommand in the revised transmission time.It is achieved that in ground control centre
To multiple spacecraft Collaborative Control, all instructions to multiple Spacecraft Control sequences use the unified time complexity curve time, repair
After just, order and the interval of telecommand do not change, and do not affect the constraint logic of Collaborative Control, and the accuracy rate of control is high.And
And, to the first spacecraft key state judgement, the calculating of difference, to send the time repair be exactly based on spacecraft ground control
Unit completes, it is not necessary to manually participate in, and efficiency is high.
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 cooperative control method of the spacecraft that one embodiment of the invention provides；
Fig. 2 illustrates the flow chart of the cooperative control method of the spacecraft that another embodiment of the present invention provides；
Fig. 3 illustrates the flow chart of the cooperative control method of the spacecraft that one more embodiment of the present invention provides
Fig. 4 illustrates the structural representation of the Collaborative Control device of the spacecraft that one embodiment of the invention provides；
Fig. 5 illustrates the structural representation of the Collaborative Control 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 cooperative control method of the spacecraft that one embodiment of the invention provides, as it is shown in figure 1,
The method includes:
Step S101, the first control unit receives a spacecraft or the telemetry of multiple spacecraft transmission, according to institute
State telemetry, it may be judged whether occur to control, with current, the key state that sequence pair is answered, wherein, described generation and currently control sequence
The key state that row are corresponding includes that one spacecraft or the plurality of spacecraft meet the criterion prestored.
Specifically, in the transmission of telecommand, some telecommands need the telemetry by judging spacecraft, enter
And judge whether spacecraft has reached the state that can be controlled.If spacecraft has reached the state that can be controlled, claim
Occur for key state.
Some key states by receive single spacecraft telemetry it may determine that.Such as, terrestrial contr
By receiving the data value in telemetry, it is judged that whether magnitude of voltage meets criterion, if meeting criterion, then judges that spacecraft is in
Key state, and then next telecommand can be sent.Some key states, by receiving the telemetry of multiple spacecrafts, are entered
Row is collaborative to be judged.Such as, terrestrial contr receives the first data value in the telemetry that a spacecraft sends, and another boat
The second data value in the telemetry that it device sends, it is judged that whether the first data value and the second data value meet criterion, if full
Foot criterion, then judge that spacecraft is in key state, and then can send next telecommand.
Wherein, a spacecraft corresponding terrestrial contr under normal circumstances, the ground of a spacecraft controls single
In unit, multiple criterion can be stored, the corresponding key state of each criterion.
Step S102, if the key state occurring described and current control sequence pair to answer, then obtains the first ground and controls single
The difference of unit, and send the time to the terrestrial contr of other spacecrafts that there is restriction relation with described current control sequence
Mathematic interpolation solicited message, wherein, described first terrestrial contr is for judging whether occur described and currently control sequence pair
The terrestrial contr of the key state answered, the difference of the first terrestrial contr is that Article 1 refers in described current control sequence
The plan transmission time of order and the difference of current time.
Specifically, after there is key state, there is constraint pass to described current control sequence in the first terrestrial contr
The terrestrial contr of other spacecrafts of system is worked as in obtaining this control unit while sending time difference computation requests information
The difference planning transmission time and current time of Article 1 instruction in front control sequence.
Step S103, the terrestrial contr of other spacecrafts receives the time difference meter that the first terrestrial contr sends
Calculate solicited message.
Step S104, the terrestrial contr of other spacecrafts according to described time difference computation requests information and is deposited in advance
The plan currently controlling sequence of storage sends the time, and in calculating current control sequence, the plan of Article 1 instruction sends the time and works as
The difference of front time.
Step S105, the terrestrial contr of other spacecrafts sends described difference to described first terrestrial contr.
Step S106, receives the difference that the terrestrial contr of other spacecrafts described returns in preset duration, according to
The difference of the terrestrial contr return of other spacecrafts described and the difference of described first terrestrial contr of acquisition, calculate
Correction time.
Specifically, preset duration can be set as Tw, if within the Tw time, have received and all exist about with the first spacecraft
The difference that the terrestrial contr of other spacecrafts of bundle relation sends, then can directly perform step 107, it is not necessary to continuation etc.
Treat.If when arriving Tw moment, also not receiving so there is the ground of other spacecrafts of restriction relation with the first spacecraft
The difference that control unit sends, then perform step 107, abandons waiting.
