CN106549701A - A kind of retrievable satellite separates assembly time calibrating method - Google Patents
A kind of retrievable satellite separates assembly time calibrating method Download PDFInfo
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
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Abstract
The invention discloses a kind of retrievable satellite separates assembly time calibrating method, in-orbit section is calibrated to satellite time reference using RMU calibration methods, then periodically the CTU times are calibrated using the autonomous calibration methods of RMU, time broadcast is carried out to the terminal of each use time of satellite using CTU time broadcasting methods finally, realize Satellite attitude track precise control, return capsule is successfully separated safe retrieving, meets in-orbit section of high accuracy use demand to the time of satellite；Rail section is stayed to calibrate to satellite time reference using CTU calibration methods, then time broadcast is carried out to the terminal of each use time of satellite using CTU time broadcasting methods, the load test that satellite stays rail section is successfully carried out, has met satellite and stay normal use demand of the rail section to the time.
Description
Technical field
The invention belongs to the technical field of retrievable satellite star ground time synchronized, and in particular to a kind of retrievable satellite is separated
Assembly time calibrating method.
Background technology
The retrievable satellite time includes that time generation, time maintenance, time are issued and time tranfer.The retrievable satellite time
System design is exactly in order to meet time user to time precision and the demand of synchronization accuracy, by ad hoc approach and necessary means
Time on star is produced, maintenance and issue mechanism carry out corresponding system design.Retrievable satellite using serial data bus as
Time tranfer passage, there is provided the transmission path of temporal information stream.
As retrievable satellite is multi cabin structure, satellite is divided into two bay sections of instrument room and return capsule, wherein instrument room
Including service module and sealed compartment, return capsule includes recovery capsule and retro module.Retrievable satellite is with return capsule during in orbit
With the mode flight of instrument room assembly, after a period of time, return capsule independently returns to ground in orbit, and instrument room proceeds
Stay rail section aerial mission.
The satellite of current China all adopts single time system, and retrievable satellite includes two independent time systems：
1) " in-orbit section of assembly of return capsule and instrument room " time system；2) after two cabins separate, " instrument room stays rail section " time system.Return
The mode of operation for returning formula satellite different time system is also incomplete same.Therefore, the time system of retrievable satellite how is designed,
And being optimized makes which complete different task in different phase, it is the key point of retrievable satellite time system design.
The content of the invention
In view of this, the invention provides a kind of retrievable satellite separates assembly time calibrating method so that recoverable
Satellite completes different time tasks in different phase, and has taken into account the change of satellite number pipe time reference, i.e., in-orbit section use
Recovery capsule administrative unit (Reentry Management Unit, the RMU) time, rail section is stayed to use CPU
(Central Terminal Unit, CTU) time, demand when disclosure satisfy that the star of satellite each time user.
Realize that technical scheme is as follows：
A kind of retrievable satellite separates assembly time calibrating method, comprises the following steps：
(1) time calibration of in-orbit section of assembly of return capsule and instrument room：
The time difference Δ T1 of step 11, earth station's measurement satellite recovery capsule administrative unit RMU time and ground elapsed time；
Step 12, when satellite RMU times and ground elapsed time time difference Δ T1 more than or equal to setting threshold value when, earth station
RMU is calibrated by up injection telecommand, during school, amount is Δ T1, the RMU times is consistent with ground elapsed time；
When the time difference Δ T1 of satellite RMU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection
Telecommand, is calibrated to RMU using uniform calibration method, the RMU times is consistent with ground elapsed time；The uniform school
Periodically to calibrate to time difference Δ T1, each cycle calibrates the time less than Δ T1 of a setting to Shi Fangfa to Δ T1
Interval；
Step 13, satellite RMU are per minute when independently carrying out once school to CPU CTU, make CTU times and RMU
Time is consistent；
The CTU times are published to each bus by serial data bus using the method for broadcast by step 14, satellite CTU
Terminal unit.
