CN113608244B - Space gravitational wave detection satellite constellation ground demonstration verification system - Google Patents
Space gravitational wave detection satellite constellation ground demonstration verification system Download PDFInfo
- Publication number
- CN113608244B CN113608244B CN202110851908.3A CN202110851908A CN113608244B CN 113608244 B CN113608244 B CN 113608244B CN 202110851908 A CN202110851908 A CN 202110851908A CN 113608244 B CN113608244 B CN 113608244B
- Authority
- CN
- China
- Prior art keywords
- floating body
- satellite
- space
- wave detection
- gravitational wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 103
- 238000012795 verification Methods 0.000 title claims abstract description 48
- 238000007667 floating Methods 0.000 claims abstract description 183
- 239000004579 marble Substances 0.000 claims abstract description 41
- 238000013507 mapping Methods 0.000 claims description 24
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 20
- 238000002474 experimental method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000036544 posture Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 7
- 239000007924 injection Substances 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 208000034699 Vitreous floaters Diseases 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004556 laser interferometry Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- 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
Abstract
The invention provides a space gravitational wave detection satellite constellation ground demonstration verification system, which comprises: the marble platform is configured to simulate a space orbit plane formed by satellite constellation three satellites by a space gravitational wave detection satellite on a two-dimensional plane where the surface of the marble platform is positioned; three identical floating bodies configured to simulate satellites constituting a constellation of space gravitational wave detection satellites; the task control terminal is configured to set experimental task content and related conditions and set and update configuration parameters of each floating body.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a ground equivalent demonstration verification system for laser pointing capturing and alignment control among space gravitational wave detection satellite constellations.
Background
Gravitational wave detection is carried out from the initial resonance rod to the ground L-shaped laser interferometer, and then the gravitational wave detection is carried out to the space gravitational wave detection. The main difference between the ground and the space laser interference gravitational wave detector is the difference of the measuring frequency bands. Because the frequency band of ground gravitational wave detection cannot cover the middle-low frequency range of gravitational waves generated by celestial events due to the influence of ground vibration and gravitational gradient noise and the limitation of interference arm length, a long-baseline laser interference gravitational wave detection system with the magnitude of millions of kilometers in space is required to be developed.
At present, the space gravitational wave detection plans at home and abroad all comprise three identical satellites, form equilateral triangles with side lengths of hundreds of thousands or millions of kilometers, run on earth center or Japanese center orbit, and form 3 Michelson interferometers with dependent included angles of 60 degrees by the three satellites, so as to measure the distance change caused by gravitational waves among the satellites. In order to construct a laser interferometry arm of the Michelson interferometer, three satellites are required to be controlled to realize inter-satellite laser two-by-two capturing and alignment in the same space plane, as the inter-satellite distance is too far away, the relative position is easy to change, the orbit and the attitude of each satellite are controlled to be coupled, and the measurement information has errors and obvious time delay, so that the realization of the inter-satellite laser two-by-two alignment becomes very difficult.
Disclosure of Invention
The invention aims to provide a space gravitational wave detection satellite constellation ground demonstration verification system, which is used for solving the problem that the existing space gravitational wave detection three-star laser is very difficult to align two by two, and realizing ground semi-physical or full-physical equivalent simulation and simulation verification on the dynamic process, control algorithm and control strategy of laser alignment.
In order to solve the technical problems, the invention provides a space gravitational wave detection satellite constellation ground demonstration verification system, which comprises:
the marble platform is configured to simulate a space orbit plane formed by satellite constellation three satellites by a space gravitational wave detection satellite on a two-dimensional plane where the surface of the marble platform is positioned;
three identical floating bodies configured to simulate satellites constituting a constellation of space gravitational wave detection satellites; and
the task control terminal is configured to set experimental task content and related conditions, and set and update configuration parameters of each floating body.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the marble platform can meet the requirement that a plurality of floating bodies freely float back and forth after being leveled, and the area of floating and walking reaches tens of square meters to hundreds of square meters.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the floating body comprises an upper space and a lower space, and the lower space is provided with a gas cylinder, an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor, a pipeline, a thruster, a single-shaft flywheel and a power supply system, wherein the gas cylinder, the inflation valve, the self-locking valve, the pressure reducing valve, the electromagnetic valve, the pressure sensor, the pipeline and the thruster form a propulsion subsystem, and a cold air propulsion subsystem adopted by an in-orbit satellite is simulated.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, four gas cylinders are mounted on the floating body and are vertically mounted in the lower space, gas outlets of the gas cylinders are connected with pipelines to lead to the thrusters, and a self-locking valve, a pressure reducing valve and a pressure sensor are mounted between the pipelines;
the inflation valve is used for filling gas into the gas cylinder;
the self-locking valve is used as a switch for outputting gas in the gas cylinder;
the pressure reducing valve is used for properly reducing the pressure of the high-pressure gas in the pipeline;
the pressure sensor is used for measuring the pressure values of the gas cylinder outlet and the pressure reducing valve outlet;
the electromagnetic valve is arranged on a pipeline near the nozzle of the thruster, and the rapid air injection of the thruster is realized by receiving a control instruction;
the thrusters with 4 nozzles facing downwards are uniformly installed at the bottom of the lower space, and the floating body floats on the marble platform by downward air injection at a height of tens of micrometers.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the power supply system is located between 4 gas cylinders, and comprises a storage battery and a power supply controller, and the power supply system is configured to provide power for each device on the floating body so as to simulate a satellite-borne battery and the power supply controller of a satellite;
the single-shaft flywheel is arranged below the power supply system, and the rotating shaft of the single-shaft flywheel is along the direction of the floating body to the ground, so that the floating body can perform single-degree-of-freedom gesture control on the direction axis of the floating body, and the single-shaft flywheel is used for simulating gesture control of each satellite of the space gravitational wave detection satellite constellation in the direction degree of freedom perpendicular to the constellation orbit plane.