Step S107, when returning the described correction of other Spacecraft Control unit transmission described in difference in preset duration
Between.
Step S108, the terrestrial contr of other spacecrafts receives the correction time that described first control unit sends.
Step S109, the first terrestrial contr is according to the described correction time, to telecommand in current control sequence
The transmission time is modified, and sends described Article 1 telecommand in the revised transmission time to described first spacecraft.
Step S110, the terrestrial contr of other spacecrafts is according to the described correction time, to distant in current control sequence
The transmission time of control instruction is modified, in the revised transmission time to other space flight answered with described current control sequence pair
Device sends described Article 1 telecommand.
Concrete, it is also possible to a length of Tw when the wait time-out of response message is set, namely arrange from receiving other boats
After the difference that the terrestrial contr of it device returns, the difference returned according to the terrestrial contr of other spacecrafts described, meter
Calculating the correction time, send the correction time, it is Tw, therefore spacecraft key state that other spacecrafts receive the time of correction time
After generation, telecommand can be sent in 2 × Tw duration immediately and implement many spacecrafts Collaborative Control, control the response time short.
In the present embodiment, the first terrestrial contr can determine by the way of default, in this case, different
The terrestrial contr of spacecraft stores the criterion of different conditions, at different predetermined time, it is achieved sentence key state
Disconnected.
Such as, in certain time period, the terrestrial contr of spacecraft A is as the first terrestrial contr, the first ground
Control unit stores the criterion including spacecraft A, B, C, by receiving the telemetry of spacecraft A, B, C, it may be judged whether
Meet criterion, and then judge whether key state.If generation key state, then obtain the difference of the first terrestrial contr
Value, and the difference of the terrestrial contr of other spacecrafts of restriction relation is there is with current control sequence, calculate the correction time.
The current sequence that controls of spacecraft A is repaiied by the realization to being stored in the first terrestrial contr of first terrestrial contr
Just, and in the revised transmission time Article 1 telecommand is sent to the first spacecraft.First terrestrial contr will be revised
Time is sent to the terrestrial contr of other spacecrafts, and the terrestrial contr of other spacecrafts is according to the correction time, to working as
In front control sequence, the transmission time of telecommand is modified, the revised transmission time to described current control sequence
Other corresponding spacecrafts send described Article 1 telecommand.
Or, the first terrestrial contr is the terrestrial contr corresponding with the first spacecraft, only receives the first space flight
The telemetry that device sends is it may determine that whether criterion meets.
It should be noted that the execution sequence of step S109 and step S110 is not defined by the present embodiment.Step
S109 and step S110 can perform simultaneously.
Thus, by key state being judged according to telemetry, if occur key state, then to described currently
The terrestrial contr controlling other spacecrafts that sequence exists restriction relation sends time difference computation requests information, is presetting
Calculate in duration and also return the described correction time so that it is the terrestrial contr of his spacecraft and the first terrestrial contr according to
Correction time, the transmission time of the current telecommand controlled in sequence is modified, sends in the revised transmission time
Described Article 1 telecommand.
It is achieved that in ground control centre to multiple spacecraft Collaborative Control, the institute to multiple Spacecraft Control sequences
Having instruction to use the unified time complexity curve time, after correction, order and the interval of telecommand do not change, and do not affect collaborative
The constraint logic controlled, the accuracy rate of control is high.Further, to the first spacecraft key state judgement, the calculating of difference, to transmission
The repairing of time is exactly based on what the terrestrial contr of spacecraft completed, it is not necessary to manually participating in, efficiency is high.
Embodiment 2
Fig. 2 illustrates the flow chart of the cooperative control method of the spacecraft that another embodiment of the present invention provides, in fig. 2 with
Fig. 1 uses the step of same reference numerals, is all applicable to identical explanatory note with Fig. 1, does not repeats them here.
In step S101, before receiving the telemetry of a spacecraft or the transmission of multiple spacecraft, also include:
Step S100, stores described current control sequence, and described current control sequence includes multiple telecommand and described
The triggered time of each described telecommand in multiple telecommands.
Thus, by storing described current control sequence, including every in multiple telecommands and the plurality of telecommand
The triggered time of one described telecommand, it is possible to achieve when receiving the time difference calculating that the first terrestrial contr sends
After solicited message, when sending with the current plan controlling sequence prestored according to described time difference computation requests information
Between, the difference planning transmission time and current time of Article 1 instruction in calculating current control sequence.Key when spacecraft
After state occurs, it is ensured that in all control sequences, the instruction of plan transmission minimal time can send immediately, improves control efficiency.