(2) instrument room stays the time calibration of rail section：
The time difference Δ T2 of step 21, earth station's measurement satellite CTU times and ground elapsed time；
Step 22, when satellite CTU times and ground elapsed time time difference Δ T2 more than or equal to setting threshold value when, earth station
CTU is calibrated by up injection telecommand, during school, amount is Δ T2, the CTU times is consistent with ground elapsed time；
When the time difference Δ T2 of satellite CTU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection
Telecommand, is calibrated to CTU using uniform calibration method, the satellite RMU times is consistent with ground elapsed time；
The CTU times are published to each bus by serial data bus using the method for broadcast by step 23, satellite CTU
Terminal unit.
Further, the time when RMU carried out initial power-on, software reset before the step 11 or cuts machine is extensive
Resurgent journey is as follows：
Step one, RMU propose the service request that the time recovers on star to CTU；
If step 2, CTU have responded the service request of RMU in 3 timeslices or in 3 timeslices, wherein, when per
Between piece be 100 milliseconds, then RMU removes the service request immediately, and obtains time data from the corresponding subaddressing of bus, at the same pair when
Between data data head and data tail verified；If check results are correct, the time data of acquisition is stored to into RMU local
Memory block, then from time data takes out CTU timing codes, CTU timing code microseconds portion is verified；If microsecond portion is setting
Determine in scope, then the time on RMU stars is calibrated according to the timing code for obtaining；If microsecond portion exceeds zone of reasonableness, recognize
For CTU timing code format errors, recover to fail during star, the RMU times start from scratch timing；
If the data head to time data and data tail check results mistake, show from CTU data failures recovery time,
The RMU times start from scratch timing.
If step 3, time do not respond the service request yet more than 3 timeslices CTU, RMU terminates from CTU recovering
Time data, RMU times are started from scratch timing.
Further, the time when CTU carried out initial power-on, software reset before the step 11 or cuts machine is extensive
Resurgent journey is as follows：
Step one, CTU are sent for calculating time difference to attitude and orbit control computer AOCC by bus | tAOCC-
tCTU| CTU timing codes；Wherein, tAOCCFor the satellite AOCC times at current time, tCTUFor the satellite CTU times at current time；
After step 2, CTU are waited 1 second, time difference is obtained from AOCC by bus | tAOCC-tCTU|, CTU is by the time difference
Increase on the present satellites CTU times as the satellite CTU times after recovering；
If step 3, from AOCC recover satellite CTU time successes, recover the satellite CTU times operating process terminate；
If failed from the AOCC recovery satellite CTU times, four-step 6 of execution step；
Step 4, CTU are sent for calculating time difference to RMU by bus | tRMU-tCTU| CTU timing codes；Wherein,
tRMUFor the satellite RMU times at current time；
After step 5, CTU are waited 1 second, time difference is obtained from RMU by bus | tRMU-tCTU|, the time difference is increased by CTU
It is added on the present satellites CTU times as the satellite CTU times after recovering；
If step 6, from RMU recover satellite CTU time successes, recover the satellite CTU times operating process terminate；
If recover the satellite CTU times from RMU failed, the satellite CTU times start from scratch timing.
Beneficial effect：
(1) present invention firstly provides returning satellite time reference construction scheme, in-orbit section using RMU as master clock source, CTU
As secondary clock source, stay rail section using CTU as master clock source, required clock is provided for the satellite different task stage
Source.
(2), first according to the different phase for returning satellite task, the star ground time using different mode is same respectively for the present invention
Step system；The star ground time synchronization problem returned between combinations of satellites cabin is solved, star ground time synchronized deviation is reduced, is effective
The ground coordination of load star provides accurate time reference.
(3) satellite time reference is calibrated using RMU calibration methods for in-orbit section, then using the autonomous school when sides of RMU
Method is periodically calibrated to the CTU times, when finally being carried out to the terminal of each use time of satellite using CTU time broadcasting methods
Between broadcast, realize Satellite attitude track precise control, return capsule is successfully separated safe retrieving, meets in-orbit section of satellite
High accuracy use demand to the time.
(4) rail section is stayed to calibrate to satellite time reference using CTU calibration methods, then using CTU time broadcasters
Method carries out time broadcast to the terminal of each use time of satellite, has successfully carried out the load test that satellite stays rail section, has met and defend
Star stays normal use demand of the rail section to the time.
(5) the star ground calibration method in the present invention is that a kind of inexpensive, highly reliable, precision meets the requirements and stable
Method, meet retrievable satellite separate assembly time system for the requirement of time synchronized, with good using value.
Description of the drawings
Fig. 1 is in-orbit section of assembly time system mode of operation flow chart of return capsule of the present invention and instrument room.
Fig. 2 stays rail section time system mode of operation flow chart for instrument room of the present invention.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
The invention provides a kind of retrievable satellite separates assembly time calibrating method, return capsule and in-orbit section of instrument room
Assembly time system is introduced：
(1) the time generation of RMU, the time of CTU are produced
The work clock that several pipe crystal oscillators are produced by retrievable satellite as time source on star, including when CTU times and RMU
Between.Retrievable satellite can serve as time source on star from section in orbit, the work clock of number pipe CTU and RMU is transmitted into, but
As RMU crystal oscillators stability is better than CTU, therefore section uses RMU internal clockings as whole star time reference in orbit, steady during star
Fixed degree is ± 5 × 10-6Second/day, daily maximum deviation are ± 0.432 second.Retrievable satellite stays rail target phase, due to RMU
With landing of return capsule ground, therefore satellite stays rail section use number pipe CTU internal clockings as whole star time reference, steady during star
Fixed degree is ± 1 × 10-5Second/day, daily maximum deviation are ± 0.864 second.
(2) RMU time initial values and time recovery
As RMU initial power-ons, software reset or when cutting machine, by bus from CTU data recovery time.Concrete steps are such as
Under：
1), RMU from CTU data recovery time when need propose service request.
2), if CTU has responded the service request of RMU in 3 timeslices or in 3 timeslices, i.e. RMU is in the bus
Reception RMU time data pointer reset synchronization characters are detected in disconnected, wherein, be 100 milliseconds per timeslice, then RMU is removed immediately
The service request, and time data is obtained from the corresponding subaddressing of bus, while the data head and data tail to time data is carried out
Verification；If check results are correct, the time data of acquisition are stored to into RMU local storages, then taken from time data
Go out CTU timing codes, CTU timing code microseconds portion is verified；If microsecond portion is in set point, according to the time for obtaining
Code was calibrated to the time on RMU stars；If microsecond portion exceeds zone of reasonableness, then it is assumed that CTU timing code format errors, recover star
When fail；The RMU times start from scratch timing；
If the data head to time data and data tail check results mistake, show from CTU data failures recovery time,
The RMU times start from scratch timing.
If step 3, time do not respond the service request yet more than 3 timeslices CTU, RMU terminates from CTU recovering
Time data, shows from CTU data failures recovery time, and the RMU times start from scratch timing.
(3) CTU time initial values and time recovery
It is as CTU initial power-ons, software reset or when cutting machine, extensive from orbits controlling computer AOCC and RMU by bus
Multiple time data.Comprise the following steps that：
1) CTU is sent for calculating time difference to attitude and orbit control computer AOCC by bus | tAOCC-tCTU|
CTU timing codes；Wherein, tAOCCFor the satellite AOCC times at current time, tCTUFor the satellite CTU times at current time；
2), after CTU is waited 1 second, time difference is obtained from AOCC by bus | tAOCC-tCTU|, the time difference is increased to by CTU
As the satellite CTU times after recovering on the present satellites CTU times.
If 3) recover satellite CTU time successes from AOCC, then this recovers the operating process knot of satellite CTU times
Beam；If failed from the AOCC recovery satellite CTU times, go to step 4), continue to recover the satellite CTU times from RMU.
4) CTU is sent for calculating time difference to RMU by bus | tRMU-tCTU| CTU timing codes, wherein, tRMUIt is to work as
The satellite RMU times at front moment；
5), after CTU is waited 1 second, time difference is obtained from RMU by bus | tRMU-tCTU|, the time difference is increased to by CTU ought
As the satellite CTU times after recovering on the front satellite CTU times.