Optionally, in the system for demonstrating and verifying the constellation ground of the space gravitational wave detection satellite, 4 groups of thruster clusters are uniformly distributed on the outer side surface of the floating body along the same axial height, each group of thruster clusters comprises 2 thrusters, the nozzle directions of the thrusters of the thruster clusters are perpendicular to the ground axis of the floating body and are radially outwards along the floating body, so that the floating body can perform displacement jet control with two degrees of freedom on the marble platform, and each satellite of the space gravitational wave detection satellite constellation can freely move with two degrees of freedom in the constellation orbit plane.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, a single-axis optical fiber gyroscope, two identical laser emission and detection integrated machines, a bracket capable of controlling and adjusting the opening angle in a closed loop manner, a laser radar synchronous positioning and mapping system, a wireless router and a high-performance computer are arranged in the upper space of the floating body;
the single-axis optical fiber gyroscope is used for measuring and determining the angular velocity and the rotation gesture of the floating body in the direction of the ground axis;
the two same laser emission and detection integrated bodies can emit laser and receive laser signals in two different directions respectively and simultaneously, and are used for simulating a space gravitational wave detection satellite constellation inter-satellite laser link, and the laser emission and detection integrated bodies can simulate a laser interferometer load adopted by the space gravitational wave detection satellite;
the support capable of adjusting the opening angle in a closed-loop control manner is used for loading two laser emission and detection integrated machines, so that an included angle between optical axes of the two laser emission and detection integrated machines is 60 degrees, a plane formed by the two optical axes is approximately parallel to the ground, the opening angle of the support is adjusted within a small angle range through the driving of a precision motor, and the support structure simulates a telescope structure of a space gravitational wave detection satellite;
the laser radar synchronous positioning and mapping system comprises laser radar equipment and necessary sensors, calculates the position and the posture of a floating body on a marble platform through a laser synchronous positioning and mapping algorithm, and is used for simulating the orbit and the posture determination of each satellite of a space gravitational wave detection satellite constellation;
the high-performance computer is a core part of the floating body, performs data acquisition and processing of each sensor and various algorithm realization, generates a control instruction and outputs the control instruction to the execution mechanism to complete closed-loop control, and is used for simulating the functions of a satellite-borne computer of a satellite;
the wireless router is connected with the high-performance computer, on one hand, data transmitted by the high-performance computer are output to other floating bodies and task control terminals through wireless functions, and on the other hand, wireless signals of the other floating bodies and the task control terminals are received and then transmitted to the high-performance computer of the floating body;
the signal data is added with a certain time delay to simulate the space gravitational wave to detect the inter-satellite communication and the satellite-ground communication delay characteristics of the satellite constellation in the order of million kilometers.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the task control terminal is installed near a marble platform and is a ground computer with a wireless signal transmission function;
the task control terminal sets experimental task content and related conditions, and sets and updates configuration parameters of each floating body, including initial positions, initial postures and thruster control parameters of the floating bodies;
the task control terminal distributes relevant parameters and experimental step sequences of the floating bodies to each floating body through wireless signals, remotely controls the starting of the floating bodies, and determines the starting and stopping of experimental tasks so as to simulate the action of the ground station.
Optionally, in the system for demonstrating and verifying the ground of the constellation of the space gravitational wave detection satellite, the workflow of the system for demonstrating and verifying the ground of the constellation of the space gravitational wave detection satellite comprises:
a first step of: placing three floating bodies at proper positions on a marble platform, starting a power supply main switch of each floating body, sending power supply starting instructions of each sensor and an executing mechanism to a high-performance computer of each floating body through a task control terminal, ensuring that the sensors and the executing mechanisms in each floating body are normally powered on and completing self-inspection;
and a second step of: after each floating body is successfully self-inspected, calibrating relevant parameters of a laser radar synchronous positioning and mapping system according to a laser synchronous positioning and mapping principle, so as to ensure that the laser radar synchronous positioning and mapping system can accurately position and fix the pose;
and a third step of: after the synchronous positioning of the laser radar and the calibration of the mapping system are completed, recording initial position coordinates and initial postures of the three floating bodies on a marble platform coordinate system at the moment; the method comprises the steps that relevant task configuration information such as initial pose information, control parameter information, expected position information and attitude information of each floating body is sent to each floating body through a task control terminal, measurement errors, transmission delay and control errors possibly occurring in the satellite in orbit of a satellite constellation are detected according to space gravitational waves, equivalent interference is added in the information, and therefore the working state of the floating bodies can be guaranteed to approximate to the satellite in-orbit state;
fourth step: after the information of each floating body is configured, an experiment task starting instruction is sent to each floating body through a task control terminal, each floating body automatically performs a pairwise laser pointing capturing and aligning control experiment by utilizing a self sensor, an actuating mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation inter-satellite laser pointing capturing and aligning control algorithm and an attitude cooperative control strategy, and in the experimental process, each floating body sends own pose information and control information with time delay to other two floating bodies according to an on-orbit equivalent transmission time interval, the motion condition of the floating body is recorded and observed, and the control algorithm is improved and the experiment is carried out again through an experimental result.
The inventor of the invention discovers that the current space gravitational wave detection satellite constellation inter-satellite laser capturing and aligning control algorithm and the coordinated control strategy of all satellite attitudes in the constellation are still remained in the theoretical research and digital simulation stage, and the dynamic process, the control algorithm and the control strategy are urgently required to be subjected to ground semi-physical or full-physical equivalent simulation and simulation verification along with the sequential promotion of the domestic space gravitational wave detection plan.
Aiming at the technical problems faced by space gravitational wave detection satellite constellations, the invention aims to construct a demonstration verification system capable of carrying out equivalent simulation on space gravitational wave detection satellite constellation inter-satellite laser capture and alignment control processes based on the characteristics of relative motion characteristics among satellites of the space gravitational wave detection satellite constellations and inter-satellite laser capture and alignment control tasks under the ground environment, and semi-physical experiment verification can be carried out on an in-orbit inter-satellite laser capture and alignment control algorithm, a multi-satellite gesture cooperative control strategy and the like by using the demonstration verification system.
In the space gravitational wave detection satellite constellation ground demonstration verification system provided by the invention, a space orbit plane formed by three satellites of a space gravitational wave detection satellite constellation is simulated by a two-dimensional plane where the surface of a marble platform is positioned, three identical floaters simulate satellites forming the space gravitational wave detection satellite constellation, a task control terminal sets experimental task content and related conditions, sets and updates configuration parameters of each floater, and provides a system design method for equivalent demonstration verification of laser pointing capture and alignment control of the space gravitational wave detection satellite constellation on the ground.
The invention has the advantages that the construction principle of the equivalent demonstration verification system is simple, engineering realization is convenient, and the equivalent interference can be added on the sensor measurement information, the actuating mechanism control error and the information transmission of the equivalent demonstration verification system by referring to the actual state of the on-orbit satellite, thereby having strong demonstration verification effect on the actual physical movement process and algorithm verification of the inter-satellite laser pointing capturing and alignment control.
