CN106301528B - A kind of cooperative control method and device of spacecraft - Google Patents
A kind of cooperative control method and device of spacecraft Download PDFInfo
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- CN106301528B CN106301528B CN201610573955.5A CN201610573955A CN106301528B CN 106301528 B CN106301528 B CN 106301528B CN 201610573955 A CN201610573955 A CN 201610573955A CN 106301528 B CN106301528 B CN 106301528B
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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
The present invention relates to a kind of cooperative control method of spacecraft and devices, method includes: according to telemetry, judge whether that key state corresponding with current control sequence occurs, if key state occurs, then to there are the terrestrial contr sending time difference computation requests information of other spacecrafts of the constraint relationship with current control sequence, the difference returned according to the terrestrial contr of other spacecrafts in preset duration, it calculates and returns to the correction time, according to the correction time, the sending time of telecommand in current control sequence is modified, first telecommand is sent to the first spacecraft in revised sending time, it may be implemented to all instructions of multiple Spacecraft Control sequences using the unified time complexity curve time, first spacecraft key state is judged, the calculating of difference, space flight is exactly based on to repairing for sending time What the terrestrial contr of device was completed, it does not need manually to participate in, it is high-efficient.
Description
Technical field
The present invention relates to field of communication technology more particularly to the cooperative control methods and device of a kind of spacecraft.
Background technique
In recent years, as spacecraft technology develops rapidly, the type and function of spacecraft are constantly promoted.To spacecraft control
The accuracy requirement of system is also higher and higher.
That telecommand is sent by ground control centre currently, the control to spacecraft, realize spacecraft track,
The control of posture or equipment state.Each terrestrial contr is that each spacecraft works out independent instruction control sequence, according to
The time sequencing to plan sth. ahead sends telecommand, implements the control of single spacecraft.The meeting in flight course of multiple spacecrafts
In the presence of cooperating and influencing, accordingly, it sometimes is necessary to which multiple terrestrial contrs carry out Collaborative Control to multiple spacecrafts.This
When, it is stored in advance in multiple terrestrial contrs and there is elder generation to the telecommand in the instruction control sequence of multiple spacecrafts
The constraint of sequence and time interval afterwards.Terrestrial contr has worked out the instruction control sequence of multiple spacecrafts, by according to meter
Drawing time progress, automatically instruction sends control, realizes the Collaborative Control of multiple spacecrafts.
Multiple spacecraft Collaborative Controls are implemented in ground control centre, and the time successively sends remote control according to schedule under normal circumstances
Instruction carries out automatically controlling.But some telecommands need to wait the telemetry of spacecraft, and then whether judge spacecraft
The state that can be controlled is reached.If spacecraft has reached the state that can be controlled, referred to as key state occurs.When
When the key state of one spacecraft occurs, since the control sequence of multiple spacecrafts has mutual time and sequence constraint,
It will affect the sending time of the telecommand in other spacecrafts instruction control sequence.It in the prior art, is automatic by suspending
Control sequence implements multiple space flight according to the sequence and time-constrain of instruction by the way of manually sending telecommand
The control of device.
But manually send instruction mode need operator carry out fast reaction, frequent computations sending time and
It checks the constraint relationship between instruction, constantly sends telecommand to multiple spacecrafts.Efficiency of the practice is low, and manual operation is more, causes
It is lower to the precise control rate of spacecraft.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
In view of this, the technical problem to be solved by the present invention is to, how to provide a kind of spacecraft cooperative control method and
Device can be improved control efficiency and accuracy rate to spacecraft.
