CN107024702A - A kind of half control system circled simulation flat in kind based on inertia/satellite navigation - Google Patents
A kind of half control system circled simulation flat in kind based on inertia/satellite navigation Download PDFInfo
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- CN107024702A CN107024702A CN201710045079.3A CN201710045079A CN107024702A CN 107024702 A CN107024702 A CN 107024702A CN 201710045079 A CN201710045079 A CN 201710045079A CN 107024702 A CN107024702 A CN 107024702A
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- satellite
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- measuring unit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of half control system circled simulation flat in kind based on inertia/satellite navigation, including simulation computer, the simulation computer carries computer and three-axle table connection respectively at GNSS navigation satellite signal simulators control computer, arrow, GNSS navigation satellite signal simulator control computers are connected with satellite-signal radio frequency mouthful, and the satellite-signal radio frequency mouthful other end is connected with transmitting antenna；Arrow carries computer and is connected respectively with GNSS receiver, inertial measuring unit, and the GNSS receiver other end is connected with reception antenna, and inertial measuring unit is fixed on three-axle table；The advantages of the present invention simulator can receive the information such as position, speed, acceleration, the posture of rocket of HWIL simulation machine transmission, the in-orbit position distribution of many system multi-satellites and motion are simulated, analog satellite ephemeris, navigation message, tropospheric delay, ionosphere delay, multichannel are through effect, interference source.
Description
Technical field
The invention belongs to satellite navigation and control field, and in particular to a kind of half control in kind based on inertia/satellite navigation
System circled simulation flat processed.
Background technology
Current combined guidance mode has in Military and civil fields such as space flight, aviation, navigations to be quite widely applied, and is particularly used to
Property navigation with the united guided mode of satellite navigation is deep is welcome by everybody.But at present for the checking of both combined effects, by
In the acquisition of the navigation satellite signal of high dynamic, obtained mainly or by a large amount of entity flight tests.And this experiment
All it is not reproducible for from the strict sense, the consumption on human and material resources is also very huge, especially for the development stage
It is a very big burden.
The content of the invention
In order to solve the above problems, the technical solution adopted by the present invention is as follows：
A kind of half control system circled simulation flat in kind based on inertia/satellite navigation, including simulation computer, the emulation
Computer carries computer and three-axle table connection respectively at GNSS navigation satellite signal simulators control computer, arrow, and GNSS is led
Boat satellite signal simulator control computer is connected with satellite-signal radio frequency mouthful, the satellite-signal radio frequency mouthful other end and transmitting antenna
Connection；Arrow carries computer and is connected respectively with GNSS receiver, inertial measuring unit, and the GNSS receiver other end connects with reception antenna
Connect, inertial measuring unit is fixed on three-axle table.
The inertial measuring unit and three-axle table routing motion.
The data of the inertial measuring unit and GNSS receiver are collectively delivered to simulation computer.
Advantages of the present invention：The simulator can receive the position of rocket of HWIL simulation machine transmission, speed, acceleration,
The information such as posture, simulate the in-orbit position distribution of many system multi-satellites and motion, analog satellite ephemeris, navigation message, convection current
Layer delay, ionosphere delay, multichannel are through effect, interference source etc., according to the posture of rocket, receiver antenna arrangement, antenna direction
The factor such as distance of distance between figure, receiver and satellite, the different navigation satellite that analog satellite navigation neceiver is received is penetrated
The arrival incidence angle of frequency signal, strong and weak and delay, and then the satellite navigation process in simulated rocket flight course, it is in real time or near real
When complete guidance system closed-loop simulation experiment.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Embodiment
As shown in figure 1, a kind of half control system circled simulation flat in kind based on inertia/satellite navigation, including emulation
Computer 1, it is characterised in that：The simulation computer 1 is respectively at GNSS navigation satellite signal simulators control computer 2, arrow
Carry computer 3 and three-axle table 4 is connected, GNSS navigation satellite signal simulators control computer 2 connects with satellite-signal radio frequency mouthful 5
Connect, satellite-signal 5 other ends of radio frequency mouthful are connected with transmitting antenna 6；Arrow carry computer 3 respectively with GNSS receiver 7, inertia measurement
Device 8 is connected, and the other end of GNSS receiver 7 is connected with reception antenna 9, and inertial measuring unit 8 is fixed on three-axle table 4.
The inertial measuring unit 8 and the routing motion of three-axle table 4.
The data of the inertial measuring unit 8 and GNSS receiver 7 are collectively delivered to simulation computer 1.
Operation principle：
Using simulation computer as control centre, the information in computer is carried according to arrow, real-time Simulation calculates the tracing point of user, production
The inertial measuring unit skimulated motion state of raw two paths of signals, all the way signal control three-axle table, another road passes to GNSS and defended
Star signal simulator come simulate produce carrier movement during satellite-signal and launched by antenna, then connect by GNSS
Receipts machine receives the signal.The measurement data of inertial measuring unit and the data of GNSS receiver are collectively delivered to arrow and carry computer,
It is final that computer is carried by its information transmission to simulation computer by arrow, it is that next tracing point calculating is prepared, result in formation of one
Individual closed loop.
Claims (3)
1. a kind of half control system circled simulation flat in kind based on inertia/satellite navigation, including simulation computer (1), its
It is characterised by：The simulation computer (1) carries respectively at GNSS navigation satellite signal simulator control computers (2), arrow and calculated
Machine (3) and three-axle table (4) connection, GNSS navigation satellite signal simulator control computers (2) and satellite-signal radio frequency mouthful (5)
Connection, satellite-signal radio frequency mouthful (5) other end is connected with transmitting antenna (6)；Arrow carry computer (3) respectively with GNSS receiver
(7), inertial measuring unit (8) is connected, and GNSS receiver (7) other end is connected with reception antenna (9), inertial measuring unit (8)
It is fixed on three-axle table (4).
2. a kind of half control system circled simulation flat in kind based on inertia/satellite navigation according to claim 1, its
It is characterised by：The inertial measuring unit (8) and three-axle table (4) routing motion.
3. a kind of half control system circled simulation flat in kind based on inertia/satellite navigation according to claim 1, its
It is characterised by：The data of the inertial measuring unit (8) and GNSS receiver (7) are collectively delivered to simulation computer (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045079.3A CN107024702A (en) | 2017-01-20 | 2017-01-20 | A kind of half control system circled simulation flat in kind based on inertia/satellite navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045079.3A CN107024702A (en) | 2017-01-20 | 2017-01-20 | A kind of half control system circled simulation flat in kind based on inertia/satellite navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107024702A true CN107024702A (en) | 2017-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710045079.3A Pending CN107024702A (en) | 2017-01-20 | 2017-01-20 | A kind of half control system circled simulation flat in kind based on inertia/satellite navigation |
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| CN (1) | CN107024702A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262282A (en) * | 2019-05-27 | 2019-09-20 | 南京理工大学 | Rocket grade, which is settled in an area, controls three-axle table semi-matter simulating system and method |
| CN110793548A (en) * | 2019-11-06 | 2020-02-14 | 上海交通大学 | Navigation simulation test system based on virtual-real combination of GNSS receiver hardware in loop |
| CN111006662A (en) * | 2019-12-26 | 2020-04-14 | 北京悦航天翼电子信息技术有限公司 | Autonomous navigation and positioning system based on ARINC429 simulator |
| CN111427067A (en) * | 2020-03-04 | 2020-07-17 | 上海航天控制技术研究所 | High-orbit navigation compatible machine-based semi-physical test system and method |
| CN111522326A (en) * | 2020-04-17 | 2020-08-11 | 上海宇航系统工程研究所 | Simulation test system and test method for rocket sublevel recovery integrated controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103675834A (en) * | 2013-11-28 | 2014-03-26 | 江西洪都航空工业集团有限责任公司 | Indoor satellite signal simulation system |
| CN104820227A (en) * | 2015-04-29 | 2015-08-05 | 中测高科（北京）测绘工程技术有限责任公司 | Gnss module automatic test system |
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2017
- 2017-01-20 CN CN201710045079.3A patent/CN107024702A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103675834A (en) * | 2013-11-28 | 2014-03-26 | 江西洪都航空工业集团有限责任公司 | Indoor satellite signal simulation system |
| CN104820227A (en) * | 2015-04-29 | 2015-08-05 | 中测高科（北京）测绘工程技术有限责任公司 | Gnss module automatic test system |
Non-Patent Citations (1)
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| 刘岩 等: "导航卫星仿真信号控制精度测试与评定", 《测控遥感与导航定位》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262282A (en) * | 2019-05-27 | 2019-09-20 | 南京理工大学 | Rocket grade, which is settled in an area, controls three-axle table semi-matter simulating system and method |
| CN110793548A (en) * | 2019-11-06 | 2020-02-14 | 上海交通大学 | Navigation simulation test system based on virtual-real combination of GNSS receiver hardware in loop |
| CN110793548B (en) * | 2019-11-06 | 2023-04-18 | 上海交通大学 | Navigation simulation test system based on virtual-real combination of GNSS receiver hardware in loop |
| CN111006662A (en) * | 2019-12-26 | 2020-04-14 | 北京悦航天翼电子信息技术有限公司 | Autonomous navigation and positioning system based on ARINC429 simulator |
| CN111427067A (en) * | 2020-03-04 | 2020-07-17 | 上海航天控制技术研究所 | High-orbit navigation compatible machine-based semi-physical test system and method |
| CN111522326A (en) * | 2020-04-17 | 2020-08-11 | 上海宇航系统工程研究所 | Simulation test system and test method for rocket sublevel recovery integrated controller |
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Application publication date: 20170808 |