Drawings
FIG. 1 is a schematic diagram of a system for ground demonstration verification of a space gravitational wave detection satellite constellation in an embodiment of the present invention;
FIG. 2 is a schematic view of the space under the floating body in an embodiment of the present invention;
FIG. 3 is a schematic top view of a floating body under-layer space in an embodiment of the present invention;
FIG. 4 is a schematic bottom view of a floating body under-layer space in an embodiment of the present invention;
FIG. 5 is a schematic top-level space diagram of a floating body according to an embodiment of the present invention;
FIG. 6 is a schematic view of the interior of the upper space of the floating body in an embodiment of the present invention;
FIG. 7 is a schematic illustration of the outside surface of a floating body in an embodiment of the present invention;
fig. 8 is a schematic diagram of the workflow of a space gravitational wave detection satellite constellation ground demonstration verification system in an embodiment of the present invention.
Detailed Description
The invention is further elucidated below in connection with the embodiments with reference to the drawings.
It should be noted that the components in the figures may be shown exaggerated for illustrative purposes and are not necessarily to scale. In the drawings, identical or functionally identical components are provided with the same reference numerals.
In the present invention, unless specifically indicated otherwise, "disposed on …", "disposed over …" and "disposed over …" do not preclude the presence of an intermediate therebetween. Furthermore, "disposed on or above" … merely indicates the relative positional relationship between the two components, but may also be converted to "disposed under or below" …, and vice versa, under certain circumstances, such as after reversing the product direction.
In the present invention, the embodiments are merely intended to illustrate the scheme of the present invention, and should not be construed as limiting.
In the present invention, the adjectives "a" and "an" do not exclude a scenario of a plurality of elements, unless specifically indicated.
It should also be noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that the components or assemblies may be added as needed for a particular scenario under the teachings of the present invention. In addition, features of different embodiments of the invention may be combined with each other, unless otherwise specified. For example, a feature of the second embodiment may be substituted for a corresponding feature of the first embodiment, or may have the same or similar function, and the resulting embodiment would fall within the disclosure or scope of the disclosure.
It should also be noted herein that, within the scope of the present invention, the terms "identical", "equal" and the like do not mean that the two values are absolutely equal, but rather allow for some reasonable error, that is, the terms also encompass "substantially identical", "substantially equal". By analogy, in the present invention, the term "perpendicular", "parallel" and the like in the table direction also covers the meaning of "substantially perpendicular", "substantially parallel".
The numbers of the steps of the respective methods of the present invention are not limited to the order of execution of the steps of the methods. The method steps may be performed in a different order unless otherwise indicated.
The ground demonstration verification system for the space gravitational wave detection satellite constellation provided by the invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
The invention aims to provide a space gravitational wave detection satellite constellation ground demonstration verification system so as to solve the problem that the existing space gravitational wave detection three-star laser is very difficult to align two by two.
In order to achieve the above object, the present invention provides a space gravitational wave detection satellite constellation ground demonstration verification system, comprising: the marble platform is configured to simulate a space orbit plane formed by satellite constellation three satellites by a space gravitational wave detection satellite on a two-dimensional plane where the surface of the marble platform is positioned; three identical floating bodies configured to simulate satellites constituting a constellation of space gravitational wave detection satellites; and the task control terminal is configured to set experimental task content and related conditions, and set and update configuration parameters of each floating body.
Aiming at the technical problems faced by space gravitational wave detection satellite constellations, the invention aims to construct a demonstration verification system capable of carrying out equivalent simulation on space gravitational wave detection satellite constellation inter-satellite laser capture and alignment control processes based on the characteristics of relative motion characteristics among satellites of the space gravitational wave detection satellite constellations and inter-satellite laser capture and alignment control tasks under the ground environment, and semi-physical experiment verification can be carried out on an in-orbit inter-satellite laser capture and alignment control algorithm, a multi-satellite gesture cooperative control strategy and the like by using the demonstration verification system. The equivalent demonstration verification system comprises a marble platform, three identical floating bodies and a task control terminal.
In one embodiment of the present invention, as shown in fig. 1, the marble platform is a marble platform that can satisfy the free floating walking area of a plurality of floating bodies back and forth reaching tens of square meters to hundreds of square meters after leveling. The two-dimensional plane of the marble platform surface is used for simulating a space orbit plane formed by space gravitational wave detection satellite constellation three stars.
In one embodiment of the present invention, as shown in fig. 2, the floating body is used to simulate satellites that make up a constellation of space gravitational wave detection satellites. The floating body mainly comprises two layers, namely an upper space and a lower space; the lower space is provided with a gas cylinder, an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor, a pipeline, a thruster, a single-shaft flywheel, a power supply system and the like, wherein the gas cylinder, the inflation valve, the self-locking valve, the pressure reducing valve, the electromagnetic valve, the pressure sensor, the pipeline, the thruster and the like form a propulsion subsystem, and the propulsion subsystem is similar to a cold air propulsion subsystem adopted by an in-orbit satellite.
In one embodiment of the invention, as shown in fig. 2, four gas cylinders are arranged on the floating body and are vertically arranged in the lower space, gas outlet connecting pipelines of the gas cylinders are led to the thrusters, a self-locking valve, a pressure reducing valve and a pressure sensor are arranged among the pipelines through reasonable layout, the self-locking valve is used for switching on and off gas output of the gas cylinders, the pressure reducing valve is used for properly reducing pressure of high-pressure gas, the pressure sensor is used for measuring pressure values of gas cylinder outlets and pressure reducing valve outlets, an electromagnetic valve is arranged on the pipeline near the nozzle of the thrusters, and rapid gas injection of the thrusters is realized by receiving control instructions. As shown in fig. 2 and 4, the thrusters having 4 nozzles facing downward are uniformly installed at the bottom of the lower space, and the floating body can be floated on the marble platform by spraying downward air at a height of several tens micrometers.
In one embodiment of the invention, as shown in fig. 2 and 3, 4 groups of thrusters are uniformly arranged at intervals of 90 degrees in a circle on the outer side surface of the floating body near the middle height position, each group of thrusters comprises 2 thrusters, the nozzle directions of the 8 thrusters are perpendicular to the ground axis of the floating body and face outwards along the radial direction of the floating body, so that the floating body can perform two-degree-of-freedom displacement air injection control on the marble platform, and each satellite of the space gravitational wave detection satellite constellation can freely move in two degrees of freedom in the constellation orbit plane.