In order to solve the above technical problems, the present invention provides a kind of cooperative control method of spacecraft in first aspect, comprising:
The telemetry that a spacecraft or multiple spacecrafts are sent is received to judge whether to send out according to the telemetry
Raw key state corresponding with current control sequence, wherein generation key state corresponding with current control sequence includes
One spacecraft or the multiple spacecraft meet the criterion prestored；
If the key state corresponding with current control sequence occurs, the difference of the first terrestrial contr is obtained,
And to there are the calculating of the terrestrial contr sending time difference of other spacecrafts of the constraint relationship with the current control sequence
Solicited message, wherein first terrestrial contr is to judge whether that the key corresponding with current control sequence occurs
The terrestrial contr of state, the difference of the first terrestrial contr are the plan of first instruction in the current control sequence
The difference of sending time and current time；
The difference that the terrestrial contr of other spacecrafts returns is received in preset duration, according to other described boats
The difference of first terrestrial contr of difference and acquisition that the terrestrial contr of its device returns, calculates the correction time；
The correction time is sent to the terrestrial contr for returning to other spacecrafts described in difference in preset duration；
According to the correction time, the sending time of telecommand in the current control sequence is modified, is being repaired
Sending time after just sends first telecommand to the first spacecraft corresponding with first terrestrial contr.
In one possible implementation, in a spacecraft for receiving the first spacecraft or multiple spacecrafts hair
Before the telemetry sent, further includes:
The current control sequence is stored, the current control sequence includes that multiple telecommands and the multiple remote control refer to
The triggered time of the telecommand of each in order.
In one possible implementation, the difference that the terrestrial contr of other spacecrafts according to returns
With the difference of first terrestrial contr of acquisition, the correction time is calculated, comprising:
It is poor as minimum time to choose the smallest difference in the difference；
If the minimum time difference is greater than the preset duration, the correction time is that the minimum time difference is preset with described
The difference of duration.
In one possible implementation, the difference returned according to the terrestrial contr of other spacecrafts, meter
Calculate the correction time, comprising:
If the minimum time difference is less than the preset duration, the correction time is that the minimum time is poor.
The present invention provides a kind of cooperative control method of spacecraft in second aspect, comprising:
Receive the time difference computation requests information of the first terrestrial contr transmission；
According to the plan sending time of the time difference computation requests information and pre-stored current control sequence, meter
Calculate the difference of first the plan sending time instructed and current time in current control sequence；
The difference is sent to first terrestrial contr；
Receive the correction time that first terrestrial contr is sent；
According to the correction time, the sending time of telecommand in the current control sequence is modified, is being repaired
Sending time after just sends first telecommand to other spacecrafts corresponding with the current control sequence.
The present invention provides a kind of Collaborative Control device of spacecraft in the third aspect, comprising:
First receiving module, the telemetry sent for receiving a spacecraft or multiple spacecrafts, according to described distant
Measured data judges whether that key state corresponding with current control sequence occurs, wherein the generation and current control sequence pair
The key state answered includes that one spacecraft or the multiple spacecraft meet the criterion prestored；
First key state judgment module obtains the if the key state corresponding with current control sequence occurs
The difference of one terrestrial contr, and to there are the controls of the ground of other spacecrafts of the constraint relationship with the current control sequence
Unit sending time difference computation requests information, wherein first terrestrial contr be judge whether to occur it is described with work as
The terrestrial contr of the corresponding key state of preceding control sequence, the difference of the first terrestrial contr are the current control sequence
The difference of first the plan sending time instructed and current time in column；
First correction time computing module, for receiving the terrestrial contr of other spacecrafts in preset duration
First ground of the difference of return, the difference and acquisition that are returned according to the terrestrial contr of other spacecrafts controls
The difference of unit calculates the correction time；
First sending module, for the terrestrial contr to other spacecrafts described in the return difference in preset duration
Send the correction time；
First instruction correction module, is used for according to the correction time, to telecommand in the current control sequence
Sending time is modified, and is sent out in revised sending time to the first spacecraft corresponding with first terrestrial contr
Send first telecommand.
In one possible implementation, the first correction time computing module is also used to store the current control
Sequence, the current control sequence include each described telecommand in multiple telecommands and the multiple telecommand
Triggered time.
In one possible implementation, the first correction time computing module is also used to choose in the difference most
Small difference is poor as minimum time；
If the minimum time difference is greater than the preset duration, the correction time is that the minimum time difference is preset with described
The difference of duration.
