CN116068915B - High-fidelity distributed simulation device and method for spacecraft GNC system - Google Patents

Abstract

The invention discloses a high-simulation-degree distributed simulation device and method for a spacecraft GNC system, belonging to the technical field of spacecraft ground simulation, wherein the device comprises: the system comprises a measurement system, a GNC system, a gesture dynamics full-physical simulation system, an orbit dynamics digital simulation system, a motion system, a comprehensive monitoring system and a VR/MR vision simulation system, wherein satellite equipment to be simulated is arranged on the motion system; the measurement system is respectively connected with the satellite and the GNC system; the GNC system is connected with the gesture dynamics full-physical simulation system and the orbit dynamics digital simulation system, and both simulation systems are connected with the motion system; the comprehensive monitoring system is respectively connected with the measuring system, the orbit dynamics digital simulation system, the motion system and the VR/MR vision simulation system. The device can simulate six-degree-of-freedom motion of the satellite, observe the running orbit and the gesture of the satellite, and intuitively judge the control effect of a satellite control algorithm.

Description

High-fidelity distributed simulation device and method for spacecraft GNC system

technical field

The invention relates to the technical field of spacecraft ground simulation, in particular to a high-fidelity distributed simulation device and method for a spacecraft GNC system.

Background technique

The aerospace industry is a high-risk, high-input, high-output technology-intensive industry and an important manifestation of a country's comprehensive strength. Due to the long development cycle, high cost, and complex process of spacecraft, the actual cost of spacecraft pose control is extremely high and cannot be repeated. Therefore, it is necessary to use spacecraft ground simulation technology to analyze and study the problem of spacecraft pose control. The spacecraft ground simulation system is of great significance to improve the reliability of the spacecraft and reduce the cost and risk.

At present, most of the existing ground simulation systems of spacecraft attitude and orbit control systems have the problems that the data simulation pose information is not intuitive, and the physical simulation cannot simulate the three degrees of freedom of translation, and the simulation effect is not good. The details are as follows:

He Chaobin proposed a ground simulation verification system for attitude and orbit control tests with 12 degrees of freedom that depends on the mission requirements of a satellite in "Study on Ground Simulation and Verification Method for Space Vehicle Attitude and Orbit Control System". The system consists of four subsystems including dynamic simulation and GNC system, motion system, measurement system, and integrated monitoring system, and the functions of each main subsystem. According to different specific tasks, the corresponding ground simulation verification test plan is designed, and it is also aimed at deep In order to reduce the simulation time and improve the efficiency of the simulation, the ultra-real-time simulation scheme of the semi-physical simulation system based on time scaling is studied. However, the dynamics simulation in this scheme and the dynamics simulation of the GNC system are calculated based on the control torque output by the GNC, and the obtained pose information is a pure digital simulation, which is not close enough to the physical simulation. In the actual system, at the same time, the position and attitude information of the satellite can only be seen from the integrated monitoring system in the form of a graph, which is not intuitive enough.

The title of the invention is a multi-spacecraft attitude and orbit control ground full physical simulation system based on a multi-degree-of-freedom motion simulator (application number is CN202210259531.7). Compared with the navigation system, wireless data communication system, visual presentation system and ground integrated monitoring system, two dumbbell-shaped air bearing platforms are used to simulate the attitude movement of the tracking star and the target star, so as to realize two degrees of freedom in the plane and three degrees of freedom in the attitude The motion simulation can achieve the purpose of high-precision simulation and provide a reliable platform for the verification of small satellite companion flight control scheme. However, this simulation method cannot realize the translational simulation along the height direction.

The title of the invention is augmented reality-based spacecraft ground simulation method (application number: CN201611037572.2). Composed of on-board computer, sensor, actuator and flexible simulator, it can physically simulate the three degrees of freedom of the satellite attitude, and can see the actual movement scene of the spacecraft while simulating, and realize distributed full-physics simulation, improving The simulation degree of flexibility expands the range of simulated mode shapes and increases the range of simulated frequencies. However, this simulation method cannot simulate the three degrees of freedom of translation.

Therefore, there is an urgent need for a simulation method that can simulate the six-degree-of-freedom motion of the satellite.

Contents of the invention

The invention provides a high-fidelity distributed simulation device and method of a spacecraft GNC system, which is used to solve the problem that most of the existing ground simulation systems of spacecraft attitude and orbit control systems have data simulation pose information that is not intuitive, and semi-physical simulation is not intuitive. Close to the facts, most of the full physical simulations cannot simulate all six degrees of freedom, and thus the technical problems of poor simulation results.

An embodiment of the present invention provides a high-fidelity distributed simulation device for a spacecraft GNC system, including: a measurement system, a GNC system, a full physical simulation system for attitude dynamics, a digital simulation system for orbital dynamics, a motion system, and an integrated monitoring system. and a VR/MR visual simulation system, wherein the satellite equipment to be simulated is installed on the motion system, wherein the motion system includes a translation module and a rotation module, and the satellite equipment to be simulated is installed on the rotation module, The rotation module is installed on the translation module; the measurement system is respectively connected with the satellite equipment to be simulated and the GNC system; the GNC system is connected with the attitude dynamics full physical simulation system and the orbit The dynamics digital simulation system is connected; the full physical simulation system of the attitude dynamics and the orbital dynamics digital simulation system are connected with the motion system; the integrated monitoring system is respectively connected with the measurement system and the orbital dynamics The digital simulation system, the motion system and the VR/MR visual simulation system are connected; the measurement system is used to obtain the real-time pose value of the satellite equipment to be simulated, and make a difference with the preset satellite pose value to obtain a deviation value, and Using the deviation value as the input of the GNC system; the GNC system is used to process the deviation value according to the control algorithm to obtain the control force and the control torque, and use the control torque as the full physical simulation of the attitude dynamics The input of the system, the control force is used as the input of the digital simulation system of orbital dynamics; the full physical simulation system of attitude dynamics is used to freely rotate according to the control torque, so as to measure the satellite equipment to be simulated real-time attitude information, and transmit the real-time attitude information to the motion system; the orbital dynamics digital simulation system is used to process the control force to obtain the real-time position information of the satellite equipment to be simulated, and transmit the The real-time position information is transmitted to the motion system; the motion system is used to perform three-degree-of-freedom translation according to the real-time position information, and simulate the pitch, yaw, Rotation of three degrees of freedom of rolling; the integrated monitoring system is used to receive and display the full physical simulation system of attitude dynamics, the digital simulation system of orbital dynamics, the motion system and the VR/MR visual simulation The current pose and state information of the system, and provide the real-time pose information and the real-time position information for the VR/MR visual simulation system; the VR/MR visual simulation system is used to The real-time position information is used to simulate and display the real-time three-dimensional model corresponding to the satellite equipment to be simulated.

Further, in an embodiment of the present invention, the measurement system acquires the real-time pose value of the satellite device to be simulated by using inertial navigation equipment or visual measurement.

Further, in an embodiment of the present invention, the translation module uses a linear guide mechanical structure installed orthogonally along the three axes, and performs three-degree-of-freedom translation according to the real-time position information of the satellite equipment to be simulated. to simulate the relative translation of the satellite equipment to be simulated.

Further, in an embodiment of the present invention, the rotation module simulates the rotation of the three degrees of freedom of the satellite device to be simulated in pitch, yaw and roll according to the real-time attitude information of the satellite device to be simulated.

Further, in an embodiment of the present invention, the VR/MR visual simulation system displays a real-time three-dimensional model corresponding to the satellite device to be simulated through a VR/MR device.

Further, in one embodiment of the present invention, the measurement system, the GNC system, the full physical simulation system for attitude dynamics, the digital simulation system for orbital dynamics, the motion system, and the comprehensive monitoring Both the system and the VR/MR visual simulation system communicate with each other through an optical fiber network composed of optical fiber reflection memory cards.

Further, in one embodiment of the present invention, the attitude dynamics full-physics simulation system includes a three-axis air bearing platform, an actuator module, an attitude measurement module, a balance adjustment module, a communication module, a management control module and a power supply module, in,

The three-axis air-bearing table includes an air-floating ball bearing and an instrument platform, which is used to float the instrument platform by using the air-floating ball bearing, and can realize free rotation around three axes without friction;

The actuator module includes a flywheel mechanism and an air injection mechanism, which are installed on the instrument platform and are used to adjust the attitude of the three-axis air bearing platform;

The attitude measurement module is used to use a fiber optic gyroscope to measure the attitude angle and angular velocity of the three-axis air bearing table in real time, so as to obtain the real-time attitude information;

The balance adjustment module is used to adjust the center of mass and moment of inertia of the three-axis air bearing table;

The management control module is used to control the actuator module to apply a corresponding torque according to the control torque received by the communication module, and send the real-time posture information to the motion system through the communication module;

The power supply module is used to supply power to the three-axis air bearing platform, the actuator module, the attitude measurement module, the balance adjustment module, the communication module and the management control module.

Another embodiment of the present invention provides a high-fidelity distributed simulation method for a spacecraft GNC system, including:

Step S1, install the satellite equipment to be simulated on the rotating module, start the high-fidelity distributed simulation device of the spacecraft GNC system, and ensure that each system is running normally and the time is consistent;

Step S2, use the measurement system to measure the current pose value of the satellite device to be simulated installed on the rotating module, and make a difference with the preset satellite pose value of the satellite device to be simulated, and input the deviation value into the GNC system;

Step S3, make the GNC system receive the deviation value, calculate the control torque and control force according to the control algorithm, and input the control torque and the control force into the attitude dynamics full physical simulation system and the track respectively In the dynamic digital simulation system;

Step S4, make the attitude dynamics full-physics simulation system receive the control torque, apply the corresponding control torque to the three-axis air bearing platform through the flywheel mechanism and the air jet mechanism, and measure the Attitude angle and angular velocity of the three-axis air bearing platform to solve the real-time attitude information and input it into the motion system;

Step S5, making the orbit dynamics digital simulation system receive and process the control force, obtain the real-time position information of the satellite equipment to be simulated, and input it into the motion system;

Step S6, making the motion system receive the real-time attitude information and the real-time position information, and make the satellite equipment to be simulated perform translation and rotation to reach a preset position according to the real-time attitude information and the real-time position information and preset posture;

Step S7, updating the real-time pose value of the satellite device to be simulated;

Step S8, using the integrated monitoring system to receive the current pose and state information of the measurement system, the attitude dynamics full-physics simulation system, the orbit dynamics digital simulation system and the motion system, and convert them to Display in the form of a graph;

Step S9, using the VR/MR visual simulation system to receive the real-time attitude information and the real-time position information to construct a real-time three-dimensional model corresponding to the satellite equipment to be simulated;

Step S10, iteratively execute the step S2 to the step S9 until the simulation ends, shut down the high-fidelity distributed simulation device of the spacecraft GNC system, and return the satellite equipment to be simulated.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is a schematic structural diagram of a high-fidelity distributed simulation device for a spacecraft GNC system according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of an attitude dynamics full-physics simulation system according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a VR/MR visual simulation system according to an embodiment of the present invention;

FIG. 4 is a flow chart of a distributed simulation method for a high-fidelity GNC system of a spacecraft according to an embodiment of the present invention.

Explanation of reference signs:

10-Spacecraft GNC system high-fidelity distributed simulation device, 100-Measurement system, 200-GNC system, 300-Attitude dynamics full physical simulation system, 301-Three-axis air bearing platform, 302-Actuator module, 303- Attitude measurement module, 304-balance adjustment module, 305-communication module, 306-management control module, 307-power supply module, 400-track dynamics digital simulation system, 500-motion system, 600-integrated monitoring system, 700-VR/ MR visual simulation system, 701-observation module, 7011-display unit, 7012-file management unit, 7013-data transmission unit and 702-cloud storage.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes the high-fidelity distributed simulation device and method for the spacecraft GNC system proposed according to the embodiments of the present invention with reference to the accompanying drawings. First, the high-fidelity distributed simulation device for the spacecraft GNC system proposed according to the embodiments of the present invention will be described with reference to the accompanying drawings .

FIG. 1 is a schematic structural diagram of a high-fidelity distributed simulation device for a spacecraft GNC system according to an embodiment of the present invention.

As shown in FIG. 1 , the high-fidelity distributed simulation device 10 of the spacecraft GNC system includes: a measurement system 100, a GNC system 200, an attitude dynamics full-physics simulation system 300, an orbital dynamics digital simulation system 400, a motion system 500, Comprehensive monitoring system 600 and VR/MR visual simulation system 700 .

Wherein, the satellite equipment to be simulated is installed on the motion system 500, wherein the motion system 500 includes a translation module and a rotation module, the satellite equipment to be simulated is installed on the rotation module, and the rotation module is installed on the translation module; the measurement system 100 is respectively connected with The satellite equipment to be simulated is connected with the GNC system 200; the GNC system 200 is connected with the full physical simulation system 300 of attitude dynamics and the digital simulation system 400 of orbital dynamics, and the full physical simulation system 300 of attitude dynamics and the digital simulation system 400 of orbital dynamics are all connected with The motion system 500 is connected; the comprehensive monitoring system 600 is connected with the measurement system 100 , the track dynamics digital simulation system 400 , the motion system 500 and the VR/MR visual simulation system 700 respectively.

Further, in one embodiment of the present invention, the measurement system 100 uses inertial navigation equipment or visual measurement to obtain the real-time pose value of the satellite device to be simulated, and makes a difference with the preset satellite pose value to obtain a deviation value, and the deviation value As the input of the GNC system 200, a closed-loop control system is formed.

Specifically, the measurement system 100 uses inertial navigation equipment or visual measurement to measure the pose of the satellite equipment installed on the turntable, and sends the difference with the preset satellite pose value to the GNC system 200, making it the GNC system 200's The input constitutes a closed-loop control system, and at the same time, the deviation value is sent to the comprehensive monitoring system 600 to display the deviation value on the monitoring interface to realize real-time visualization.

Further, in an embodiment of the present invention, the GNC system 200 is used to process the deviation value according to the control algorithm to obtain the control force and the control torque, and respectively use the control torque as the input of the attitude dynamics full-physics simulation system 300, and control Forces serve as input to the track dynamics digital simulation system 400 .

Specifically, the GNC system 200 is the satellite's guidance (Guidance), navigation (Navigation) and control (Control) system, which is responsible for specific navigation, guidance and control calculations, and receives the satellite's current position and attitude measured by the measurement system 100 and satellite presets. The deviation value between the satellite pose values is used as input, the control force and control torque are calculated according to the control algorithm, and the control torque is output as the input of the full physical simulation system of attitude dynamics, and the output control force is used as the input of the digital simulation system of orbit dynamics.

Further, in one embodiment of the present invention, the attitude dynamics full physics simulation system 300 includes a three-axis air bearing platform 301, an actuator module 302, an attitude measurement module 303, a balance adjustment module 304, a communication module 305, a management control module module 306 and power module 307.

Specifically, as shown in Figure 2, the three-axis air bearing table 301 includes an air-floating ball bearing and an instrument platform, and uses the air-floating ball bearing to float the instrument platform, and enables the instrument platform to achieve near-frictionless freedom around three axes. Rotation; the actuator module 302 adopts the combination scheme of "flywheel + jet thruster", that is, it includes a flywheel mechanism and an air jet mechanism. The two actuators are combined and installed on the instrument platform as the actuator for attitude adjustment of the air bearing platform; attitude measurement Module 303 uses a high-precision fiber optic gyroscope to measure the attitude angle and angular velocity of the three-axis air bearing platform in real time to obtain real-time attitude information; the balance adjustment module 304 is mainly used to adjust the center of mass and moment of inertia of the three-axis air bearing platform, and is equipped with The moment of inertia measurement module is used to realize the simulation of the mass characteristics of the satellite by the full-physics simulation system; the management control module 306 is used as the control unit of the attitude dynamics full-physics simulation system 300, and is used to control the torque output by the GNC system 200 received by the communication module 305 Control the actuator module 302 to apply the corresponding torque, and send the real-time attitude information measured by the attitude measurement module 303 to the motion system 500 through the communication module 305; The measurement module 303 , the balance adjustment module 304 , the communication module 305 and the management control module 306 supply power.

Further, in one embodiment of the present invention, the orbital dynamics digital simulation system 400 is used to process the control force to obtain real-time position information of the satellite equipment to be simulated, and transmit the real-time position information to the motion system.

Specifically, the orbit dynamics digital simulation system 400 is a pure digital simulation system, which receives the control force output by the GNC system 200 as an input, calculates the real-time position information of the satellite, and transmits it to the motion system 500 as an output.

Further, in one embodiment of the present invention, the translation module in the motion system 500 is a translation platform, through the linear guide mechanical structure installed orthogonally along the three-axis direction, three degrees of freedom are performed according to real-time position information Translation, to simulate the relative translation of the satellite equipment to be simulated; the rotation module is a three-axis turntable, which simulates the rotation of the pitch, yaw, and roll three degrees of freedom of the satellite equipment to be simulated according to the real-time attitude information; the three-axis turntable Installed on the translation platform, the equipment installed on the turntable can perform translation in the three directions of X, Y, and Z, and rotation in the three directions of pitch, yaw, and roll, with a total of six degrees of freedom. The motion system 500 receives the real-time attitude information and real-time position information output by the attitude dynamics full-physics simulation system 300 and the orbit dynamics digital simulation system 400 as input, and moves the satellite equipment to be simulated installed on the turntable to a designated position according to the input and gesture.

Further, in one embodiment of the present invention, the integrated monitoring system 600 is used to display the current pose and status information of each system, and provide the VR/MR visual simulation system with real-time attitude information and real-time position information of the satellite equipment to be simulated .

Specifically, the integrated monitoring system 600 is responsible for displaying the current pose and status information of each subsystem for the user, specifically, the display attitude dynamics full-physics simulation system 300, orbital dynamics digital simulation system 400, and VR/MR visual simulation system 700 and the current state information of the motion system 500, as well as the real-time pose value, real-time pose information and real-time position information obtained by the motion system 500, the attitude dynamics full-physics simulation system 300 and the track dynamics digital simulation system 400, to provide users with a It is a channel for direct operation of each subsystem, and provides satellite pose information for the VR/MR visual simulation system, and also has functions such as operation protection and error handling.

Further, in one embodiment of the present invention, the VR/MR visual simulation system 700 is used to receive the real-time attitude information and real-time position information of the satellite equipment to be simulated, and display the real-time three-dimensional model corresponding to the satellite equipment to be simulated through the VR/MR equipment .

Specifically, the VR/MR visual simulation system 700 receives the real-time attitude information and real-time position information of the satellite equipment to be simulated provided by the integrated monitoring system 600, and displays a visual image including satellites, the earth, background starry sky, etc. in front of the user's eyes through VR or MR equipment. The three-dimensional model, the position and attitude of the satellite model are the same as the received real-time attitude information and real-time position information of the satellite equipment to be simulated, which allows users to observe the control effect of the satellite more directly. This function can be used for field tests and observations and remote observation.

Further, as shown in FIG. 3 , the VR/MR visual simulation system 700 is composed of several observation modules 701 and cloud storage 702, and the observation module 701 is composed of a display unit 7011, a file management unit 7012, and a data transmission unit 7013. The module 701 and the cloud storage 702 are connected to each other through the Internet. Among them, for a single observation module 701, it can be based on a VR head display or an MR head display based on the needs of a single user. For multiple observation modules 701, it can be based on the different needs of multiple users The VR headsets may all adopt three schemes based on MR headsets or a combination of VR headsets and MR headsets. The VR headset solution is more suitable for remote viewing, and the MR headset solution is more suitable for on-site testing and observation. While displaying the satellite operation screen, the operation of the actual ground simulation equipment can also be observed. The display unit 7011, the file management unit 7012 and the data transmission unit 7013 in the observation module 701 run on the corresponding VR/MR equipment in the form of programs, and the display unit 7011 is used to display the 3D real-time attitude data according to the acquired simulated satellite. The satellite operation picture; the file management unit 7012 is used to save the generated satellite operation simulation 3D animation in the storage space of the VR/MR device, so as to facilitate subsequent repeated viewing; the data transmission unit 7013 is used to read the real-time video from the cloud storage through the Internet Simulate satellite attitude and orbit data.

Further, in one embodiment of the present invention, measurement system 100, GNC system 200, attitude dynamics full physical simulation system 300, track dynamics digital simulation system 400, motion system 500, comprehensive monitoring system 600 and VR/MR vision The simulation systems 700 communicate with each other through the optical fiber network composed of optical fiber reflective memory cards.

Specifically, the attitude dynamics full-physics simulation system 300 is a full-physics simulation part, and the other systems are semi-physical simulation parts. The embodiment of the present invention is a ground simulation experimental device combining full-physics simulation and semi-physics simulation. In actual situations, the instruments of the full-physical simulation part and the semi-physical simulation part may not be located in the same experimental site, and there may even be a large space gap between them. In order to avoid the delay caused by long-distance communication on the timing of the system To cause an impact, and to ensure large data communication under hard real-time conditions, the embodiment of the present invention uses optical fiber reflection memory cards to form an optical fiber network between systems for data interaction and command control.

In addition to the functions of checking the operation of satellite equipment and verifying the effect of satellite control algorithms on the ground at a relatively low cost that the ground simulation system usually possesses, it can also receive the attitude and orbit data of the actual on-orbit satellite, and analyze each of the embodiments of the present invention according to the actual data. The system parameters are corrected, so that the embodiment of the present invention can perform a highly approximate simulation on the ground for the orbit and attitude of the actual satellite in orbit. When the satellite data on orbit is accurate and reliable, and the accuracy of each system in the embodiment of the present invention is good, the corrected local ground simulation system can be regarded as the ground backup of the actual satellite on orbit. When the in-orbit satellite has a fault in operation, an abnormality in the returned data, or leaves the observation area, the corresponding ground simulation system can be used for troubleshooting, abnormal reproduction, and orbital attitude estimation.

In summary, the high-fidelity distributed simulation device of the spacecraft GNC system proposed according to the embodiment of the present invention has a semi-physical six-dimensional ground simulation system based on a linear guide mechanical structure and a three-axis turntable and a full-scale simulation system based on a three-axis air bearing table. The physical ground simulation system has the advantages of the two simulation systems, that is, while ensuring that the six-degree-of-freedom movement of the satellite can be simulated, it is also as close to reality as possible; using VR/MR technology, the orbit and attitude of the satellite can be observed, intuitively Judging the control effect of the satellite control algorithm; using the light reflection memory technology, the time alignment can still be guaranteed when the semi-physical system and the full-physical system are far away; Repeated correction of system parameters, and highly approximate simulation of the orbit and attitude of the actual satellite in orbit on the ground.

Next, the distributed simulation method with high simulation degree of the spacecraft GNC system proposed according to the embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 4 is a flow chart of a high-fidelity distributed simulation method for a spacecraft GNC system according to an embodiment of the present invention.

As shown in Figure 4, the high-fidelity distributed simulation method of the spacecraft GNC system includes the following steps:

In step S1, install the satellite equipment to be simulated on the rotating module, start the high-fidelity distributed simulation device of the spacecraft GNC system, and ensure that each system runs normally and the time is consistent.

In step S2, use the measurement system to measure the current pose value of the satellite equipment to be simulated installed on the rotating module, and make a difference with the preset satellite pose value of the satellite equipment to be simulated, and input the deviation value into the GNC system .

In step S3, the GNC system receives the deviation value, calculates the control torque and control force according to the control algorithm, and inputs the control torque and control force into the full physical simulation system of attitude dynamics and the digital simulation system of orbital dynamics respectively.

In step S4, the attitude dynamics full-physics simulation system receives the control torque, applies the corresponding control torque to the three-axis air bearing platform through the flywheel mechanism and the jet mechanism, and measures the attitude angle and angular velocity of the three-axis air bearing platform through the fiber optic gyroscope, To solve the real-time attitude information and input it into the motion system.

In step S5, the orbital dynamics digital simulation system receives and processes the control force, obtains the real-time position information of the satellite equipment to be simulated, and inputs it into the motion system.

In step S6, the motion system is made to receive real-time attitude information and real-time position information, and according to the real-time attitude information and real-time position information, the satellite equipment to be simulated is translated and rotated to reach a preset position and a preset attitude.

In step S7, the real-time pose value of the satellite device to be simulated is updated. If there is the returned position and attitude value of the actual in-orbit satellite, the parameters of each system are corrected according to the data.

In step S8, the current pose and status information of the measurement system, attitude dynamics full-physics simulation system, orbital dynamics digital simulation system and motion system are received by the integrated monitoring system, and displayed in the form of graphs.

In step S9, the VR/MR visual simulation system is used to receive real-time attitude information and real-time position information to construct a real-time three-dimensional model corresponding to the satellite equipment to be simulated.

In step S10, step S2 to step S9 are executed iteratively until the simulation ends, the high-fidelity distributed simulation device of the spacecraft GNC system is shut down, and the simulated satellite equipment is to be returned to its original position.

It should be noted that the foregoing explanations for the embodiment of the high-fidelity distributed simulation device for the spacecraft GNC system are also applicable to the method of this embodiment, and will not be repeated here.

The high-fidelity distributed simulation method of the spacecraft GNC system proposed according to the embodiment of the present invention has a semi-physical six-dimensional ground simulation system based on a linear guide mechanical structure and a three-axis turntable and a full-physical ground simulation system based on a three-axis air bearing table. The advantages of the two simulation systems of the system are that while ensuring the six-degree-of-freedom motion of the satellite can be simulated, it is also as close to reality as possible; using VR/MR technology, the orbit and attitude of the satellite can be observed, and the satellite control can be intuitively judged The control effect of the algorithm; the light reflection memory technology is used, and the time alignment can still be guaranteed when the semi-physical system and the full-physical system are far away; the system parameters can be adjusted according to the attitude and orbit data of the actual satellite in orbit. Repeated corrections are performed on the ground to simulate the orbit and attitude of the actual satellite in orbit with a high degree of approximation.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (8)

1. The utility model provides a spacecraft GNC system high simulation degree distributed simulation device which characterized in that includes: a measuring system, a GNC system, a gesture dynamics full-physical simulation system, an orbit dynamics digital simulation system, a motion system, a comprehensive monitoring system and a VR/MR vision simulation system, wherein,

the satellite equipment to be simulated is arranged on the motion system, wherein the motion system comprises a translation module and a rotation module, the satellite equipment to be simulated is arranged on the rotation module, and the rotation module is arranged on the translation module; the measurement system is respectively connected with the satellite equipment to be simulated and the GNC system; the GNC system is connected with the gesture dynamics full-physical simulation system and the orbit dynamics digital simulation system; the gesture dynamics full-physical simulation system and the orbit dynamics digital simulation system are connected with the motion system; the comprehensive monitoring system is respectively connected with the measuring system, the orbit dynamics digital simulation system, the motion system and the VR/MR vision simulation system;

the measurement system is used for acquiring the real-time pose value of the satellite equipment to be simulated, obtaining a deviation value by making a difference with a preset Wei Xingwei pose value, and taking the deviation value as the input of the GNC system;

the GNC system is used for processing the deviation value according to a control algorithm to obtain control force and control moment, taking the control moment as input of the gesture dynamics full-physical simulation system and taking the control force as input of the orbit dynamics digital simulation system;

the attitude dynamic full-physical simulation system is used for freely rotating according to the control moment so as to measure real-time attitude information of the satellite equipment to be simulated and transmit the real-time attitude information to the motion system;

the orbit dynamics digital simulation system is used for processing the control force to obtain real-time position information of the satellite equipment to be simulated and transmitting the real-time position information to the motion system;

the motion system is used for carrying out translation of three degrees of freedom according to the real-time position information, and simulating rotation of three degrees of freedom of pitching, yawing and rolling of the satellite equipment to be simulated according to the real-time attitude information;

the comprehensive monitoring system is used for receiving and displaying current pose and state information of the pose dynamics full-physical simulation system, the orbit dynamics digital simulation system, the motion system and the VR/MR vision simulation system, and providing the real-time pose information and the real-time position information for the VR/MR vision simulation system;

and the VR/MR vision simulation system is used for simulating and displaying a real-time three-dimensional model corresponding to the satellite equipment to be simulated according to the real-time posture information and the real-time position information.

2. The high-simulation distributed simulation device of the spacecraft GNC system according to claim 1, wherein the measurement system acquires the real-time pose value of the satellite device to be simulated by adopting inertial navigation equipment or visual measurement.

3. The high-simulation-degree distributed simulation device of the GNC system of the spacecraft according to claim 1, wherein the translation module utilizes a linear guide rail mechanical structure orthogonally installed along three axes and translates in three degrees of freedom according to real-time position information of the satellite device to be simulated to simulate the relative translation of the satellite device to be simulated.

4. The high-simulation-degree distributed simulation device of the GNC system of the spacecraft of claim 1, wherein the rotation module simulates rotation of the satellite device to be simulated in three degrees of freedom of pitch, yaw and roll according to real-time attitude information of the satellite device to be simulated.

5. The high-simulation distributed simulation device of the GNC system of the spacecraft of claim 1, wherein the VR/MR vision simulation system displays a real-time three-dimensional model corresponding to the satellite device to be simulated through VR/MR equipment.

6. The high-simulation distributed simulation device of a GNC system of a spacecraft of claim 1, wherein the measurement system, the GNC system, the gesture dynamics full-physical simulation system, the orbit dynamics digital simulation system, the motion system, the integrated monitoring system, and the VR/MR vision simulation system all communicate with each other through a fiber network composed of fiber-optic reflective memory cards.

7. The high-simulation distributed simulation device of the GNC system of the spacecraft of claim 1, wherein the gesture dynamics full-physical simulation system comprises a three-axis air bearing table, an actuator module, a gesture measurement module, a balance adjustment module, a communication module, a management control module and a power module, wherein,

the triaxial air bearing table comprises an air bearing ball bearing and an instrument platform, and is used for floating the instrument platform by utilizing the air bearing ball bearing, and can realize free rotation which approaches to friction-free around triaxial;

the actuating mechanism module comprises a flywheel mechanism and an air injection mechanism, and is arranged on the instrument platform and used for adjusting the posture of the triaxial air bearing table;

the attitude measurement module is used for measuring the attitude angle and the angular speed of the triaxial air bearing table in real time by utilizing the fiber-optic gyroscope so as to obtain the real-time attitude information;

the balance adjustment module is used for adjusting the mass center and the rotational inertia of the triaxial air bearing table;

the management control module is used for controlling the execution mechanism module to apply corresponding moment according to the control moment received by the communication module and sending the real-time gesture information to the motion system through the communication module;

the power module is used for supplying power to the triaxial air bearing table, the actuating mechanism module, the gesture measuring module, the balance adjusting module, the communication module and the management control module.

8. The high-simulation-degree distributed simulation method for the GNC system of the spacecraft is based on the high-simulation-degree distributed simulation device for the GNC system of the spacecraft, which is characterized by comprising the following steps of:

step S1, installing the satellite equipment to be simulated on the rotating module, starting the high-simulation-degree distributed simulation device of the GNC system of the spacecraft, and ensuring that each system operates normally and has consistent time;

s2, measuring the current pose value of the satellite equipment to be simulated installed on the rotation module by using the measurement system, and making a difference with the preset Wei Xingwei pose value of the satellite equipment to be simulated, and inputting the obtained deviation value into the GNC system;

s3, enabling the GNC system to receive the deviation value, calculating a control moment and a control force according to a control algorithm, and respectively inputting the control moment and the control force into the gesture dynamics full-physical simulation system and the orbit dynamics digital simulation system;

s4, enabling the gesture dynamics full-physical simulation system to receive the control moment, applying corresponding control moment to the triaxial air bearing table through the flywheel mechanism and the air injection mechanism, measuring the gesture angle and the angular velocity of the triaxial air bearing table through the fiber-optic gyroscope so as to solve the real-time gesture information, and inputting the real-time gesture information into the motion system;

s5, enabling the orbit dynamics digital simulation system to receive and process the control force, obtaining real-time position information of the satellite equipment to be simulated, and inputting the real-time position information into the motion system;

step S6, enabling the motion system to receive the real-time attitude information and the real-time position information, and enabling the satellite equipment to be simulated to translate and rotate to reach a preset position and a preset attitude according to the real-time attitude information and the real-time position information;

step S7, updating the real-time pose value of the satellite equipment to be simulated;

s8, receiving current pose and state information of the measuring system, the attitude dynamics full-physical simulation system, the orbit dynamics digital simulation system and the motion system by utilizing the comprehensive monitoring system, and displaying the current pose and state information in a graph form;

s9, receiving the real-time attitude information and the real-time position information by utilizing the VR/MR vision simulation system so as to construct a real-time three-dimensional model corresponding to the satellite equipment to be simulated;

and step S10, iteratively executing the step S2 to the step S9 until the simulation is finished, powering off the high-simulation-degree distributed simulation device of the GNC system of the spacecraft, and homing the satellite equipment to be simulated.

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