In one embodiment of the invention, as shown in fig. 2, a single-axis flywheel is installed below the power supply system, and the rotation axis of the flywheel is along the direction of the floating body to the ground axis, so that the floating body can perform single-degree-of-freedom attitude control on the opposite direction axis, and the single-degree-of-freedom attitude control is used for simulating the attitude control of each satellite of the space gravitational wave detection satellite constellation in the direction perpendicular to the plane of the constellation orbit. The power supply system mainly comprises a storage battery and a power supply controller, and is mainly used for providing power for all equipment on the floating body and simulating functions of a satellite-borne battery and the power supply controller of a satellite.
In one embodiment of the present invention, as shown in fig. 5, a uniaxial optical fiber gyroscope, two identical laser emission and detection integrated machines, a bracket capable of adjusting the opening angle in a closed-loop control manner (in fig. 5, simply referred to as a bracket or a bracket for placing the laser emission and detection integrated machine), a laser radar synchronous positioning and mapping (Simultaneous localization and mapping) system (in fig. 5, simply referred to as a laser radar), a wireless router, a high-performance computer, and the like are installed in the upper space of the floating body. The single-axis optical fiber gyroscope is mainly used for measuring and determining the angular velocity and the rotation gesture of the floating body in the direction of the ground axis. The two same laser emission and detection integrated machines can emit laser and receive laser signals towards two different directions respectively and simultaneously, and are used for simulating a space gravitational wave detection satellite constellation inter-satellite laser link, and the laser emission and detection integrated machines are similar to the laser interferometer load adopted by the space gravitational wave detection satellite.
In one embodiment of the present invention, as shown in fig. 6, a bracket (hereinafter simply referred to as a bracket) capable of adjusting the opening angle in a closed-loop manner is used for loading two laser emission and detection integrated machines, so as to ensure that the included angle between the optical axes of the two laser emission and detection integrated machines is 60 degrees, the plane formed by the two optical axes is approximately parallel to the ground, the opening angle of the bracket can be adjusted within a small angle range by driving a precision motor, and the bracket structure refers to the telescope structure of a space gravitational wave detection satellite. The laser radar synchronous positioning and mapping system comprises laser radar equipment, necessary sensors and the like, calculates the position and the posture of the floating body on the marble platform through a laser synchronous positioning and mapping algorithm, and is used for simulating the orbit and the posture determination of each satellite of a space gravitational wave detection satellite constellation.
In one embodiment of the present invention, as shown in fig. 7, the wireless router is connected with the high-performance computer, so that, on one hand, data transmitted by the high-performance computer is transmitted to other floating bodies and task control terminals through wireless functions, and on the other hand, wireless signals of the other floating bodies and task control terminals are received and then transmitted to the high-performance computer of the floating body. The signal data can be used to simulate the inter-satellite communication and the satellite-to-ground communication delay characteristics of the million kilometer level of the space gravitational wave detection satellite constellation after a certain time delay is added. The high-performance computer is a core part of the floating body, mainly performs data acquisition and processing of each sensor and various algorithm realization, generates control instructions and outputs the control instructions to the execution mechanism to complete closed-loop control, and is used for simulating the functions of a satellite-borne computer of a satellite.
In one embodiment of the present invention, as shown in fig. 1, the task control terminal (i.e., the ground control terminal in fig. 1) refers to a ground computer with a wireless signal transmission function installed near a marble platform, and the task control terminal mainly functions to set experimental task contents and related conditions, and perform setting and updating of configuration parameters of each floating body, such as an initial position, an initial posture, a thruster control parameter, etc., of the floating body. The task control terminal distributes relevant parameters and experimental step sequences of the floating bodies to each floating body through wireless signals, remotely controls the starting of the floating bodies and determines the starting and stopping of experimental tasks. The mission control terminals are used to simulate the action of the ground station.
In one embodiment of the present invention, as shown in fig. 8, the equivalent demonstration verification system workflow has the following steps:
a first step of: three floating bodies are placed at proper positions on a marble platform, then a power supply main switch of each floating body is started, power supply starting instructions of each sensor and each executing mechanism are sent to a high-performance computer of each floating body through a task control terminal, and the sensors and the executing mechanisms in each floating body are ensured to be normally powered on and complete self-inspection.
And a second step of: after each floating body is successfully self-inspected, calibrating relevant parameters of a laser radar synchronous positioning and mapping system according to a laser synchronous positioning and mapping principle, so as to ensure that the laser radar synchronous positioning and mapping system can accurately position and fix the pose;
and a third step of: after the synchronous positioning of the laser radar and the calibration of the mapping system are completed, the initial position coordinates and the initial gestures of the three floating bodies on the marble platform coordinate system at the moment are recorded. The task control terminal sends relevant task configuration information such as initial pose information, control parameter information, expected position and pose information and the like to each floating body, and equivalent interference is added to the information according to the conditions such as measurement errors, transmission delay and control errors which may occur to satellites of a space gravitational wave detection satellite constellation in orbit so as to ensure that the working state of the floating body can approximately simulate the satellite in orbit state.
Fourth step: after the information of each floating body is configured, an experiment task starting instruction is sent to each floating body through a task control terminal, each floating body automatically performs a pairwise laser pointing capturing and aligning control experiment by utilizing a self sensor, an actuating mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation inter-satellite laser pointing capturing and aligning control algorithm and an attitude cooperative control strategy, and in the experimental process, each floating body sends own pose information and control information with time delay to other two floating bodies according to an on-orbit equivalent transmission time interval, the motion condition of the floating body is recorded and observed, and the control algorithm is improved and the experiment is carried out again through an experimental result.
The invention has the beneficial effects that: the invention provides a system design method for equivalent demonstration verification of space gravitational wave detection satellite constellation inter-satellite laser pointing capture and alignment control in the ground, which can simulate two-degree-of-freedom free motion of satellites in constellation planes and free rotation of the vertical constellation planes, and can perform equivalent verification experiments on an inter-satellite laser pointing capture and alignment control algorithm and an attitude cooperative control strategy.