If 6) recover satellite CTU time successes from RMU, then this operating process for recovering the satellite CTU times terminates；
If recover the satellite CTU times from RMU fail, on star, the time recovers to fail, then the satellite CTU times start from scratch timing.
After RMU and CTU normally go up electric data recovery time, the assembly time is separated using a kind of retrievable satellite of the invention
Calibration steps is calibrated, and as depicted in figs. 1 and 2, comprises the following steps：
(1) time calibration of in-orbit section of assembly of return capsule and instrument room：
The time difference Δ T1 of step one, earth station's measurement satellite RMU times and ground elapsed time；
Step 2, when satellite RMU times and ground elapsed time time difference Δ T1 more than or equal to setting threshold value after, earth station lead to
Cross up injection telecommand to be calibrated RMU, during school, amount is Δ T1, makes the RMU times be consistent with ground elapsed time；
After the time difference Δ T1 of satellite RMU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection
Telecommand, is calibrated to RMU using uniform calibration method, the RMU times is consistent with ground elapsed time；The uniform school
Periodically to calibrate to time difference Δ T1, each cycle calibrates the time less than Δ T1 of a setting to Shi Fangfa to Δ T1
Interval；
During during RMU collection lieutenant colonels and uniform school
When exist star ground the time difference when, retrievable satellite using collection lieutenant colonel when, uniform school when by the way of enter time dimension on planet
Shield.Time on star, on the basis of the time on the current star of satellite, is increased and decreased a requirement by command request when pressing ground school
Value, to correct the absolute error of star ground time.
During RMU collection lieutenant colonels：Retrievable satellite section in orbit, when star ground time difference absolute value is Δ T1 second, can pass through
Time difference amendment is carried out when note is instructed to RMU collection lieutenant colonels on ground, amount is Δ T1 during school, when realizing that the RMU times are with ground UTC on star
Between synchronization, when integrating lieutenant colonel, random error is microsecond (us) magnitude.Carrying out collecting lieutenant colonel constantly in poor makeover process, it is also contemplated that
Satellite-ground link time delay.
During the uniform schools of RMU：When the star ground time difference as the skew of RMU times crystal oscillator causes periodically aggregate-value Δ T1 milliseconds occur
When, and Δ T1 is less than the threshold value of setting, can be by accumulative time difference amendment be carried out when note instructs school uniform to RMU on ground.RMU
At a certain time interval, a minimum interval Δ T3 millisecond is periodically increased or decreased to the RMU times, reaches and carry
The accurate timing purpose of time cumulation on high star.
Step 3, satellite RMU are per minute when independently carrying out once school to CTU, the CTU times is consistent with the RMU times；
The time of retrievable satellite is managed collectively by several pipe CTU.Satellite section in orbit, devises the autonomous schools of RMU
Shi Fangfa, when realizing RMU to the periodicity school of CTU.Realize during the autonomous schools of RMU on star that the CTU times are synchronous with the RMU times.Tool
Body step is：
1) CTU sends the newest timing code of CTU by bus cycles property (1 minute 1 time) to RMU.
2) effectively whether RMU detections bus interrupt, if it is valid, CTU timing codes are obtained in process of breaking in the bus, together
When get current RMU timing codes.
3) RMU completed the time difference of RMU and CTU in 1 second | tRMU-tCTU| calculate, and CTU is sent to by bus.
4) CTU waits 1 second after ± 125 milliseconds, and the time difference of RMU and CTU is obtained from RMU by bus | tRMU-tCTU|, will
Time difference and CTU times do additive operation, and operation result is used as the new CTU times.After when CTU often completes RMU autonomous school,
Can ensure that the CTU times are less than 1 millisecond with RMU time differences absolute value.
The CTU times are published to each bus by serial data bus using the method for broadcast by step 4, satellite CTU
Terminal unit.
By way of CTU is broadcasted, realize that each subsystem is synchronous with the CTU times.Timing code is sent to bus by CTU
Software time delay and bus transfer time delay are compensated；Time user carries out time benefit to getting the software time delay after timing code
Repay.CTU is broadcasted the CTU times to RTU by bus, once per second, and A/B buses replace.When broadcasting the CTU times,
All interruptions are closed, CTU is sent to the software time delay of bus and compensates (us) to timing code, therefore when can ensure that CTU
Between the error broadcasted be us levels.
(2) instrument room stays the time calibration of rail section：
The time difference Δ T2 of step one, earth station's measurement satellite CTU times and ground elapsed time；
Step 2, when satellite CTU times and ground elapsed time time difference Δ T2 more than or equal to setting threshold value after, earth station lead to
Cross up injection telecommand to be calibrated CTU, during school, amount is Δ T2, makes the CTU times be consistent with ground elapsed time；
After the time difference Δ T2 of satellite CTU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection
Telecommand, is calibrated to CTU using uniform calibration method, the satellite RMU times is consistent with ground elapsed time；
During during CTU collection lieutenant colonels and uniform school
When exist star ground the time difference when, retrievable satellite using collection lieutenant colonel when, uniform school when two ways enter the time on planet
Safeguard.Time on star, on the basis of the time on the current star of satellite, is increased and decreased a requirement by command request when pressing ground school
Value, to correct the absolute error of star ground time.
During CTU collection lieutenant colonels：Retrievable satellite stays rail target phase, when star ground time difference absolute value is Δ T2 second, can pass through
Time difference amendment is carried out when note is instructed to CTU collection lieutenant colonels on ground, amount is Δ T2 during school, when realizing that the CTU times are with ground UTC on star
Between synchronization, when integrating lieutenant colonel, random error is microsecond (us) magnitude.In time difference makeover process is carried out, it is also contemplated that satellite-ground link
Time delay.
During the uniform schools of CTU：When the star ground time difference as the skew of CTU times crystal oscillator causes periodically aggregate-value Δ T2 milliseconds occur
When, can be by accumulative time difference amendment be carried out when note instructs school uniform to CTU on ground.CTU is at a certain time interval, all
A minimum interval Δ T4 millisecond is increased or decreased to phase property to the CTU times, time cumulation on raising star is reached and is accurately counted
When purpose.
The CTU times are published to each bus by serial data bus using the method for broadcast by step 3, satellite CTU
Terminal unit.
By way of CTU is broadcasted, realize that each subsystem is synchronous with the CTU times.Timing code is sent to bus by CTU
Software time delay and bus transfer time delay are compensated；Time user carries out time benefit to getting the software time delay after timing code
Repay.CTU is broadcasted the CTU times to RTU by bus, once per second, and A/B buses replace.When broadcasting the CTU times,
All interruptions are closed, CTU is sent to the software time delay of bus and compensates (us) to timing code, therefore when can ensure that CTU
Between the error broadcasted be us levels.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of retrievable satellite separates assembly time calibrating method, it is characterised in that comprise the following steps：
(1) time calibration of in-orbit section of assembly of return capsule and instrument room：
The time difference Δ T1 of step 11, earth station's measurement satellite recovery capsule administrative unit RMU time and ground elapsed time；
Step 12, when satellite RMU times and ground elapsed time time difference Δ T1 more than or equal to setting threshold value when, earth station passes through
Up injection telecommand is calibrated to RMU, and during school, amount is Δ T1, the RMU times is consistent with ground elapsed time；
When the time difference Δ T1 of satellite RMU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection remote control
Instruction, is calibrated to RMU using uniform calibration method, the RMU times is consistent with ground elapsed time；The uniform school when side
Method periodically to calibrate to time difference Δ T1, calibrated Δ T1 between the time less than Δ T1 for setting by each cycle
Every；
Step 13, satellite RMU are per minute when independently carrying out once school to CPU CTU, make CTU times and RMU times
It is consistent；
The CTU times are published to each bus termination by serial data bus using the method for broadcast by step 14, satellite CTU
Equipment.
(2) instrument room stays the time calibration of rail section：
The time difference Δ T2 of step 21, earth station's measurement satellite CTU times and ground elapsed time；
Step 22, when satellite CTU times and ground elapsed time time difference Δ T2 more than or equal to setting threshold value when, earth station passes through
Up injection telecommand is calibrated to CTU, and during school, amount is Δ T2, the CTU times is consistent with ground elapsed time；
When the time difference Δ T2 of satellite CTU times and ground elapsed time is less than the threshold value for setting, earth station is by up injection remote control
Instruction, is calibrated to CTU using uniform calibration method, the satellite RMU times is consistent with ground elapsed time；
The CTU times are published to each bus termination by serial data bus using the method for broadcast by step 23, satellite CTU
Equipment.
2. a kind of retrievable satellite as claimed in claim 1 separates assembly time calibrating method, it is characterised in that described
It is as follows that time when RMU carried out initial power-on, software reset before the step 11 or cuts machine recovers flow process：
Step one, RMU propose the service request that the time recovers on star to CTU；
If step 2, CTU have responded the service request of RMU in 3 timeslices or in 3 timeslices, wherein, per timeslice
For 100 milliseconds, then RMU removes the service request immediately, and obtains time data from the corresponding subaddressing of bus, while to time number
According to data head and data tail verified；If check results are correct, the time data of acquisition is stored to into RMU locally stored
Area, then from time data takes out CTU timing codes, CTU timing code microseconds portion is verified；If microsecond portion is in setting model
In enclosing, then the time on RMU stars is calibrated according to the timing code for obtaining；If microsecond portion exceeds zone of reasonableness, then it is assumed that CTU
Timing code format error, recovers to fail during star, and the RMU times start from scratch timing；
If the data head to time data and data tail check results mistake, show from CTU data failures recovery time, RMU
Time starts from scratch timing；
If step 3, time do not respond the service request yet more than 3 timeslices CTU, RMU terminated from CTU recovery times
Data, RMU times are started from scratch timing.
3. a kind of retrievable satellite as claimed in claim 1 separates assembly time calibrating method, it is characterised in that described
It is as follows that time when CTU carried out initial power-on, software reset before the step 11 or cuts machine recovers flow process：
Step one, CTU are sent for calculating time difference to attitude and orbit control computer AOCC by bus | tAOCC-tCTU|
CTU timing codes；Wherein, tAOCCFor the satellite AOCC times at current time, tCTUFor the satellite CTU times at current time；
After step 2, CTU are waited 1 second, time difference is obtained from AOCC by bus | tAOCC-tCTU|, the time difference is increased to by CTU
As the satellite CTU times after recovering on the present satellites CTU times；
If step 3, from AOCC recover satellite CTU time successes, recover the satellite CTU times operating process terminate；If
Fail from the AOCC recovery satellite CTU times, then four-step 6 of execution step；
Step 4, CTU are sent for calculating time difference to RMU by bus | tRMU-tCTU| CTU timing codes；Wherein, tRMUFor
The satellite RMU times at current time；
After step 5, CTU are waited 1 second, time difference is obtained from RMU by bus | tRMU-tCTU|, the time difference is increased to by CTU
As the satellite CTU times after recovering on the present satellites CTU times；
If step 6, from RMU recover satellite CTU time successes, recover the satellite CTU times operating process terminate；If
Recover the satellite CTU times from RMU to fail, then the satellite CTU times start from scratch timing.
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| CN111880204A (en) * | 2020-06-28 | 2020-11-03 | 北京空间飞行器总体设计部 | Hierarchical time frequency system for navigation satellite |
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|---|---|---|---|---|
| CN111880204A (en) * | 2020-06-28 | 2020-11-03 | 北京空间飞行器总体设计部 | Hierarchical time frequency system for navigation satellite |
| CN111880204B (en) * | 2020-06-28 | 2023-03-24 | 北京空间飞行器总体设计部 | Hierarchical time frequency system for navigation satellite |
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| CN106549701B (en) | 2019-05-17 |
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