CN116068915B - High-simulation-degree distributed simulation device and method for GNC system of spacecraft - Google Patents
High-simulation-degree distributed simulation device and method for GNC system of spacecraft Download PDFInfo
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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
Technical Field
The invention relates to the technical field of ground simulation of spacecrafts, in particular to a high-simulation-degree distributed simulation device and method for a GNC system of a spacecraft.
Background
The aerospace industry is a high-risk, high-input and high-output technology-intensive industry, and is an important expression of the comprehensive strength of the country. Because the development period of the spacecraft is long, the cost is high, the process is complex, the practical cost for controlling the pose of the spacecraft is extremely high and can not be repeated, and therefore, the spacecraft ground simulation technology is required to be adopted for analyzing and researching the problem of controlling the pose of the spacecraft. The ground simulation system of the spacecraft has important significance for improving the reliability of the spacecraft and reducing the cost and risk.
The existing ground simulation system of the spacecraft attitude and orbit control system mostly has the problems that the data simulation pose information is not visual, the physical simulation can not simulate three degrees of freedom of translation, and the simulation effect is poor, and the method is as follows:
he Chao A ground simulation verification system with twelve degrees of freedom for a attitude and orbit control test is provided in a ground simulation verification method research of a space vehicle attitude and orbit control system, which depends on the task requirement of a certain satellite, the functions of four subsystems of a dynamic simulation and GNC system, a motion system, a measurement system and a monitoring integrated system and the functions of all main subsystems are provided, a corresponding ground simulation verification test scheme is designed according to the different specific tasks, and the problem of longer operation period of deep space exploration and the like is also solved, so that the simulation time is reduced, the simulation efficiency is improved, and the super-real-time simulation scheme of a semi-physical simulation system based on time reduction ratio is researched. However, in the scheme, dynamics simulation and dynamics simulation of the GNC system are performed by performing dynamics calculation according to control moment output by the GNC system, the obtained pose information is purely digital simulation, compared with physical simulation, the pose information is not close to an actual system, and meanwhile, the pose information of a satellite can only be seen from a monitoring comprehensive system in a graph form and is not visual.
The invention discloses a multi-spacecraft attitude orbit control ground full-physical simulation system (application number is CN 202210259531.7) based on a multi-degree-of-freedom motion simulator, which comprises a multi-degree-of-freedom double-satellite companion flight simulator, a bench attitude orbit control system, a relative navigation system, a wireless data communication system, a vision demonstration system and a ground comprehensive monitoring system, wherein two dumbbell-shaped air bearing tables are adopted to simulate and track the attitude motions of a star and a target star, so that the motion simulation of two degrees of freedom and three degrees of freedom of the attitude of a plane is realized, the purpose of high-precision simulation can be achieved, and a reliable platform is provided for the verification of a satellite companion flight control scheme. However, the simulation method cannot realize the translational simulation along the height direction.
The invention discloses a ground simulation method (application number: CN 201611037572.2) of a spacecraft based on augmented reality, wherein a ground full-physical simulation system in the scheme consists of a three-axis air bearing table, a satellite-borne computer, a sensor, an actuator and a flexible simulator, wherein the satellite-borne computer, the sensor, the actuator and the flexible simulator are arranged on the three-axis air bearing table, three degrees of freedom of satellite gestures can be simulated physically, a scene of actual movement of the spacecraft can be seen while simulation is performed, distributed full-physical simulation is realized, the simulation degree of flexibility is improved, the range of simulated vibration modes is enlarged, and the range of simulated frequencies is improved. But the simulation method cannot simulate three degrees of freedom of translation.
Therefore, a simulation method capable of simulating six-degree-of-freedom motion of a satellite is needed.
Disclosure of Invention
The invention provides a high-simulation-degree distributed simulation device and method for a spacecraft GNC system, which are used for solving the technical problems that the ground simulation system of the existing spacecraft attitude and orbit control system mostly has the situations of non-visual data simulation pose information and non-close semi-physical simulation, and the full-physical simulation mostly cannot simulate six degrees of freedom, so that the simulation effect is poor.
An embodiment of an aspect of the present invention provides a high-simulation distributed simulation apparatus for a GNC system of a spacecraft, including: 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 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.
Further, in an embodiment of the present invention, the measurement system acquires the real-time pose value of the satellite device to be simulated using inertial navigation device or visual measurement.
Further, in an embodiment of the present invention, the translation module performs three degrees of freedom translation according to real-time position information of the satellite device to be simulated by using a linear guide rail mechanical structure that is orthogonally installed along three axes, so as to simulate the relative translation of the satellite device to be simulated.
Further, in one embodiment of the present invention, the rotation module simulates rotation of the satellite device to be simulated in three degrees of freedom, namely pitch, yaw and roll, according to the real-time attitude information of the satellite device to be simulated.
Further, in one embodiment of the present invention, the VR/MR vision simulation system displays, through the VR/MR device, a real-time three-dimensional model corresponding to the satellite device to be simulated.
Further, in an embodiment of the present invention, 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 use an optical fiber network composed of optical fiber reflection memory cards to communicate with each other.
Further, in one embodiment of the invention, the gesture dynamic all-physical simulation system comprises a triaxial air bearing table, an actuator module, a gesture measurement module, a balance adjustment module, a communication module, a management control module and a power supply 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.
Another embodiment of the present invention provides a high-simulation distributed simulation method for a GNC system of a spacecraft, including:
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.
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.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a high-simulation distributed simulation apparatus for a spacecraft GNC system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a gesture dynamics full-physics simulation system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a VR/MR vision simulation system in accordance with one embodiment of the present invention;
fig. 4 is a flowchart of a high-simulation distributed simulation method of a GNC system of a spacecraft according to an embodiment of the invention.
Reference numerals illustrate:
10-spacecraft GNC system high-simulation degree distributed simulation device, 100-measuring system, 200-GNC system, 300-attitude dynamics full-physical simulation system, 301-triaxial air bearing table, 302-executing mechanism module, 303-attitude measuring module, 304-balance adjusting module, 305-communication module, 306-management control module, 307-power module, 400-orbit dynamics digital simulation system, 500-motion system, 600-comprehensive monitoring system, 700-VR/MR vision simulation system, 701-observation module, 7011-display unit, 7012-file management unit, 7013-data transmission unit and 702-cloud storage.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The high-simulation-degree distributed simulation device and method for the GNC system of the spacecraft, which are provided by the embodiment of the invention, are described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a high-simulation distributed simulation apparatus of a GNC system of a spacecraft according to an embodiment of the invention.
As shown in fig. 1, the high-simulation distributed simulation apparatus 10 of the GNC system of the spacecraft includes: measurement system 100, GNC system 200, attitude dynamics full physics simulation system 300, orbit dynamics digital simulation system 400, motion system 500, integrated monitoring system 600, and VR/MR vision simulation system 700.
The satellite equipment to be simulated is arranged on the motion system 500, wherein the motion system 500 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 100 is respectively connected with the satellite equipment to be simulated and the GNC system 200; the GNC system 200 is connected with the gesture dynamics full-physical simulation system 300 and the orbit dynamics digital simulation system 400, and the gesture dynamics full-physical simulation system 300 and the orbit dynamics digital simulation system 400 are connected with the motion system 500; the integrated monitoring system 600 is connected to the measurement system 100, the orbit dynamics digital simulation system 400, the motion system 500, and the VR/MR vision simulation system 700, respectively.
Further, in an embodiment of the present invention, the measurement system 100 obtains the real-time pose value of the satellite device to be simulated by using inertial navigation device or visual measurement, and makes a difference with the preset Wei Xingwei pose value to obtain the deviation value, and uses the deviation value as the input of the GNC system 200 to form a closed-loop control system.
Specifically, the measurement system 100 measures the pose of the satellite device mounted on the turntable by using inertial navigation device or visual measurement, and sends the pose to the GNC system 200 with a preset Wei Xingwei pose value, so that the pose is used as an input of the GNC system 200 to form a closed-loop control system, and meanwhile, the deviation value is sent to the integrated monitoring system 600 to display the deviation value on a monitoring interface, thereby realizing real-time visualization.
Further, in one embodiment of the present invention, the GNC system 200 is configured to process the deviation values according to a control algorithm to obtain a control force and a control moment, and take the control moment as an input of the gesture dynamics full physical simulation system 300 and the control force as an input of the orbit dynamics digital simulation system 400, respectively.
Specifically, the GNC system 200, that is, a Guidance (guide), navigation (Navigation) and Control (Control) system of the satellite, is responsible for specific Navigation, guidance and Control calculation, receives a deviation value between a current pose of the satellite and a Wei Yushe Wei Xingwei pose value measured by the measurement system 100 as input, calculates a Control force and a Control moment according to a Control algorithm, outputs the Control moment as input of the gesture dynamics full physical simulation system, and outputs the Control force as input of the orbit dynamics digital simulation system.
Further, in one embodiment of the present invention, the gesture dynamics full physics simulation system 300 includes a tri-axis air bearing table 301, an actuator module 302, a gesture measurement module 303, a balance adjustment module 304, a communication module 305, a management control module 306, and a power module 307.
Specifically, as shown in fig. 2, the triaxial air bearing table 301 includes an air bearing ball bearing and an instrument platform, the instrument platform is floated by the air bearing ball bearing, and the instrument platform can realize near friction-free rotation around the triaxial; the executing mechanism module 302 adopts a combined scheme of a flywheel and an air injection thruster, namely, the executing mechanism module comprises a flywheel mechanism and an air injection mechanism, and the two executing mechanisms are combined and installed on an instrument platform to be used as an executor for adjusting the posture of an air bearing table; the gesture measurement module 303 utilizes a high-precision fiber-optic gyroscope to measure the gesture angle and the angular velocity of the triaxial air bearing table in real time so as to obtain real-time gesture information; the balance adjustment module 304 is mainly used for adjusting the mass center and the rotational inertia of the triaxial air bearing table, and is provided with a rotational inertia measurement module so as to simulate the mass characteristics of the satellite by the full physical simulation system; the management control module 306 is used as a control unit of the gesture dynamics full-physical simulation system 300, and is configured to control the actuator module 302 to apply a corresponding moment according to the control moment output by the GNC system 200 and received by the communication module 305, and send real-time gesture information measured by the gesture measurement module 303 to the motion system 500 through the communication module 305; the power module 307 is used for supplying power to the triaxial air bearing table 301, the actuator module 302, the attitude measurement module 303, the balance adjustment module 304, the communication module 305 and the management control module 306.
Further, in one embodiment of the present invention, the orbit dynamics digital simulation system 400 is used to process control forces to obtain real-time position information of the satellite device to be simulated and to communicate the real-time position information to the motion system.
Specifically, the orbital dynamics digital simulation system 400 is a simple digital-analog system that receives the control force output by the GNC system 200 as input, calculates the real-time position information of the satellite, and transmits the real-time position information as output to the motion system 500.
Further, in one embodiment of the present invention, the translation module in the motion system 500 is a translation platform, and the translation of three degrees of freedom is performed according to real-time position information by using a linear guide rail mechanical structure orthogonally installed along the triaxial direction, so as to simulate the relative translation of the satellite equipment to be simulated; the rotation module is a three-axis turntable, and simulates the 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 three-axis turntable is arranged on the translation platform, so that the equipment arranged on the turntable can translate along the directions X, Y, Z, and can rotate in the directions of pitching, yawing and rolling, and the six-degree-of-freedom motion is summed. The motion system 500 receives as input real-time attitude information and real-time position information output from the attitude dynamics full-physical simulation system 300 and the orbit dynamics digital simulation system 400, and moves the satellite device to be simulated mounted on the turntable to a designated position and attitude according to the input.
Further, in one embodiment of the present invention, the integrated monitoring system 600 is configured to display current pose and status information of each system, and provide real-time pose information and real-time position information of the satellite device to be simulated for the VR/MR vision simulation system.
Specifically, the integrated monitoring system 600 is responsible for displaying the current pose and state information of each subsystem for the user, specifically, displaying the current state information of the pose dynamics full-physical simulation system 300, the orbit dynamics digital simulation system 400, the VR/MR vision simulation system 700 and the motion system 500, and the real-time pose value, the real-time pose information and the real-time position information obtained by the motion system 500, the pose dynamics full-physical simulation system 300 and the orbit dynamics digital simulation system 400, so as to provide a channel for the user to directly operate each subsystem, provide pose information of the satellite for the VR/MR vision simulation system, and have functions of operation protection, error processing and the like.
Further, in one embodiment of the present invention, the VR/MR vision simulation system 700 is configured to receive real-time attitude information and real-time location information of a satellite device to be simulated, and display, by using the VR/MR device, a real-time three-dimensional model corresponding to the satellite device to be simulated.
Specifically, the VR/MR vision simulation system 700 receives real-time attitude information and real-time position information of the satellite device to be simulated provided by the integrated monitoring system 600, displays a three-dimensional model including a satellite, earth, background starry sky and the like in front of the eyes of the user through the VR or MR device, and the position and the attitude of the satellite model are the same as the received real-time attitude information and real-time position information of the satellite device to be simulated, so that the user can more directly observe the control effect of the satellite.
Further, as shown in fig. 3, the VR/MR vision simulation system 700 is composed of a plurality of observation modules 701 and a cloud storage 702, wherein the observation modules 701 are composed of a display unit 7011, a file management unit 7012 and a data transmission unit 7013, and the observation modules 701 and the cloud storage 702 are connected with each other through the internet. For a single observation module 701, VR head display or MR head display can be selected according to the needs of a single user, when for a plurality of observation modules 701, three schemes based on VR head display or MR head display or combined use of VR head display and MR head display can be adopted according to different needs of a plurality of users, the VR head display scheme is more suitable for remote observation, the MR head display scheme is more suitable for field test and observation, and the running condition of actual ground simulation equipment can be observed while satellite running pictures are displayed. 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 device in a program form, and the display unit 7011 is configured to display a 3D satellite running picture according to the acquired real-time pose-orbit data of the simulated satellite; the file management unit 7012 is used for storing the generated satellite operation simulation 3D animation in the storage space of the VR/MR device so as to facilitate the subsequent repeated viewing; the data transmission unit 7013 is used for reading real-time simulated satellite attitude and orbit data from the cloud storage through the internet.
Further, in one embodiment of the present invention, the measurement system 100, the GNC system 200, the gesture dynamics total physical simulation system 300, the orbit dynamics digital simulation system 400, the motion system 500, the integrated monitoring system 600, and the VR/MR vision simulation system 700 all communicate with each other using a fiber optic network composed of fiber optic reflective memory cards.
Specifically, the gesture dynamics full-physical simulation system 300 is a full-physical simulation part, the rest systems are semi-physical simulation parts, and the embodiment of the invention is ground simulation experiment equipment combining full-physical simulation and semi-physical simulation. In practical situations, the instruments of the full physical simulation part and the semi physical simulation part may not be located in the same experimental place, and even larger space interval may exist between the instruments, so as to avoid the influence of delay caused by long-distance communication on the timeliness of the system and ensure large data volume communication under hard real-time conditions.
Besides the functions of checking the running condition of satellite equipment and verifying the effect of a satellite control algorithm on the ground at low cost, which are generally possessed by a ground simulation system, the system parameters of the embodiment of the invention can be corrected according to the actual data so that the embodiment of the invention can simulate the orbit and the attitude of the actual in-orbit satellite in a high approximation manner on the ground. Under the condition that the data of the on-orbit satellite is accurate and reliable, and the accuracy of each system of the embodiment of the invention is good, the corrected local ground simulation system can be regarded as the ground backup of the actual on-orbit satellite. When the in-orbit satellite has faults in operation, the returned data is abnormal, the in-orbit satellite leaves the observation area, and the like, the corresponding ground simulation system can be utilized to carry out fault elimination, abnormal reproduction and orbit attitude estimation.
In summary, the high-simulation-degree distributed simulation device for the GNC system of the spacecraft provided by the embodiment of the invention has the advantages of a semi-physical six-dimensional ground simulation system based on a linear guide rail mechanical structure and a three-axis turntable and a full-physical ground simulation system based on a three-axis air bearing table, namely, the high-simulation-degree distributed simulation device can simulate six-degree motion of a satellite and is close to reality as much as possible; by using the VR/MR technology, the orbit and the gesture of the satellite can be observed, and the control effect of a satellite control algorithm can be intuitively judged; the light reflection memory technology is used, and under the condition that the distance between the semi-physical system and the full-physical system is far, the time alignment can be ensured; the orbit and attitude of the actual in-orbit satellite can be simulated on the ground by repeatedly correcting the system parameters according to the attitude and orbit data of the actual in-orbit satellite.
Secondly, a high-simulation-degree distributed simulation method of the GNC system of the spacecraft, which is provided by the embodiment of the invention, is described with reference to the attached drawings.
Fig. 4 is a flowchart of a high-simulation distributed simulation method of a spacecraft GNC system according to an embodiment of the invention.
As shown in fig. 4, the high-simulation distributed simulation method of the GNC system of the spacecraft comprises the following steps:
in step S1, the satellite equipment to be simulated is installed on a rotation module, a high-simulation-degree distributed simulation device of the GNC system of the spacecraft is started, and normal operation and consistent time of each system are ensured.
In step S2, the current pose value of the satellite device to be simulated mounted on the rotation module is measured by using the measurement system, and is different from the preset Wei Xingwei pose value of the satellite device to be simulated, and the obtained deviation value is input into the GNC system.
In step S3, the GNC system receives the deviation value, calculates the control moment and the control force according to the control algorithm, and inputs the control moment and the control force into the gesture dynamics full-physical simulation system and the orbit dynamics digital simulation system respectively.
In step S4, the gesture dynamics full-physical simulation system receives the control moment, applies a corresponding control moment to the triaxial air bearing table through the flywheel mechanism and the air injection mechanism, measures the gesture angle and the angular velocity of the triaxial air bearing table through the fiber-optic gyroscope, solves the real-time gesture information, and inputs the real-time gesture information into the motion system.
In step S5, the orbit dynamics digital simulation system receives and processes the control force, obtains real-time position information of the satellite device to be simulated, and inputs the real-time position information to the motion system.
In step S6, the motion system is enabled to receive the real-time attitude information and the real-time position information, and the satellite equipment to be simulated is enabled to translate and rotate to reach the preset position and the preset attitude according to the real-time attitude information and the real-time position information.
In step S7, the real-time pose value of the satellite device to be simulated is updated. If the returned pose value of the actual in-orbit satellite is the same, the parameters of each system are corrected according to the data.
In step S8, the current pose and state information of the measurement system, the pose dynamics full-physical simulation system, the orbit dynamics digital simulation system and the motion system is received by using the integrated monitoring system, and is displayed in a graph form.
In step S9, the VR/MR vision simulation system is utilized to receive the real-time posture information and the real-time position information, so as to construct a real-time three-dimensional model corresponding to the satellite equipment to be simulated.
In step S10, the steps S2 to S9 are iteratively executed until the simulation is completed, and the distributed simulation device with high simulation degree of the GNC system of the spacecraft is turned off, so that the satellite equipment to be simulated is reset.
It should be noted that the foregoing explanation of the embodiment of the high-simulation distributed simulation device of the GNC system of the spacecraft is also applicable to the method of this embodiment, and will not be repeated here.
According to the high-simulation-degree distributed simulation method for the GNC system of the spacecraft, provided by the embodiment of the invention, the advantages of a semi-physical six-dimensional ground simulation system based on a linear guide rail mechanical structure and a three-axis turntable and a full-physical ground simulation system based on a three-axis air bearing table are achieved, namely six-degree-of-freedom motion of a simulated satellite is ensured, and the simulation method is close to reality as much as possible; by using the VR/MR technology, the orbit and the gesture of the satellite can be observed, and the control effect of a satellite control algorithm can be intuitively judged; the light reflection memory technology is used, and under the condition that the distance between the semi-physical system and the full-physical system is far, the time alignment can be ensured; the orbit and attitude of the actual in-orbit satellite can be simulated on the ground by repeatedly correcting the system parameters according to the attitude and orbit data of the actual in-orbit satellite.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
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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