The invention has the advantages that the construction principle of the equivalent demonstration verification system is simple, engineering realization is convenient, and the equivalent interference can be added on the sensor measurement information, the actuating mechanism control error and the information transmission of the equivalent demonstration verification system by referring to the actual state of the on-orbit satellite, thereby having strong demonstration verification effect on the actual physical movement process and algorithm verification of the inter-satellite laser pointing capturing and alignment control.
Fig. 1 shows a schematic diagram of a ground equivalent demonstration verification system for controlling laser pointing between constellation satellites of a space gravitational wave detection satellite according to an embodiment of the invention. As shown in fig. 1, the equivalent demonstration verification system comprises a marble platform, three identical floating bodies and a ground control terminal. The floating bodies A, B, C are all placed on the marble platform. The ground control terminal is a computer with a wireless function and is placed near the marble platform, and data can be transmitted to the three floating bodies through wireless signals. When the three floating bodies realize pairwise laser alignment, the laser links of the three floating bodies are constructed into an equilateral triangle, and the pairwise included angles of the laser links are 60 degrees.
Fig. 2 shows a schematic view of the space under the floating body. As shown in FIG. 2, the geometric center axis of the floating body is the floating body coordinate system Z b Axis, Z b The negative direction of the shaft is to ground. 4 groups of thruster clusters are arranged at the outer edge of the upper end of the lower layer of the floating body, the distance between two adjacent groups of thruster clusters is 90 degrees, each group of thruster clusters comprises 2 thrusters, and the symmetry axes of the 4 groups of thruster clusters are respectively along +/-X of the coordinate system of the body of the floating body b And + -Y b The axial direction. 4 identical gas cylinders are vertically arranged on the lower layer of the floating body and uniformly distributed on the coordinate system X of the body of the floating body b Y b In four quadrant spaces of the plane. The gas cylinder provides working medium gas for the thruster through a pipeline, the pipeline can be reasonably distributed according to the internal space of the floating body, the actual state of the cold air propulsion subsystem configured by the satellite is referred, and an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor and the like are arranged at the proper position of the pipeline, so that the functional integrity and the safety of the floating body propulsion subsystem are ensured. At the center of the lower layer of the floating body, a power supply system and a single-shaft flywheel are sequentially arranged from top to bottom, the power supply system mainly comprises a storage battery and a power supply controller, the power supply controller regulates the output voltage of the storage battery and then transmits the regulated output voltage to each electric equipment of the floating body, and meanwhile, the power supply controller is controlled by instructions of a high-performance computer to realize power supply on and off control of each equipment. The bottom of the floating body is provided with 4 circular openings which are uniformly distributed in +/-X b Axes and + -Y b In the axial direction, the gas for the 4 thrusters at the bottom is sprayed, the outermost end of the nozzle of the 4 thrusters at the bottom is slightly higher than the bottom surface of the floating body, when the 4 thrusters at the bottom of the floating body are sprayed downwards, the floating body floats at the height of tens of micrometers above the marble platform by means of thrust, so that the resistance of the floating body on the surface of the marble platform is reduced, and the floating body can freely move on the marble platform under the thrust generated by the thruster cluster at the upper end.
Fig. 3 shows a top view of the lower layer of the floating body. As shown in fig. 3, the two thrusters on each set of clusters are spaced apart at a relatively small angle, with the thrust axis of the thrusters being spaced from X b Y b The planes are parallel and pass through the geometric symmetry center of the plane where the floating body thruster clusters are located, 2 thrusters of each group of thruster clusters adopt the same-switch working mode, so that the thrust resultant force of each group of thruster clusters is ensured to pass through the geometric symmetry center, and when the floating body passes through the mass balancing so that the floating body center is positioned at the geometric symmetry center, 4 groups of thruster clusters can generate +/-X b And + -Y b The thrust in the axial direction enables the floating body to freely move in the marble plane, and simultaneously the gesture interference on the floating body can be reduced.
Fig. 4 shows a bottom view of the bottom surface of the lower layer of the floating body. As shown in FIG. 4, the 4 openings at the bottom of the floating body are uniformly and symmetrically distributed in + -X of the coordinate system of the body of the floating body b And + -Y b In the axial direction, the bottom 4 thrusters are respectively positioned at the center of each opening, and the nozzle direction of each thruster faces to-Z b The axial direction, i.e. the ground direction.
Figure 5 shows a schematic view of the upper space of the floating body. As shown in fig. 5, the top of the upper layer of the floating body is respectively provided with a wireless router, a single-axis fiber optic gyroscope and a laser radar device, and the devices are connected with a power supply controller and a high-performance computer through corresponding cables to receive power and transmit data. The upper side of the floating body is provided with two openings which are about +Y b Axisymmetric, the support that conveniently is used for placing two laser emission and surveys all-in-one stretches out.
FIG. 6 shows a floating body headspaceAn internal schematic of the chamber. As shown in FIG. 6, a bracket capable of adjusting the opening angle in a closed-loop control manner is arranged in the upper layer of the floating body, the bracket comprises two cylindrical arms, the nominal included angle between the axes of the cylindrical arms is 60 DEG, and the plane formed by the axes of the two cylindrical arms is parallel to X b Y b The plane is parallel, a laser emission and detection integrated machine is placed in the cylinder arm, and the laser axis is ensured to be consistent with the cylinder arm axis during installation. The rear end of the bracket is provided with an opening angle adjusting mechanism which is controlled by a precise motor, and the included angle between the two cylindrical arms can be controlled to change near the nominal included angle, so that the structural error, the installation error, the laser alignment error and the like of each floating body can be compensated. The structural design of the support refers to the telescope structure of the space gravitational wave detection satellite. The area between the two cylindrical arms is placed with a high-performance computer, which is the backbone of the floating body, connected to a power supply controller and other signal units for simulating the functions of the spaceborne computer.
Fig. 7 shows a schematic view of the appearance of the floating body. As shown in fig. 7, the upper layer and the lower layer of the floating body shell are of an integrated structure, the whole shape is a cylinder, the side surface and the bottom surface are provided with openings, and the top surface is provided with a wireless router, a single-shaft fiber optic gyroscope and a laser radar device.