Embodiment 3
Fig. 3 illustrates the flow chart of the cooperative control method of the spacecraft that one more embodiment of the present invention provides, in figure 3 with
Fig. 1 uses the step of same reference numerals, is all applicable to identical explanatory note with Fig. 1, does not repeats them here.
In the present embodiment, in step S106, the difference that returns according to the terrestrial contr of other spacecrafts described and obtaining
The difference of described first terrestrial contr taken, calculates the correction time, it is also possible to including:
It is poor as minimum time that step S1061 chooses difference minimum in described difference；
If step S1062 described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor
Difference with described preset duration Tw.,
Step S1063, if described minimum time difference is less than described preset duration, then the correction time is described minimum time
Difference.
Thereby it is ensured that after the key state of spacecraft occurs, it is ensured that in all control sequences, the plan transmission time is
Little instruction can send immediately, implements ground immediately and controls.Improve control efficiency further.
Embodiment 4
Fig. 4 illustrates the structural representation of the Collaborative Control device of the spacecraft that one embodiment of the invention provides, such as Fig. 4 institute
Showing, this device 10 includes: first receiver module the 110, first key state judge module the 120, first correction time computing module
130, the first sending module 140, first instructs correcting module 150.
First receiver module 110, receives a spacecraft or the telemetry of multiple spacecraft transmission, according to described remote measurement
Data, it may be judged whether occurring to control, with current, the key state that sequence pair is answered, wherein, described generation should with the current sequence pair that controls
Key state include that one spacecraft or the plurality of spacecraft meet the criterion prestored.
First key state judge module 120, if the key state occurring described and current control sequence pair to answer, then obtains
The difference of the first terrestrial contr, and to the ground control of other spacecrafts that there is restriction relation with described current control sequence
Unit processed sends time difference computation requests information, wherein, described first terrestrial contr for judge whether to occur described and
The current terrestrial contr controlling the key state that sequence pair is answered, the difference of the first terrestrial contr is described current control
The difference planning transmission time and current time of Article 1 instruction in sequence；
First correction time computing module 130, controls for receiving the ground of other spacecrafts described in preset duration
The difference that unit returns, the difference returned according to the terrestrial contr of other spacecrafts described and described first ground of acquisition
The difference of control unit, calculates the correction time；First sending module 140, for returning described in difference in preset duration
The terrestrial contr of other spacecrafts sends the described correction time；
First instruction correcting module 150, for according to the described correction time, to telecommand in described current control sequence
The transmission time be modified, in the revised transmission time to first spacecraft corresponding with described first terrestrial contr
Send described Article 1 telecommand.
The Collaborative Control device 10 of the spacecraft in the present embodiment, can control as the first ground in embodiment of the method
Unit 1, and it is applicable to all embodiments of the method for the present invention.
Thus, by key state being judged according to telemetry, if occur key state, then to described currently
The terrestrial contr controlling other spacecrafts that sequence exists restriction relation sends time difference computation requests information, is presetting
Calculate in duration and also return the described correction time so that it is the terrestrial contr of his spacecraft and the first terrestrial contr according to
Correction time, the transmission time of the current telecommand controlled in sequence is modified, sends in the revised transmission time
Described Article 1 telecommand.
It is achieved that in ground control centre to multiple spacecraft Collaborative Control, the institute to multiple Spacecraft Control sequences
Having instruction to use the unified time complexity curve time, after correction, order and the interval of telecommand do not change, and do not affect collaborative
The constraint logic controlled, the accuracy rate of control is high.Further, to the first spacecraft key state judgement, the calculating of difference, to transmission
The repairing of time is exactly based on what the terrestrial contr of spacecraft completed, it is not necessary to manually participating in, efficiency is high.
Further, the first correction time computing module 130 is additionally operable to store described current control sequence, described current control
Sequence processed includes the triggered time of each described telecommand in multiple telecommand and the plurality of telecommand.
Thus, by storing described current control sequence, including every in multiple telecommands and the plurality of telecommand
The triggered time of one described telecommand, it is possible to achieve when receiving the time difference calculating that the first terrestrial contr sends
After solicited message, when sending with the current plan controlling sequence prestored according to described time difference computation requests information
Between, the difference planning transmission time and current time of Article 1 instruction in calculating current control sequence.When key state occurs
After, it is ensured that in all control sequences, the instruction of plan transmission minimal time can send immediately, improves control efficiency.