In one possible implementation, the first correction time computing module is also used to, if the minimum time
Difference is less than the preset duration, then the correction time is that the minimum time is poor.
The present invention provides a kind of Collaborative Control device of spacecraft in fourth aspect, comprising:
Second receiving module, for receiving the time difference computation requests information of the first terrestrial contr transmission；
Second time difference computing module, for according to the time difference computation requests information and pre-stored current control
The plan sending time of sequence processed calculates the difference of first the plan sending time instructed and current time in current control sequence
Value；
Second sending module, for sending the difference to first terrestrial contr；
Second receiving module is also used to receive the correction time that first terrestrial contr is sent；
Second instruction correction module, is used for according to the correction time, to telecommand in the current control sequence
Sending time is modified, and sends institute to other spacecrafts corresponding with the current control sequence in revised sending time
State telecommand.
The cooperative control method and device of spacecraft provided by the invention, by being carried out according to telemetry to key state
Judgement, if key state occurs, to there are the controls of the ground of other spacecrafts of the constraint relationship with the current control sequence
Unit sending time difference computation requests information, calculates and is returned in preset duration the correction time, make other spacecrafts
The transmission according to the correction time, to the telecommand in current control sequence of terrestrial contr and the first terrestrial contr
Time is modified, and sends first telecommand in revised sending time.It may be implemented, in ground control centre
To multiple spacecraft Collaborative Controls, the unified time complexity curve time is used to all instructions of multiple Spacecraft Control sequences, is repaired
The sequence of telecommand and interval do not change after just, do not influence the constraint logic of Collaborative Control, and the accuracy rate of control is high.And
And to the first spacecraft key state judgement, difference calculating, to sending time repair be exactly based on spacecraft ground control
What unit was completed, it does not need manually to participate in, it is high-efficient.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, other feature of the invention and aspect
It is clear.
Detailed description of the invention
Comprising in the description and constitute the attached drawing of part of specification and specification together illustrate it is of the invention
Exemplary embodiment, feature and aspect, and principle for explaining the present invention.
Fig. 1 shows the flow chart of the cooperative control method of the spacecraft of one embodiment of the invention offer；
Fig. 2 shows the flow charts of the cooperative control method of the spacecraft of another embodiment of the present invention offer；
Fig. 3 shows the flow chart of the cooperative control method of the spacecraft of one more embodiment of the present invention offer
Fig. 4 shows the structural schematic diagram of the Collaborative Control device of the spacecraft of one embodiment of the invention offer；
Fig. 5 shows the structural schematic diagram of the Collaborative Control device of the spacecraft of one embodiment of the invention offer.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Unless
Separately have it is other explicitly indicate that, otherwise in entire disclosure and claims, term " includes " or its transformation such as "comprising" or
" including " etc. will be understood to comprise stated element or component, and not exclude other elements or other compositions
Part.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the present invention, numerous details is given in specific embodiment below.
It will be appreciated by those skilled in the art that without certain details, the present invention equally be can be implemented.In some instances, for
Method well known to those skilled in the art, means, element are not described in detail, in order to highlight purport of the invention.
Embodiment 1
Fig. 1 shows the flow chart of the cooperative control method of the spacecraft of one embodiment of the invention offer, as shown in Figure 1,
This method comprises:
Step S101, first control unit receives the telemetry that a spacecraft or multiple spacecrafts are sent, according to institute
Telemetry is stated, judges whether that key state corresponding with current control sequence occurs, wherein the generation and current control sequence
Arranging corresponding key state includes that one spacecraft or the multiple spacecraft meet the criterion prestored.
Specifically, in the transmission of telecommand, some telecommands need the telemetry by judging spacecraft, into
And judge whether spacecraft has reached the state that can be controlled.If spacecraft has reached the state that can be controlled, claim
For key state generation.