Fig. 8 shows a workflow diagram of an equivalent presentation verification system. As shown in fig. 8, the first step is to power up the floating body, and each stand-alone device is started to complete self-test. And after the self-checking is finished, calibrating the laser radar synchronous positioning and mapping system to ensure accurate positioning of the pose. After the synchronous positioning of the laser radar and the calibration of the mapping system are completed, the initial position coordinates and the initial gestures of the three floating bodies on the marble platform coordinate system at the moment are recorded. And thirdly, sending relevant task configuration information such as initial pose information, control parameter information, expected position and pose information and the like to each floating body through a task control terminal, and adding equivalent interference into the information according to the conditions such as measurement errors, transmission delay and control errors which may occur to each satellite of a space gravitational wave detection satellite constellation in orbit so as to ensure that the working state of the floating body can approximate simulate the satellite in orbit state. After the information of each floating body is configured, a fourth step of sending an experiment task starting instruction to each floating body through a task control terminal, and then each floating body automatically carrying out a pairwise laser pointing capturing and aligning control experiment by utilizing a sensor, an executing mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation inter-satellite laser pointing capturing and aligning control algorithm and a gesture cooperative control strategy, wherein each floating body sends own pose information and control information with time delay to other two floating bodies according to an on-orbit equivalent transmission time interval in the experiment process, and the motion condition of the floating body is recorded and observed until the experiment is ended. The experimental process, control algorithm and the like can be improved and the experiment can be carried out again through the experimental result.
In summary, the above embodiments describe in detail different configurations of the terrestrial demonstration verification system for space gravitational wave detection satellite constellation, and of course, the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any contents transformed based on the configurations provided in the above embodiments fall within the scope of protection of the present invention. One skilled in the art can recognize that the above embodiments are illustrative.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, the description is relatively simple because of corresponding to the method disclosed in the embodiment, and the relevant points refer to the description of the method section.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (6)
1. A space gravitational wave detection satellite constellation ground demonstration verification system, comprising:
the marble platform is configured to simulate a space orbit plane formed by satellite constellation three satellites by a space gravitational wave detection satellite on a two-dimensional plane where the surface of the marble platform is positioned;
three identical floating bodies configured to simulate satellites constituting a space gravitational wave detection satellite constellation, wherein the floating bodies comprise an upper space and a lower space, the lower space is provided with a gas cylinder, a gas charging valve, a self-locking valve, a pressure reducing valve, a solenoid valve, a pressure sensor, a pipeline, a thruster, a single-shaft flywheel and a power supply system, wherein the gas cylinder, the gas charging valve, the self-locking valve, the pressure reducing valve, the solenoid valve, the pressure sensor, the pipeline and the thruster form a propulsion subsystem, and a cold air propulsion subsystem adopted by an in-orbit satellite is simulated; and
the task control terminal is configured to set experimental task content and related conditions, and set and update configuration parameters of each floating body;
the upper space of the floating body is provided with a single-axis optical fiber gyroscope, two identical laser emission and detection integrated machines, a bracket capable of controlling and adjusting the opening angle in a closed loop manner, a laser radar synchronous positioning and mapping system, a wireless router and a high-performance computer;
the single-axis optical fiber gyroscope is used for measuring and determining the angular velocity and the rotation gesture of the floating body in the direction of the ground axis;
the two same laser emission and detection integrated bodies can emit laser and receive laser signals in two different directions respectively and simultaneously, and are used for simulating a space gravitational wave detection satellite constellation inter-satellite laser link, and the laser emission and detection integrated bodies can simulate a laser interferometer load adopted by the space gravitational wave detection satellite;
the support capable of adjusting the opening angle in a closed-loop control manner is used for loading two laser emission and detection integrated machines, so that an included angle between optical axes of the two laser emission and detection integrated machines is 60 degrees, a plane formed by the two optical axes is approximately parallel to the ground, the opening angle of the support is adjusted within a small angle range through the driving of a precision motor, and the support structure simulates a telescope structure of a space gravitational wave detection satellite;
the laser radar synchronous positioning and mapping system comprises laser radar equipment and a sensor, calculates the position and the posture of a floating body on a marble platform through a laser synchronous positioning and mapping algorithm, and is used for simulating the orbit and the posture determination of each satellite of a space gravitational wave detection satellite constellation;
the high-performance computer is a core part of the floating body, performs data acquisition and processing of each sensor and various algorithm realization, generates a control instruction and outputs the control instruction to the execution mechanism to complete closed-loop control, and is used for simulating the functions of a satellite-borne computer of a satellite;
the wireless router is connected with the high-performance computer, on one hand, data transmitted by the high-performance computer are output to other floating bodies and task control terminals through wireless functions, and on the other hand, wireless signals of the other floating bodies and the task control terminals are received and then transmitted to the high-performance computer of the floating body;
adding a certain time delay to the signal data to simulate space gravitational wave to detect inter-satellite communication and satellite-ground communication delay characteristics of a satellite constellation in the level of million kilometers;
the task control terminal is arranged near the marble platform and is a ground computer with a wireless signal transmission function;
the task control terminal sets experimental task content and related conditions, and sets and updates configuration parameters of each floating body, including initial positions, initial postures and thruster control parameters of the floating bodies;
the task control terminal distributes relevant parameters and experimental step sequences of the floating bodies to each floating body through wireless signals, remotely controls the starting of the floating bodies, and determines the starting and stopping of experimental tasks so as to simulate the action of the ground station.
2. The system for demonstrating and verifying the ground of the constellation of the space gravitational wave detection satellite according to claim 1, wherein the marble platform can meet the requirement that a plurality of floating bodies freely float back and forth after being leveled, and the floating walking area reaches tens of square meters to hundreds of square meters.
3. The space gravitational wave detection satellite constellation ground demonstration verification system according to claim 1, wherein the floating body is provided with four gas cylinders which are vertically arranged in the lower space, the gas outlets of the gas cylinders are connected with pipelines for leading to the thrusters, and a self-locking valve, a pressure reducing valve and a pressure sensor are arranged among the pipelines;
the inflation valve is used for filling gas into the gas cylinder;
the self-locking valve is used as a switch for outputting gas in the gas cylinder;
the pressure reducing valve is used for properly reducing the pressure of the high-pressure gas in the pipeline;
the pressure sensor is used for measuring the pressure values of the gas cylinder outlet and the pressure reducing valve outlet;
the electromagnetic valve is arranged on a pipeline near the nozzle of the thruster, and the rapid air injection of the thruster is realized by receiving a control instruction;
the thrusters with 4 nozzles facing downwards are uniformly installed at the bottom of the lower space, and the floating body floats on the marble platform by downward air injection at a height of tens of micrometers.