Further, the first correction time computing module 130 is additionally operable to choose in described difference minimum difference as
Little time difference；If described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor and described pre-
If the difference of duration.
Further, if the first correction time computing module 130 be additionally operable to described minimum time difference less than described default time
Long, then the correction time is that described minimum time is poor.Thereby it is ensured that after key state occurs, in all control sequences, plan is sent out
The instruction sending minimal time can send immediately, implements ground immediately and controls.Improve control efficiency further.
It should be noted that the Collaborative Control device 10 of spacecraft can be arranged in the first terrestrial contr, it is achieved
Control to the first spacecraft and the terrestrial contr to other spacecrafts mutual.
Embodiment 5
Fig. 5 illustrates the structural representation of the Collaborative Control device of the spacecraft that one embodiment of the invention provides, such as Fig. 5 institute
Showing, this device 20 includes: second receiver module the 210, second time difference computing module the 220, second sending module 230, second refers to
Make correcting module 240.
Second receiver module 210, for receiving the time difference computation requests information that the first terrestrial contr sends；
Second time difference computing module 220, for according to described time difference computation requests information and working as of prestoring
The plan of front control sequence sends the time, and in calculating current control sequence, the plan of Article 1 instruction sends time and current time
Difference.Second sending module 230, for sending described difference to described first terrestrial contr.Described second receives mould
Block 210, is additionally operable to receive the correction time that described first terrestrial contr sends；
Second instruction correcting module 240, for according to the described correction time, to telecommand in described current control sequence
The transmission time be modified, send to other spacecrafts answered with described current control sequence pair in the revised transmission time
Described telecommand.
The Collaborative Control device 20 of the spacecraft in the present embodiment, can be as other spacecrafts in embodiment of the method
Terrestrial contr 2, and it is applicable to all embodiments of the method for the present invention.
Thus, by key state being judged according to telemetry, if occur key state, then to described currently
The terrestrial contr controlling other spacecrafts that sequence exists restriction relation sends time difference computation requests information, is presetting
Calculate in duration and also return the described correction time so that it is the terrestrial contr of his spacecraft and the first terrestrial contr according to
Correction time, the transmission time of the current telecommand controlled in sequence is modified, sends in the revised transmission time
Described Article 1 telecommand.
It is achieved that in ground control centre to multiple spacecraft Collaborative Control, the institute to multiple Spacecraft Control sequences
Having instruction to use the unified time complexity curve time, after correction, order and the interval of telecommand do not change, and do not affect collaborative
The constraint logic controlled, the accuracy rate of control is high.Further, to the first spacecraft key state judgement, the calculating of difference, to transmission
The repairing of time is exactly based on what the terrestrial contr of spacecraft completed, it is not necessary to manually participating in, efficiency is high.
It should be noted that the Collaborative Control device 20 of spacecraft can be arranged on the terrestrial contr of other spacecrafts
In, it is achieved to the control of other spacecrafts and mutual to the first terrestrial contr.
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 cooperative control method of a spacecraft, it is characterised in that including:
Receive the telemetry that a spacecraft or multiple spacecraft send, according to described telemetry, it may be judged whether occur with
The key state that current control sequence pair is answered, wherein, the key state that described generation and current control sequence pair are answered includes described
One spacecraft or the plurality of spacecraft meet the criterion prestored；
If the key state occurring described and current control sequence pair to answer, then obtain the difference of the first terrestrial contr, and to
Time difference computation requests is sent with the terrestrial contr of other spacecrafts that described current control sequence exists restriction relation
Information, wherein, described first terrestrial contr is the key state judging whether to occur described and current control sequence pair to answer
Terrestrial contr, the difference of the first terrestrial contr is that the plan of Article 1 instruction sends in described current control sequence
Time and the difference of current time；
The difference that the terrestrial contr of other spacecrafts described returns is received, according to other spacecrafts described in preset duration
The difference that returns of terrestrial contr and the difference of described first terrestrial contr of acquisition, calculate the correction time；
The described correction time is sent to returning the terrestrial contr of other spacecrafts described in difference in preset duration；
According to the described correction time, the transmission time of telecommand in described current control sequence is modified, after correction
The time that sends send described Article 1 telecommand to corresponding with described first terrestrial contr the first spacecraft.
The cooperative control method of spacecraft the most according to claim 1, it is characterised in that at described reception the first spacecraft
A spacecraft or multiple spacecraft send telemetry before, also include:
Storing described current control sequence, described current control sequence includes in multiple telecommand and the plurality of telecommand
The triggered time of each described telecommand.
The cooperative control method of spacecraft the most according to claim 1, it is characterised in that other space flight described in described basis
The difference of the terrestrial contr return of device and the difference of described first terrestrial contr of acquisition, calculate correction time, bag
Include:
Choose difference minimum in described difference poor as minimum time；
If described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor with described preset duration
Difference.
The cooperative control method of spacecraft the most according to claim 3, it is characterised in that according to other spacecrafts described
The difference that terrestrial contr returns, calculates the correction time, including:
If described minimum time difference is less than described preset duration, then the correction time is that described minimum time is poor.
5. the cooperative control method of a spacecraft, it is characterised in that including:
Receive the time difference computation requests information that the first terrestrial contr sends；
Send the time according to described time difference computation requests information and the current plan controlling sequence prestored, calculate and work as
The difference planning transmission time and current time of Article 1 instruction in front control sequence；
Described difference is sent to described first terrestrial contr；
Receive the correction time that described first terrestrial contr sends；
According to the described correction time, the transmission time of telecommand in described current control sequence is modified, after correction
The transmission time send described Article 1 telecommand to other spacecrafts answered with described current control sequence pair.
6. the Collaborative Control device of a spacecraft, it is characterised in that including:
First receiver module, for receiving a spacecraft or the telemetry of multiple spacecraft transmission, according to described remote measurement number
According to, it may be judged whether occurring to control, with current, the key state that sequence pair is answered, wherein, described generation controls what sequence pair was answered with current
Key state includes that one spacecraft or the plurality of spacecraft meet the criterion prestored；
First key state judge module, if the key state occurring described and current control sequence pair to answer, then obtains the first ground
The difference of face control unit, and to the terrestrial contr of other spacecrafts that there is restriction relation with described current control sequence
Sending time difference computation requests information, wherein, described first terrestrial contr is for judging whether described and current control
The terrestrial contr of the key state that sequence pair processed is answered, in the difference of the first terrestrial contr is described current control sequence
Article 1, the difference planning transmission time and current time of instruction；
First correction time computing module, returns for receiving the terrestrial contr of other spacecrafts described in preset duration
Difference, the difference returned according to the terrestrial contr of other spacecrafts described and described first terrestrial contr of acquisition
Difference, calculate the correction time；
First sending module, for the terrestrial contr transmission returning other spacecrafts described in difference in preset duration
The described correction time；
First instruction correcting module, for according to the described correction time, to the transmission of telecommand in described current control sequence
Time is modified, and sends institute in the revised transmission time to the first spacecraft corresponding with described first terrestrial contr
State Article 1 telecommand.
The Collaborative Control device of spacecraft the most according to claim 6, it is characterised in that described first correction time calculates
Module is additionally operable to store described current control sequence, and described current control sequence includes multiple telecommand and the plurality of remote control
The triggered time of each described telecommand in instruction.
The Collaborative Control device of spacecraft the most according to claim 6, it is characterised in that described first correction time calculates
It is poor as minimum time that module is additionally operable to choose difference minimum in described difference；
If described minimum time difference is more than described preset duration, then the correction time is that described minimum time is poor with described preset duration
Difference.
The Collaborative Control device of spacecraft the most according to claim 8, it is characterised in that described first correction time calculates
Module is additionally operable to, if described minimum time difference is less than described preset duration, then the correction time is that described minimum time is poor.
10. the Collaborative Control device of a spacecraft, it is characterised in that including:
Second receiver module, for receiving the time difference computation requests information that the first terrestrial contr sends；
Second time difference computing module, for according to described time difference computation requests information and prestore currently control sequence
The plan transmission time of row, the difference planning transmission time and current time of Article 1 instruction in calculating current control sequence；
Second sending module, for sending described difference to described first terrestrial contr；
Described second receiver module, is additionally operable to receive the correction time that described first terrestrial contr sends；
Second instruction correcting module, for according to the described correction time, to the transmission of telecommand in described current control sequence
Time is modified, in the revised transmission time to described distant with other spacecrafts transmission that described current control sequence pair is answered
Control instruction.
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