Some key states by receive single spacecraft telemetry it may determine that.For example, terrestrial contr
By receiving the data value in telemetry, judges whether voltage value meets criterion, if meeting criterion, judge that spacecraft is in
Key state, and then next telecommand can be sent.Some key states pass through the telemetry for receiving multiple spacecrafts, into
Row collaboration judgement.For example, terrestrial contr receives the first data value and another boat in the telemetry that a spacecraft is sent
The second data value in telemetry that its device is sent, judges whether the first data value and the second data value meet criterion, if full
Sufficient criterion then judges that spacecraft is in key state, and then can send next telecommand.
Wherein, a spacecraft corresponds to a terrestrial contr under normal conditions, and the ground of a spacecraft controls single
In member, multiple criterions, the corresponding key state of each criterion can store.
It is single to obtain the control of the first ground if the key state corresponding with current control sequence occurs by step S102
The difference of member, and to there are the terrestrial contr sending times of other spacecrafts of the constraint relationship with the current control sequence
Difference computation requests information, wherein first terrestrial contr is to judge whether that described and current control sequence pair occurs
The terrestrial contr for the key state answered, the difference of the first terrestrial contr are first finger in the current control sequence
The plan sending time of order and the difference of current time.
Specifically, after key state occurring, there is constraint pass to the current control sequence in the first terrestrial contr
It obtains in this control unit and works as while the terrestrial contr sending time difference computation requests information of other spacecrafts of system
The difference of first the plan sending time instructed and current time in preceding control sequence.
Step S103, the terrestrial contr of other spacecrafts receive the time difference meter that the first terrestrial contr is sent
Calculate solicited message.
The terrestrial contr of step S104, other spacecrafts are deposited according to the time difference computation requests information and in advance
The plan sending time of the current control sequence of storage, calculates in current control sequence the plan sending time of first instruction and works as
The difference of preceding time.
The terrestrial contr of step S105, other spacecrafts send the difference to first terrestrial contr.
Step S106 receives the difference that the terrestrial contr of other spacecrafts returns in preset duration, according to
The difference of first terrestrial contr of difference and acquisition that the terrestrial contr of other spacecrafts returns, calculates
Correction time.
Specifically, preset duration can be set as Tw, if having received all and the first spacecraft within the Tw time and existing about
The difference that the terrestrial contr of other spacecrafts of beam relationship is sent, then can directly execute step 107, it is not necessary to continue
To.If not receiving also when reaching the Tw moment so there are the ground of other spacecrafts of the constraint relationship with the first spacecraft
The difference that control unit is sent, thens follow the steps 107, abandons waiting.
Step S107, to when returning to the transmission amendment of other Spacecraft Control units described in difference in preset duration
Between.
Step S108, the terrestrial contr of other spacecrafts receive the correction time that the first control unit is sent.
Step S109, the first terrestrial contr is according to the correction time, to telecommand in current control sequence
Sending time is modified, and sends first telecommand to first spacecraft in revised sending time.
Step S110, the terrestrial contr of other spacecrafts is according to the correction time, to distant in current control sequence
The sending time of control instruction is modified, in revised sending time to other space flight corresponding with the current control sequence
Device sends first telecommand.
Specifically, a length of Tw when the waiting time-out of response message can also be arranged, that is, setting is from receiving other boats
After the difference that the terrestrial contr of its device returns, according to the difference that the terrestrial contr of other spacecrafts returns, meter
The correction time is calculated, sends the correction time, other spacecrafts receive the time of correction time as Tw, therefore spacecraft key state
After generation, telecommand can be sent immediately in 2 × Tw duration and implement more spacecraft Collaborative Controls, the control reaction time is short.
In the present embodiment, the first terrestrial contr can be determined by preset mode, in this case, different
The terrestrial contr of spacecraft stores the criterion of different conditions, and in different predetermined times, key state is sentenced in realization
It is disconnected.
For example, the terrestrial contr of spacecraft A is as the first terrestrial contr, the first ground in certain time period
It stores the criterion including spacecraft A, B, C in control unit, by receiving the telemetry of spacecraft A, B, C, judges whether
Meet criterion, and then judges whether that key state occurs.If key state occurs, the difference of the first terrestrial contr is obtained
Value, and there are the differences of the terrestrial contr of other spacecrafts of the constraint relationship with current control sequence, calculate the correction time.
First terrestrial contr repairs current control sequence of the realization being stored in the first terrestrial contr to spacecraft A
Just, and in revised sending time first telecommand is sent to the first spacecraft.First terrestrial contr will be corrected
Time is sent to the terrestrial contr of other spacecrafts, the terrestrial contrs of other spacecrafts is according to the correction time, to working as
The sending time of telecommand is modified in preceding control sequence, revised sending time to the current control sequence
Other corresponding spacecrafts send first telecommand.
Alternatively, the first terrestrial contr is terrestrial contr corresponding with the first spacecraft, the first space flight is only received
The telemetry that device is sent is it may determine that whether criterion meets.
It should be noted that the present embodiment is to the execution sequence of step S109 and step S110 without limiting.Step
S109 and step S110 may be performed simultaneously.
As a result, by being judged according to telemetry key state, if key state occurs, to it is described current
There are the terrestrial contr sending time difference computation requests information of other spacecrafts of the constraint relationship for control sequence, default
Calculate in duration and simultaneously return to the correction time, make other spacecrafts terrestrial contr and the first terrestrial contr according to
Correction time is modified the sending time of the telecommand in current control sequence, sends in revised sending time
First telecommand.
It may be implemented, in ground control centre to multiple spacecraft Collaborative Controls, to the institute of multiple Spacecraft Control sequences
There is instruction to use the unified time complexity curve time, the sequence of telecommand and interval do not change after amendment, do not influence to cooperate with
The accuracy rate of the constraint logic of control, control is high.Also, to the judgement of the first spacecraft key state, the calculating of difference, to transmission
What the terrestrial contr that the repairing of time is exactly based on spacecraft was completed, it does not need manually to participate in, it is high-efficient.
Embodiment 2
Fig. 2 shows another embodiment of the present invention provide spacecraft cooperative control method flow chart, in Fig. 2 with
Fig. 1 uses the step of same reference numerals, is suitable for identical explanatory note with Fig. 1, details are not described herein.
Before step S101, the telemetry for receiving a spacecraft or the transmission of multiple spacecrafts, further includes:
Step S100, stores the current control sequence, and the current control sequence includes multiple telecommands and described
The triggered time of the telecommand of each in multiple telecommands.
As a result, by the storage current control sequence, including in multiple telecommands and the multiple telecommand often
The triggered time of one telecommand may be implemented to calculate when the time difference for receiving the transmission of the first terrestrial contr
After solicited message, when being sent according to the plan of the time difference computation requests information and pre-stored current control sequence
Between, calculate the difference of first the plan sending time instructed and current time in current control sequence.When the key of spacecraft
After state occurs, guarantee that the plan the smallest instruction of sending time can issue immediately in all control sequences, improve control efficiency.
Embodiment 3
Fig. 3 show one more embodiment of the present invention offer spacecraft cooperative control method flow chart, in Fig. 3 with
Fig. 1 uses the step of same reference numerals, is suitable for identical explanatory note with Fig. 1, details are not described herein.
In the present embodiment, in step S106, according to the difference of the terrestrial contr of other spacecrafts return and obtain
The difference of first terrestrial contr taken calculates the correction time, can also include:
It is poor as minimum time that step S1061 chooses the smallest difference in the difference；
If the step S1062 minimum time difference is greater than the preset duration, the correction time is that the minimum time is poor
With the difference of the preset duration Tw.,
Step S1063, if the minimum time difference is less than the preset duration, the correction time is the minimum time
Difference.
Thereby it is ensured that guaranteeing that plan sending time is most in all control sequences after the key state of spacecraft occurs
Small instruction can issue immediately, implement ground control immediately.Further increase control efficiency.
Embodiment 4
Fig. 4 shows the structural schematic diagram of the Collaborative Control device of the spacecraft of one embodiment of the invention offer, such as Fig. 4 institute
Show, which includes: the first receiving module 110, the first key state judgment module 120, the first correction time computing module
130, the first sending module 140, first instructs correction module 150.
First receiving module 110 receives the telemetry that a spacecraft or multiple spacecrafts are sent, according to the telemetering
Data judge whether that key state corresponding with current control sequence occurs, wherein the generation is corresponding with current control sequence
Key state include that one spacecraft or the multiple spacecraft meet the criterion prestored.
First key state judgment module 120 obtains if the key state corresponding with current control sequence occurs
The difference of first terrestrial contr, and to there are the controls of the ground of other spacecrafts of the constraint relationship with the current control sequence
Unit sending time difference computation requests information processed, wherein first terrestrial contr be judge whether to occur it is described with
The terrestrial contr of the corresponding key state of current control sequence, the difference of the first terrestrial contr are the current control
The difference of first the plan sending time instructed and current time in sequence；
First correction time computing module 130, for receiving the ground control of other spacecrafts in preset duration
The difference that unit returns, first ground of the difference and acquisition that are returned according to the terrestrial contr of other spacecrafts
The difference of control unit calculates the correction time；First sending module 140, for being returned described in difference in preset duration
The terrestrial contr of other spacecrafts sends the correction time；
First instruction correction module 150, is used for according to the correction time, to telecommand in the current control sequence
Sending time be modified, in revised sending time to the first spacecraft corresponding with first terrestrial contr
Send first telecommand.
The Collaborative Control device 10 of spacecraft in the present embodiment can be used as the first ground control in embodiment of the method
Unit 1, and it is suitable for all embodiments of the method for the present invention.
As a result, by being judged according to telemetry key state, if key state occurs, to it is described current
There are the terrestrial contr sending time difference computation requests information of other spacecrafts of the constraint relationship for control sequence, default
Calculate in duration and simultaneously return to the correction time, make other spacecrafts terrestrial contr and the first terrestrial contr according to
Correction time is modified the sending time of the telecommand in current control sequence, sends in revised sending time
First telecommand.
It may be implemented, in ground control centre to multiple spacecraft Collaborative Controls, to the institute of multiple Spacecraft Control sequences
There is instruction to use the unified time complexity curve time, the sequence of telecommand and interval do not change after amendment, do not influence to cooperate with
The accuracy rate of the constraint logic of control, control is high.Also, to the judgement of the first spacecraft key state, the calculating of difference, to transmission
What the terrestrial contr that the repairing of time is exactly based on spacecraft was completed, it does not need manually to participate in, it is high-efficient.
Further, the first correction time computing module 130 is also used to store the current control sequence, the current control
Sequence processed includes the triggered time of each telecommand in multiple telecommands and the multiple telecommand.
As a result, by the storage current control sequence, including in multiple telecommands and the multiple telecommand often
The triggered time of one telecommand may be implemented to calculate when the time difference for receiving the transmission of the first terrestrial contr
After solicited message, when being sent according to the plan of the time difference computation requests information and pre-stored current control sequence
Between, calculate the difference of first the plan sending time instructed and current time in current control sequence.When key state occurs
Afterwards, guarantee that the plan the smallest instruction of sending time can issue immediately in all control sequences, improve control efficiency.
Further, the first correction time computing module 130 is also used to choose the smallest difference in the difference and is used as most
The small time difference；If the minimum time difference be greater than the preset duration, the correction time be the minimum time difference with it is described pre-
If the difference of duration.
Further, if the first correction time computing module 130 be also used to the minimum time difference be less than it is described default when
Long, then the correction time is that the minimum time is poor.Thereby it is ensured that after key state occurs, plan hair in all control sequences
It send time the smallest instruction that can issue immediately, implements ground control immediately.Further increase control efficiency.
It should be noted that the Collaborative Control device 10 of spacecraft can be set in the first terrestrial contr, realize
Control to the first spacecraft and the interaction of the terrestrial contr to other spacecrafts.
Embodiment 5
Fig. 5 shows the structural schematic diagram of the Collaborative Control device of the spacecraft of one embodiment of the invention offer, such as Fig. 5 institute
Show, which includes: the second receiving module 210, the second time difference computing module 220, the second sending module 230, second finger
Enable correction module 240.
Second receiving module 210, for receiving the time difference computation requests information of the first terrestrial contr transmission；
Second time difference computing module 220, for according to the time difference computation requests information and pre-stored working as
The plan sending time of preceding control sequence calculates the plan sending time and current time of first instruction in current control sequence
Difference.Second sending module 230, for sending the difference to first terrestrial contr.Described second receives mould
Block 210 is also used to receive the correction time that first terrestrial contr is sent；
Second instruction correction module 240, is used for according to the correction time, to telecommand in the current control sequence
Sending time be modified, sent in revised sending time to other spacecrafts corresponding with the current control sequence
The telecommand.
The Collaborative Control device 20 of spacecraft in the present embodiment, can be used as other spacecrafts in embodiment of the method
Terrestrial contr 2, and it is suitable for all embodiments of the method for the present invention.
As a result, by being judged according to telemetry key state, if key state occurs, to it is described current
There are the terrestrial contr sending time difference computation requests information of other spacecrafts of the constraint relationship for control sequence, default
Calculate in duration and simultaneously return to the correction time, make other spacecrafts terrestrial contr and the first terrestrial contr according to
Correction time is modified the sending time of the telecommand in current control sequence, sends in revised sending time
First telecommand.
It may be implemented, in ground control centre to multiple spacecraft Collaborative Controls, to the institute of multiple Spacecraft Control sequences
There is instruction to use the unified time complexity curve time, the sequence of telecommand and interval do not change after amendment, do not influence to cooperate with
The accuracy rate of the constraint logic of control, control is high.Also, to the judgement of the first spacecraft key state, the calculating of difference, to transmission
What the terrestrial contr that the repairing of time is exactly based on spacecraft was completed, it does not need manually to participate in, it is high-efficient.
It should be noted that the terrestrial contr in other spacecrafts can be set in the Collaborative Control device 20 of spacecraft
In, realize the interaction to the control of other spacecrafts and to the first terrestrial contr.
The aforementioned description to specific exemplary embodiment of the invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining specific principle of the invention and its actually answering
With so that those skilled in the art can be realized and utilize a variety of different exemplary implementation schemes of the invention and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Claims (10)
1. a kind of cooperative control method of spacecraft characterized by comprising
Receive the telemetry that a spacecraft or multiple spacecrafts are sent, according to the telemetry, judge whether to occur with
The corresponding key state of current control sequence, wherein described that key state corresponding with current control sequence occurs including described
One spacecraft or the multiple spacecraft meet the criterion prestored；
If the key state corresponding with current control sequence occurs, the difference of the first terrestrial contr is obtained, and to
There are the terrestrial contr sending time difference computation requests of other spacecrafts of the constraint relationship with the current control sequence
Information, wherein first terrestrial contr is to judge whether that the key state corresponding with current control sequence occurs
Terrestrial contr, the difference of the first terrestrial contr is the plan of first telecommand in the current control sequence
The difference of sending time and current time；
The difference that the terrestrial contr of other spacecrafts returns is received in preset duration, according to other described spacecrafts
Terrestrial contr return difference and acquisition first terrestrial contr difference, calculate the correction time；
The correction time is sent to the terrestrial contr for returning to other spacecrafts described in difference in preset duration；
According to the correction time, the sending time of telecommand in the current control sequence is modified, after amendment
Sending time send first telecommand to the first spacecraft corresponding with first terrestrial contr.
2. the cooperative control method of spacecraft according to claim 1, which is characterized in that in one spacecraft of the reception
Or before the telemetry of multiple spacecrafts transmissions, further includes:
The current control sequence is stored, the current control sequence includes in multiple telecommands and the multiple telecommand
The triggered time of each telecommand.
3. the cooperative control method of spacecraft according to claim 1, which is characterized in that described other space flight according to
The difference of first terrestrial contr of difference and acquisition that the terrestrial contr of device returns calculates correction time, packet
It includes:
It is poor as minimum time to choose the smallest difference in the difference；
If the minimum time difference is greater than the preset duration, the correction time is the minimum time difference and the preset duration
Difference.
4. the cooperative control method of spacecraft according to claim 3, which is characterized in that according to other spacecrafts
The difference that terrestrial contr returns calculates the correction time, comprising:
If the minimum time difference is less than the preset duration, the correction time is that the minimum time is poor.
5. a kind of cooperative control method of spacecraft characterized by comprising
Receive the time difference computation requests information of the first terrestrial contr transmission；
According to the plan sending time of the time difference computation requests information and pre-stored current control sequence, calculating is worked as
The difference of the plan sending time of first telecommand and current time in preceding control sequence；
The difference is sent to first terrestrial contr；
Receive the correction time that first terrestrial contr is sent；
According to the correction time, the sending time of telecommand in the current control sequence is modified, after amendment
Sending time send first telecommand to other spacecrafts corresponding with the current control sequence.
6. a kind of Collaborative Control device of spacecraft characterized by comprising
First receiving module, the telemetry sent for receiving a spacecraft or multiple spacecrafts, according to the telemetering number
According to judging whether that corresponding with current control sequence key state occurs, wherein the generation is corresponding with current control sequence
Key state includes that one spacecraft or the multiple spacecraft meet the criterion prestored；
First key state judgment module obtains the first ground if the key state corresponding with current control sequence occurs
The difference of face control unit, and to there are the terrestrial contrs of other spacecrafts of the constraint relationship with the current control sequence
Sending time difference computation requests information, wherein first terrestrial contr is to judge whether that described and current control occurs
The terrestrial contr of the corresponding key state of sequence processed, the difference of the first terrestrial contr are in the current control sequence
The plan sending time of first telecommand and the difference of current time；
First correction time computing module, the terrestrial contr for receiving other spacecrafts in preset duration return
Difference, according to the terrestrial contr of other spacecrafts return difference and acquisition first terrestrial contr
Difference, calculate the correction time；
First sending module, for being sent to the terrestrial contr for returning to other spacecrafts described in difference in preset duration
The correction time；
First instruction correction module, for the transmission according to the correction time, to telecommand in the current control sequence
Time is modified, and sends institute to the first spacecraft corresponding with first terrestrial contr in revised sending time
State first telecommand.
7. the Collaborative Control device of spacecraft according to claim 6, which is characterized in that first correction time calculates
Module is also used to store the current control sequence, and the current control sequence includes multiple telecommands and the multiple remote control
The triggered time of the telecommand of each in instruction.
8. the Collaborative Control device of spacecraft according to claim 6, which is characterized in that first correction time calculates
It is poor as minimum time that module is also used to choose the smallest difference in the difference；
If the minimum time difference is greater than the preset duration, the correction time is the minimum time difference and the preset duration
Difference.
9. the Collaborative Control device of spacecraft according to claim 8, which is characterized in that first correction time calculates
Module is also used to, if the minimum time difference is less than the preset duration, the correction time is that the minimum time is poor.
10. a kind of Collaborative Control device of spacecraft characterized by comprising
Second receiving module, for receiving the time difference computation requests information of the first terrestrial contr transmission；
Second time difference computing module, for according to the time difference computation requests information and pre-stored current control sequence
The plan sending time of column calculates the difference of first the plan sending time instructed and current time in current control sequence；
Second sending module, for sending the difference to first terrestrial contr；
Second receiving module is also used to receive the correction time that first terrestrial contr is sent；
Second instruction correction module, for the transmission according to the correction time, to telecommand in the current control sequence
Time is modified, described distant to other spacecrafts corresponding with current control sequence transmission in revised sending time
Control instruction.
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| CN111581138B (en) * | 2020-04-20 | 2021-01-26 | 北京空间飞行器总体设计部 | Passage structure for bus data transmission among multiple spacecraft |
| CN113239463B (en) * | 2021-05-25 | 2022-11-18 | 北京航天飞行控制中心 | Aerospace launching time correction method and system, storage medium and electronic device |
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