4. The space gravitational wave detection satellite constellation ground demonstration verification system of claim 1 wherein the power system is located between 4 cylinders and includes a battery and power controller configured to provide power to each device on the float to simulate a satellite's on-board battery and power controller;
the single-shaft flywheel is arranged below the power supply system, and the rotating shaft of the single-shaft flywheel is along the direction of the floating body to the ground, so that the floating body can perform single-degree-of-freedom gesture control on the direction axis of the floating body, and the single-shaft flywheel is used for simulating gesture control of each satellite of the space gravitational wave detection satellite constellation in the direction degree of freedom perpendicular to the constellation orbit plane.
5. The system for demonstrating and verifying the ground of the constellation of the space gravitational wave detection satellite according to claim 1, wherein 4 groups of thruster clusters are uniformly distributed on the outer side surface of the floating body along the axial direction at the same height, each group of thruster clusters comprises 2 thrusters, the nozzle directions of the thrusters of the thruster clusters are all perpendicular to the ground axis of the floating body and are radially outwards along the floating body, so that the floating body can perform two-degree-of-freedom displacement air injection control on the marble platform, and the two-degree-of-freedom free movement of each satellite of the constellation of the space gravitational wave detection satellite in the constellation orbit plane is simulated.
6. The space gravitational wave detection satellite constellation ground demonstration verification system of claim 1 wherein the workflow of the space gravitational wave detection satellite constellation ground demonstration verification system comprises:
a first step of: placing three floating bodies at proper positions on a marble platform, starting a power supply main switch of each floating body, sending power supply starting instructions of each sensor and an executing mechanism to a high-performance computer of each floating body through a task control terminal, ensuring that the sensors and the executing mechanisms in each floating body are normally powered on and completing self-inspection;
and a second step of: after each floating body is successfully self-inspected, calibrating relevant parameters of a laser radar synchronous positioning and mapping system according to a laser synchronous positioning and mapping principle, so as to ensure that the laser radar synchronous positioning and mapping system can accurately position and fix the pose;
and a third step of: after the synchronous positioning of the laser radar and the calibration of the mapping system are completed, recording initial position coordinates and initial postures of the three floating bodies on a marble platform coordinate system at the moment; the method comprises the steps that a task control terminal sends initial pose information, control parameter information, expected position and pose information related task configuration information of each floating body to each floating body, measurement errors, transmission delay and control errors possibly occurring in the satellite in orbit of a satellite constellation are detected according to space gravitational waves, equivalent interference is added in the information, and therefore the working state of the floating body can be guaranteed to approximate to the satellite in-orbit state;
fourth step: after the information of each floating body is configured, an experiment task starting instruction is sent to each floating body through a task control terminal, each floating body automatically performs a pairwise laser pointing capturing and aligning control experiment by utilizing a self sensor, an actuating mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation inter-satellite laser pointing capturing and aligning control algorithm and an attitude cooperative control strategy, and in the experimental process, each floating body sends own pose information and control information with time delay to other two floating bodies according to an on-orbit equivalent transmission time interval, the motion condition of the floating body is recorded and observed, and the control algorithm is improved and the experiment is carried out again through an experimental result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851908.3A CN113608244B (en) | 2021-07-27 | 2021-07-27 | Space gravitational wave detection satellite constellation ground demonstration verification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110851908.3A CN113608244B (en) | 2021-07-27 | 2021-07-27 | Space gravitational wave detection satellite constellation ground demonstration verification system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113608244A CN113608244A (en) | 2021-11-05 |
| CN113608244B true CN113608244B (en) | 2023-12-29 |
Family
ID=78305619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110851908.3A Active CN113608244B (en) | 2021-07-27 | 2021-07-27 | Space gravitational wave detection satellite constellation ground demonstration verification system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113608244B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115061383B (en) * | 2022-03-22 | 2023-03-24 | 中国科学院国家空间科学中心 | Ground demonstration verification system for variable-master-satellite phase locking scheme of space-based gravitational wave detector |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005017016A (en) * | 2003-06-24 | 2005-01-20 | National Institute Of Information & Communication Technology | Method of verifying satellite terminal receiver, and verifying system |
| CN101833285A (en) * | 2010-06-12 | 2010-09-15 | 哈尔滨工业大学 | Formation satellite attitude cooperative control simulating device and simulation verification method thereof |
| CN103018783A (en) * | 2012-12-27 | 2013-04-03 | 中国科学院测量与地球物理研究所 | Gravity satellite formation orbital stability optimization design and earth gravity field precision inversion method |
| CN103197669A (en) * | 2013-04-12 | 2013-07-10 | 北京航空航天大学 | Satellite multiple attitude control mode test system based on double gimbal control moment gyroscope (DGCMG) structure |
| CN103513254A (en) * | 2013-09-16 | 2014-01-15 | 中国科学院力学研究所 | High-precision double star laser interference dynamic distance measuring ground simulation device |
| CN103955140A (en) * | 2014-04-23 | 2014-07-30 | 南京航空航天大学 | Satellite ground remote operation demonstration verification system and realizing method thereof |
| CN105487405A (en) * | 2015-12-17 | 2016-04-13 | 西安测绘研究所 | Low-low tracking gravity measurement satellite semi-physical simulation system |
| CN105572692A (en) * | 2015-12-16 | 2016-05-11 | 上海卫星工程研究所 | Satellite image navigation and registering full-physical testing device and testing method |
| CN106672272A (en) * | 2015-11-10 | 2017-05-17 | 上海新跃仪表厂 | Flexibility parameter in-orbit identification ground testing system for spacecraft with flexible structure |
| CN107769845A (en) * | 2017-10-11 | 2018-03-06 | 上海微小卫星工程中心 | Star double light path alignment ground validation system |
| CN107792393A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | The non-contact internal satellite ground checking system of principal and subordinate and its verification method |
| CN110053786A (en) * | 2019-03-22 | 2019-07-26 | 上海卫星工程研究所 | Solar and Heliospheric Observatory ground experiment device and its system |
| CN110207666A (en) * | 2019-04-11 | 2019-09-06 | 南京航空航天大学 | The vision pose measuring method and device of analog satellite on a kind of air floating platform |
| CN112327942A (en) * | 2020-11-09 | 2021-02-05 | 山东航天电子技术研究所 | Automatic leveling method for triaxial air-floatation satellite simulation platform |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
| CN112650076A (en) * | 2020-11-27 | 2021-04-13 | 上海航天控制技术研究所 | Constellation cooperative control ground simulation system |
-
2021
- 2021-07-27 CN CN202110851908.3A patent/CN113608244B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005017016A (en) * | 2003-06-24 | 2005-01-20 | National Institute Of Information & Communication Technology | Method of verifying satellite terminal receiver, and verifying system |
| CN101833285A (en) * | 2010-06-12 | 2010-09-15 | 哈尔滨工业大学 | Formation satellite attitude cooperative control simulating device and simulation verification method thereof |
| CN103018783A (en) * | 2012-12-27 | 2013-04-03 | 中国科学院测量与地球物理研究所 | Gravity satellite formation orbital stability optimization design and earth gravity field precision inversion method |
| CN103197669A (en) * | 2013-04-12 | 2013-07-10 | 北京航空航天大学 | Satellite multiple attitude control mode test system based on double gimbal control moment gyroscope (DGCMG) structure |
| CN103513254A (en) * | 2013-09-16 | 2014-01-15 | 中国科学院力学研究所 | High-precision double star laser interference dynamic distance measuring ground simulation device |
| CN103955140A (en) * | 2014-04-23 | 2014-07-30 | 南京航空航天大学 | Satellite ground remote operation demonstration verification system and realizing method thereof |
| CN106672272A (en) * | 2015-11-10 | 2017-05-17 | 上海新跃仪表厂 | Flexibility parameter in-orbit identification ground testing system for spacecraft with flexible structure |
| CN105572692A (en) * | 2015-12-16 | 2016-05-11 | 上海卫星工程研究所 | Satellite image navigation and registering full-physical testing device and testing method |
| CN105487405A (en) * | 2015-12-17 | 2016-04-13 | 西安测绘研究所 | Low-low tracking gravity measurement satellite semi-physical simulation system |
| CN107792393A (en) * | 2017-09-25 | 2018-03-13 | 上海卫星工程研究所 | The non-contact internal satellite ground checking system of principal and subordinate and its verification method |
| CN107769845A (en) * | 2017-10-11 | 2018-03-06 | 上海微小卫星工程中心 | Star double light path alignment ground validation system |
| CN110053786A (en) * | 2019-03-22 | 2019-07-26 | 上海卫星工程研究所 | Solar and Heliospheric Observatory ground experiment device and its system |
| CN110207666A (en) * | 2019-04-11 | 2019-09-06 | 南京航空航天大学 | The vision pose measuring method and device of analog satellite on a kind of air floating platform |
| CN112327942A (en) * | 2020-11-09 | 2021-02-05 | 山东航天电子技术研究所 | Automatic leveling method for triaxial air-floatation satellite simulation platform |
| CN112407337A (en) * | 2020-11-23 | 2021-02-26 | 北京微动航科技术有限公司 | Propulsion system of satellite simulator and satellite simulator |
| CN112650076A (en) * | 2020-11-27 | 2021-04-13 | 上海航天控制技术研究所 | Constellation cooperative control ground simulation system |
Non-Patent Citations (5)
| Title |
|---|
| Laser acquisition experimental demonstration for space gravitational wave detection missions;Ruihong Gao, Heshan Liu, Ya Zhao, Ziren Luo, Jia Shen, and Gang Jin;《Optics and Lasers in Engineering》;6293-7955 * |
| 中国空间引力波探测"太极计划"及"太极1号"在轨测试;罗子人;《深空探测学报》;3-10 * |
| 基于气浮台的小卫星姿态控制全物理仿真实验系统;高华宇；董云峰;《计算机测量与控制》;1153-1156 * |
| 天琴计划简介;罗俊 等;《中山大学学报(自然科学版)》;1-19 * |
| 闫骁绢 ; 张锐 ; 谢祥华 ; 余勇.微纳卫星产业发展探讨.《航天器工程》.2018,117-121. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113608244A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107792393B (en) | Master-slave non-contact embedded satellite ground verification system and verification method thereof | |
| CN106516182B (en) | Double five-degree-of-freedom air floatation master-slave non-contact double-super satellite ground principle verification system | |
| RU2555080C2 (en) | Method and system to rule out saturation of spacecraft inertial wheels | |
| Kim et al. | Automatic mass balancing of air-bearing-based three-axis rotational spacecraft simulator | |
| CN101968542B (en) | Method for tracking lunar probe by using earth station | |
| CN106467175B (en) | Double five-degree-of-freedom air floatation master-slave type non-contact double-super satellite ground principle verification system | |
| CN104898642A (en) | Integrated test simulation system for spacecraft attitude control algorithm | |
| CN113608244B (en) | Space gravitational wave detection satellite constellation ground demonstration verification system | |
| CN110304279A (en) | A kind of mass center on-orbit calibration compensation method of electric propulsion satellite | |
| Cho et al. | A 5-dof experimental platform for spacecraft rendezvous and docking | |
| CN110053786A (en) | Solar and Heliospheric Observatory ground experiment device and its system | |
| CN106227066A (en) | The configurable visual display method of spacecraft space manipulation | |
| Sternberg et al. | Reconfigurable ground and flight testing facility for robotic servicing, capture, and assembly | |
| CN103729507B (en) | Magic square satellite and method for designing thereof | |
| Hu et al. | Processor-in-the-loop demonstration of coordination control algorithms for distributed spacecraft | |
| CN109305394B (en) | Spacecraft close-range rendezvous test simplification method | |
| CN110851232A (en) | Space mission presentation device based on special-shaped screen | |
| Barbee et al. | Guidance and navigation for rendezvous and proximity operations with a non-cooperative spacecraft at geosynchronous orbit | |
| CN112925708B (en) | Static orbit microwave star load and platform collaborative scanning imaging simulation method and system | |
| Scharf et al. | Flight-like ground demonstration of precision formation flying spacecraft | |
| Wei et al. | Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing | |
| CN117806185A (en) | Physical simulation verification device for space gravitational wave detection satellite formation | |
| Yao et al. | Implementation of three dofs small satellite ground simulation system | |
| Fernandez et al. | Development of a tip-tilt air-bearing testbed for physically emulating proximity-flight orbital mechanics | |
| Compagnin et al. | Autoport System: a Suite of Sensors and Mechanisms for Mars UAVs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |