CN116080940B - Double-star high-speed intersection motion space-time synchronization simulation device and method thereof - Google Patents
Double-star high-speed intersection motion space-time synchronization simulation device and method thereof Download PDFInfo
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- CN116080940B CN116080940B CN202310333954.3A CN202310333954A CN116080940B CN 116080940 B CN116080940 B CN 116080940B CN 202310333954 A CN202310333954 A CN 202310333954A CN 116080940 B CN116080940 B CN 116080940B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention discloses a space-time synchronous simulation device and a space-time synchronous simulation method for double-star high-speed intersection motion, and belongs to the technical field of ground simulation of spacecrafts. The device comprises a single-axis air floatation platform and a coaxial multi-degree-of-freedom target motion simulator. The single-axis air floating platform is used for simulating a task satellite body, a target detector and a satellite GNC system are arranged on the single-axis air floating platform, and the satellite GNC system controls the air floating platform to realize the pointing and gesture movement of the task satellite. The coaxial multi-degree-of-freedom target motion simulator is used for simulating the motion and external characteristics of a target satellite in an intersection area of two satellites and comprises a target satellite attitude and orbit calculation system, a multi-degree-of-freedom servo mechanism and a target characteristic simulator. The invention uses the self-integrated closed-loop feedback control system to be more similar to the double-star situation in the real space environment, and the target satellite is more similar to the real satellite motion track by the arrangement of the inclined arm or the arched arm, and the invention is more beneficial to the elevation angle effect simulation, and has the advantages of large simulation freedom, wide simulation motion range and high precision.
Description
Technical Field
The invention relates to the technical field of spacecraft ground simulation, in particular to a double-star high-speed intersection motion space-time synchronization simulation device and a method thereof.
Background
Tracking of spatial double stars is still one of the current research hotspots for simulation. Because the spacecraft is far away from the ground, the working environment is special, and the real machine verification cannot be carried out on the ground. The existing domestic method is mainly concentrated in the fields of digital simulation and semi-physical simulation, has the defects that the working environment in the real space is difficult to accurately reproduce, and the precision is low.
In the prior art CN202111018334.8, the name is a device and a method for tracking and pointing to exercise with high precision of space double stars, although a full physical simulation device and a method are disclosed, in the device, because a target star simulator can only do circumferential and up-and-down movements in a vertical plane of a vertical arm, high-speed intersection movements of double stars on different orbits in an orbit intersection area still cannot be truly simulated, and simulation of elevation angle effects is difficult to realize. In addition, the method still relies on information provided by an external device to track the target star, and the tracking method still has a great difference from the working state of satellites in a real environment.
Aiming at the distributed simulation device, the existing synchronization device mostly utilizes wired bus connection or GPS signals to complete the synchronization function, but the wired bus connection mode is mostly periodic timing, and for an air bearing table in the spacecraft simulation device, the wired timing can only be carried out before the experiment begins, so that the wired bus connection synchronization mode cannot be used in the spacecraft simulation device; the simulation process of the spacecraft simulation device needs to be carried out in a microwave darkroom, so that the GPS signal cannot be adopted for synchronous timing.
Therefore, the existing spacecraft motion simulation device still has the problems of insufficient simulation freedom degree, small simulation motion range, and insufficient simulation and synchronism. The novel double-star high-speed intersection motion space-time synchronous simulation device and the method are created on the basis, the simulation freedom is improved through improvement of the vertical arm, the simulation motion range is increased, the double-star high-speed intersection motion simulation in a real space environment is achieved through a closed-loop feedback control system, the simulation performance and the precision are greatly improved, and the tracking pointing simulation of the space double stars is facilitated.
Disclosure of Invention
The invention aims to solve the technical problem of providing the double-star high-speed intersection motion space-time synchronous simulation device, which improves the simulation freedom degree and increases the simulation motion range through improving the vertical arm, and achieves double-star high-speed intersection motion simulation in a real space environment through a closed-loop feedback control system, thereby greatly improving the simulation and precision, being more beneficial to the tracking and pointing simulation of the space double stars, and further overcoming the defects of the existing double-star tracking simulation device.
In order to solve the technical problems, the invention provides a double-star high-speed intersection motion space-time synchronization simulation device, which comprises a single-shaft air floatation platform and a coaxial multi-degree-of-freedom target motion simulator;
The single-axis air flotation platform is used for simulating a mission satellite body, a target detector and a satellite GNC system are arranged on the single-axis air flotation platform, the target detector is used for receiving optical characteristic signals sent by a target characteristic simulator in the coaxial multi-degree-of-freedom target motion simulator, automatically calculating the relative position between the target detector and a target satellite, feeding back a calculation result to the satellite GNC system, and the satellite GNC system is used for controlling the single-axis air flotation platform to realize the pointing and gesture motion of the tracking target satellite according to the calculation result;
the coaxial multi-degree-of-freedom target motion simulator is used for simulating the motion and external characteristics of a target satellite on a task satellite intersecting orbit in a two-satellite high-speed intersecting area and comprises a target satellite attitude and orbit calculation system, a multi-degree-of-freedom servo mechanism and a target characteristic simulator; the target satellite attitude and orbit calculation system is used for completing the calculation of the target satellite orbit and the target satellite attitude according to the actual orbit parameters of the target satellite and the task satellite, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator, wherein the target characteristic simulator is used for completing the optical characteristic simulation of the target satellite according to the calculation result sent by the target satellite attitude and orbit calculation system, and is arranged on the multi-degree-of-freedom servo mechanism, and the multi-degree-of-freedom servo mechanism is used for driving the target characteristic simulator to move according to the calculation result sent by the target satellite attitude and orbit calculation system so as to realize the movement simulation of the target satellite, so that the relative positions of the target characteristic simulator and the single-axis air floating platform accord with the relative positions among the actual satellites.
The multi-degree-of-freedom servo mechanism comprises a base and a coaxial rotary table arranged at the upper part of the base, wherein the coaxial rotary table is arranged at the periphery of the single-shaft air floating platform and is coaxially arranged with the single-shaft air floating platform, the coaxial rotary table is connected with the base through a bearing, and the bearing outer rotor is driven to rotate through a driving motor to realize the rotation of the bearing outer rotor around the single-shaft air floating platform;
the utility model discloses a coaxial revolving platform, including coaxial revolving platform, target characteristic simulator, target detector, slide table, coaxial revolving platform, straight line slide rail, inclination arm that one side of coaxial revolving platform is equipped with its upper end to the slope of unipolar air supporting platform top, be equipped with the straight line slide rail on the inclination arm, the inside sliding table that is equipped with of straight line slide rail, be fixed with the single-axis target simulation platform on the sliding table, target characteristic simulator sets up on the single-axis target simulation platform, by the sliding table drives it along straight line slide rail is rectilinear motion, the single-axis target simulation platform is used for guaranteeing target characteristic simulator is directional all the time target detector, the opposite side of coaxial revolving platform is equipped with the balancing weight.
The tilting arm is an adjustable rotating arm, and is driven to rotate by a slewing drive mechanism to realize adjustment of the tilting angle; or alternatively
The inclined arm is an arch arm extending from one side of the coaxial rotary table to the other side, an arc guide rail is arranged in the arch arm, and a sliding table driven by a belt transmission mechanism is arranged in the arc guide rail.
The system is characterized by further comprising an installation matrix laser calibration system, wherein the installation matrix laser calibration system comprises a laser coordinate measuring instrument and a reflecting prism which is respectively installed on the single-axis air flotation platform, the satellite GNC system and the target detector, and the laser coordinate measuring instrument is used for realizing the installation matrix measurement of the satellite GNC system and the target detector relative to the single-axis air flotation platform through the reflecting prism which is arranged on the single-axis air flotation platform, the satellite GNC system and the target detector so as to finish coordinate conversion among the single-axis air flotation platform, the satellite GNC system and the target detector and improve the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector.
The system comprises a single-axis air flotation platform, a coaxial multi-degree-of-freedom target motion simulator, a synchronous clock main board, a synchronous clock auxiliary board and a synchronous clock auxiliary board, wherein the synchronous clock main board and the synchronous clock auxiliary board are arranged in an industrial personal computer on the single-axis air flotation platform;
And the synchronous clock master board card and the synchronous clock slave board cards are respectively provided with a constant-temperature crystal oscillator timing module, and the constant-temperature crystal oscillator timing modules are used for completing self-time-keeping synchronization of the master board card and each board card disconnected from the slave board card in the simulation experiment process.
Further improved, when the synchronous clock master board card and the synchronous clock slave board card are connected in a wired mode, transmission of synchronous signals is realized by utilizing a cable, and the wired connection mode adopts a master-slave tree topology structure or a master-slave chain topology structure; or alternatively, the process may be performed,
when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless mode, a UWB wireless communication module is utilized to realize transmission of synchronous signals; or alternatively, the process may be performed,
when the synchronous clock main board card is connected with the synchronous clock slave board card in a laser mode, synchronous signal transmission is achieved through the laser and the photoelectric sensing device, wherein the laser is connected with the synchronous clock main board card and is excited by the laser to achieve laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the single-shaft air floating platform and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the difference between the time of receiving the laser and the excitation time of the main board card.
As a further improvement of the present invention, the present invention also provides a method for simulating the space-time synchronization of the high-speed two-star intersection motion, which is completed by the above-mentioned space-time synchronization simulation device for the high-speed two-star intersection motion, and includes the following steps:
(1) According to the orbit parameters of the target satellite and the task satellite which are pre-simulated, calculating the orbit and the attitude of the target satellite through the target satellite attitude orbit calculation system, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator; the multi-degree-of-freedom servo mechanism drives the target characteristic simulator to move according to the resolving result to simulate the movement of the target satellite, so that the relative positions of the target characteristic simulator and the single-axis air floating platform accord with the relative positions of the actual satellites; the target characteristic simulator dynamically completes optical characteristic simulation of the target satellite in real time according to the resolving result, wherein the optical characteristic simulation comprises target attitude characteristic simulation and distance characteristic simulation;
(2) The target detector on the single-axis air flotation platform receives the optical characteristic signals simulated by the target characteristic simulator, automatically calculates the relative position between the target detector and the target satellite, and then feeds back the calculated result to the satellite GNC system, and the satellite GNC system controls the single-axis air flotation platform to realize the pointing and gesture movement of the tracked target satellite according to the calculated result, so as to realize an automatic closed-loop feedback control system and achieve the simulation of the double-star high-speed intersection movement in the real space environment.
The method is characterized by further comprising a step of coordinate conversion and calibration among the single-axis air flotation platform, the satellite GNC system and the target detector before a simulation experiment, wherein the step is realized through a mounting matrix laser calibration system, the mounting matrix laser calibration system comprises a laser coordinate measuring instrument and a reflecting prism which is respectively arranged on the single-axis air flotation platform, the satellite GNC system and the target detector, and the laser coordinate measuring instrument is used for realizing the measurement of the mounting matrix of the satellite GNC system and the target detector relative to the single-axis air flotation platform through the reflecting prism which is arranged on the single-axis air flotation platform, the satellite GNC system and the target detector so as to finish coordinate conversion among the single-axis air flotation platform, the satellite GNC system and the target detector and improve the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector.
The method is characterized by further comprising a time synchronization calibration step in the simulation process of the target satellite and the task satellite before the simulation experiment, wherein the step is realized through a synchronous system under a platform, the synchronous system under the platform comprises a synchronous clock master board card and a plurality of synchronous clock slave board cards, at least one synchronous clock slave board card is arranged in an industrial personal computer on the single-shaft air-float platform, at least one synchronous clock slave board card is arranged in the industrial personal computer of the coaxial multi-freedom-degree target motion simulator, and the synchronous clock master board card is arranged in an under-platform data acquisition industrial personal computer and realizes time synchronization calibration with the synchronous clock slave board card in a wired, wireless or laser mode.
When the number of the slave boards of the synchronous clock is less than or equal to 2, the master-slave tree topology structure is adopted to realize the wired synchronization mode connection, and when the number of the slave boards of the synchronous clock is greater than 2, the master-slave chain topology structure is adopted to realize the wired synchronization mode connection; or alternatively, the process may be performed,
when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless mode, a UWB wireless communication module is utilized to realize transmission of synchronous signals; or alternatively, the process may be performed,
when the synchronous clock main board card is connected with the synchronous clock slave board card in a laser mode, synchronous signal transmission is achieved through the laser and the photoelectric sensing device, wherein the laser is connected with the synchronous clock main board card and is excited by the laser to achieve laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the single-shaft air floating platform and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the time difference between the time of receiving the laser and the excitation time of the main board card.
With such a design, the invention has at least the following advantages:
1. the invention discloses a double-star high-speed intersection motion space-time synchronous simulation device, which is characterized in that a single-axis air floatation platform is adopted to simulate a task satellite body, a target detector and a satellite GNC system are arranged on the task satellite body, an optical characteristic signal simulated by the target characteristic simulator is received through the target detector, after the relative position between the target detector and a target satellite is automatically calculated, the calculated result is fed back to the satellite GNC system, the satellite GNC system controls the single-axis air floatation platform according to the calculated result to realize the pointing and gesture motion of the tracked target satellite, and a self-integrated closed-loop feedback control system is realized, so that the simulation of double-star high-speed intersection motion in a real space environment is more similar, the simulation is stronger, and the guarantee for improving the simulation result is stronger.
2. The target characteristic simulator can be closer to the motion trail of a real target satellite by improving the inclined arm or the arched arm on the coaxial rotary table, is more beneficial to the tracking pointing of a task satellite to the target satellite in a high elevation state, has large simulation freedom degree and wide simulation motion range, and is more beneficial to the actual tracking pointing simulation of a space double satellite.
3. And the reflection prisms are respectively arranged on the single-axis air bearing platform, the satellite GNC system and the target detector through the arrangement of the installation matrix laser calibration system, the laser coordinate measuring instrument is utilized to realize the installation matrix measurement of the satellite GNC system and the target detector relative to the single-axis air bearing platform, the coordinate conversion among the single-axis air bearing platform, the satellite GNC system and the target detector can be completed, the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector are greatly improved, and higher precision guarantee is provided for the simulation process.
4. The time synchronization calibration of the upper and lower stages of the simulation experiment front stage is realized by the arrangement of the synchronous systems of the upper and lower stages of the stage and by means of wired, wireless or laser and the like, the problems of data acquisition, motion control and time synchronization of the non-wired connection distributed system are solved on the basis that the simulation experiment process is not influenced, and finally nodes at different spatial positions are operated at the same rhythm.
Drawings
The foregoing is merely an overview of the present invention, and the present invention is further described in detail below with reference to the accompanying drawings and detailed description.
FIG. 1 is a schematic view of an inter-orbit satellite intersection with a small orbit height difference;
FIG. 2 is a schematic diagram of a structure of a synchronous space-time simulator for double-star high-speed intersection movement of the present invention;
FIG. 3 is a schematic diagram of the operation principle of the closed-loop feedback control system of the single-axis air bearing platform of the present invention;
FIG. 4 is a schematic diagram of a multi-degree-of-freedom servo mechanism in the double-star high-speed intersection motion space-time synchronization simulation device of the invention;
FIG. 5 is a schematic diagram of a mechanism for simulating a space-time synchronous motion of two stars at high speed according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of a control moment gyroscope and its reflection prism in the satellite GNC system according to the present invention;
FIG. 7 is a schematic diagram of the structure of the synchronization system of the present invention;
FIG. 8 is a schematic diagram of a master-slave tree topology connected in a wired synchronization manner in a synchronization system on a platform of the present invention;
FIG. 9 is a schematic diagram of a master-slave chain topology connected in a wired synchronization manner in a synchronization system on a platform and a platform of the present invention;
fig. 10 is a schematic diagram of connection of a wireless synchronization method in the synchronization system under a platform of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The following specific embodiments of the present invention are described in detail with reference to specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. The disclosure may be practiced or carried out in other embodiments and details within the scope and range of equivalents of the subject matter described herein, and various modifications and variations may be made without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments of the present invention are intended to be within the scope of the present disclosure.
It is noted that the following description includes various aspects of the embodiments within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Furthermore, in the following description, specific details are provided in order to provide a thorough understanding of the embodiments. However, it will be understood by those skilled in the art that the methods may be practiced without these specific details.
Satellites running in different orbits are usually far away, and detection, tracking and aiming of an out-of-orbit satellite by using a satellite-borne device are usually difficult, but for an out-of-orbit satellite with a small orbit height difference, at an orbit intersection point of the out-of-orbit satellite, the satellite can detect another satellite in a short distance so as to carry out space tasks such as observation, tracking and the like. A schematic diagram of the different-orbit satellite intersection area is shown in fig. 1, wherein S1 is a task satellite orbit, S2 is a target satellite orbit, A is a task satellite, B is a target satellite, and X is a double-satellite intersection area.
In order to verify the detection and tracking capability of a target satellite on the ground, the invention discloses the space-time synchronization simulation device for the double-star high-speed intersection motion, which is shown in figure 2. The double-star high-speed intersection motion space-time synchronization simulation device comprises a single-axis air floatation platform and a coaxial multi-degree-of-freedom target motion simulator.
The single-axis air flotation platform is used for simulating a mission satellite body, a target detector and a satellite GNC system are arranged on the single-axis air flotation platform, the target detector is used for receiving optical characteristic signals sent by a target characteristic simulator in the coaxial multi-degree-of-freedom target motion simulator, automatically calculating the relative position between the target detector and a target satellite, feeding back the calculation result to the satellite GNC system, and the satellite GNC system is used for controlling the single-axis air flotation platform to realize the pointing and gesture motion of tracking the target satellite according to the calculation result, as shown in an attached figure 3. The satellite GNC system is provided by a user and used for controlling the pointing direction and the gesture of the air flotation platform, and the target detector receives the optical characteristic signals sent by the target characteristic simulator, automatically calculates the relative position between the target detector and the target satellite, and feeds back the result to the satellite GNC system which controls the air flotation platform to track the movement of the target satellite. The single-axis air floating platform uses the target detector as feedback equipment, transmits the measurement result to the satellite GNC system for tracking and control, and forms a self-integrated closed loop feedback control system, which is different from the traditional satellite full-physical simulation system which calculates the orbit information of the target satellite by a dynamics computer, does not depend on information provided by the outside for target tracking, and can be more close to the satellite working state in the real space environment.
The coaxial multi-degree-of-freedom target motion simulator is used for simulating the motion and external characteristics of a target satellite on a task satellite intersecting orbit in a two-satellite high-speed intersecting region and comprises a target satellite attitude and orbit calculation system, a multi-degree-of-freedom servo mechanism and a target characteristic simulator. The target satellite attitude and orbit calculation system is used for completing the calculation of the target satellite orbit and attitude according to the actual orbit parameters of the target satellite and the task satellite, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator. The target characteristic simulator is used for completing optical characteristic simulation of the target satellite, such as visible light, infrared and other characteristics, according to the calculation result sent by the target satellite attitude and orbit calculation system. And the target characteristic simulator is arranged on the multi-degree-of-freedom servo mechanism. The multi-degree-of-freedom servo mechanism is used for driving the target characteristic simulator to move according to a resolving result sent by the target satellite attitude and orbit computing system, so that the motion simulation of the target satellite is realized, and the relative positions of the target characteristic simulator and the single-axis air floating platform are enabled to accord with the relative positions between actual satellites.
Specifically, as shown in fig. 4 and 5, the double-star high-speed intersection motion space-time synchronization simulation device comprises a single-axis air floatation platform 1 and a coaxial multi-degree-of-freedom target motion simulator 2. The coaxial multi-degree-of-freedom target motion simulator 2 comprises a target satellite attitude and orbit calculation system, a multi-degree-of-freedom servo mechanism 21 and a target characteristic simulator. The target satellite attitude and orbit calculation system consists of a computer which is positioned on the ground and is provided with a matched software system, ground staff inputs orbit parameters of different target satellites and task satellites in software, and the orbit parameters are transmitted to the multi-degree-of-freedom servo mechanism and the target characteristic simulator for simulating the position, the attitude and the optical characteristics of the target satellites after numerical calculation.
The multi-degree-of-freedom servo mechanism 21 includes a base 211 and a coaxial turntable 212 provided at an upper portion thereof, the coaxial turntable 212 being provided at an outer periphery of the single-axis air bearing platform 1 and coaxially provided therewith. The single-axis air flotation platform 1 and the coaxial rotary table 212 adopt existing structures, such as a single-axis microgravity simulation device and a large rotary mechanism disclosed in the prior art CN202111018334.8, and an air film is arranged at the lower part of the single-axis microgravity simulation device, so that the space microgravity environment can be effectively simulated, the single-axis air flotation platform has a single-axis rotation function, and support is provided for full physical simulation of a mission satellite. The coaxial rotary table 212 is connected with the base 211 through a bearing, and the rotary table rotates around the single-shaft air floating platform 1 through driving the outer rotor of the bearing to rotate through a driving motor. The rotation arrangement of the coaxial rotary table can also be realized by adopting other existing structures.
As shown in fig. 4, in this embodiment, a tilt arm 213, the upper end of which is tilted above the single-axis air bearing platform 1, is provided at one side of the coaxial turret 212. The other side of the coaxial rotary table 212 is provided with a balancing weight 217, so that the stable rotation of the rotary table is ensured.
The inclined arm 213 is provided with a linear slide rail 214, a sliding table 215 is arranged in the linear slide rail 214, and a single-axis target simulation table 216 is fixed on the sliding table 215. The target characteristic simulator is arranged on the single-shaft target simulation platform 216, and is driven by the sliding platform 215 to perform inclined linear motion along the linear sliding rail 214. In this embodiment, a threaded screw mechanism may be used to implement the movement of the sliding table 215 along the linear sliding rail 214, or other conventional linear mechanical structures may be used. The single axis target simulation stage 216 can ensure that the target characteristic simulator always points to the target detector on the single axis air bearing platform 1, so that the target detector can receive the corresponding optical characteristic signal.
In a preferred embodiment, the tilting arm 213 is an adjustable rotating arm, that is, the bottom end of the tilting arm 213 is connected with the turntable 212 through a rotating shaft 218, and the rotating shaft 218 is driven to rotate by a rotating driving mechanism, for example, a driving motor drives a gear shaft to rotate, so as to realize the adjustment of the tilting angle of the tilting arm 213, so as to meet the diversity of target satellites and task satellite orbits, realize the simulation of multiple degrees of freedom of the relative positions of the target satellites and the task satellite orbits, and achieve the simulation of the actual shape transporting paths of different satellite orbits. The arrangement of the inclined arm of the embodiment enables the moving track of the target characteristic simulator to be closer to the moving track of a real target satellite in the simulation experiment process, further solves the defect of the existing vertical arm in realizing the elevation effect, is more beneficial to the tracking and pointing of a task satellite to the target satellite in the elevation state, increases the simulation freedom degree of the target satellite, widens the simulation movement range, has small processing and manufacturing difficulty, and is more beneficial to the actual tracking and pointing simulation of a space double satellite.
The target characteristic simulator has the following characteristics: and receiving target attitude information sent by a target satellite attitude and orbit calculation system, completing real-time and dynamic calculation of the optical characteristics of the target required to be generated by a calculation module according to the information, and generating the optical characteristics, namely the specific visible light or infrared characteristics of the target by an execution mechanism of the optical characteristics, wherein when the target satellite attitude is different, the optical profile and the angular point characteristics are different. In addition, the target characteristic simulator receives the distance information between the target satellite and the simulation satellite sent by the target satellite attitude and orbit calculation system, and can also change the generated optical characteristic intensity and area according to the information. Through the two points, the target characteristic simulator can completely simulate the optical characteristics of the target satellite with the gesture and the distance continuously changing under the condition that the two satellites have different relative distances and different relative gestures.
Fig. 5 shows another tilting arm arrangement, wherein the tilting arm is configured as an arch arm 213 'extending from one side to the other side of the coaxial turret 212, wherein an arc-shaped guide rail is arranged inside the arch arm 213', wherein the sliding table 215 'is arranged inside the arc-shaped guide rail, and wherein a single-axis target simulation table 216 is fixed on the sliding table 215'. The target characteristic simulator is arranged on the single-axis target simulation platform 216, and is driven by the sliding platform 215' to move along the arc-shaped sliding rail in an arc shape, and the arc-shaped movement is closer to the actual movement track of the target satellite. Wherein, arc guide rail and belt drive mechanism all adopt current mechanical drive mechanism to realize, can drive the sliding table and do the arc operation can.
The space-time synchronization simulation device for the double-star high-speed intersection motion further comprises an installation matrix laser calibration system. The installation matrix laser calibration system comprises a laser coordinate measuring instrument and a reflecting prism which is respectively installed on the single-axis air floating platform, the satellite GNC system and the target detector. The reflecting prisms are respectively arranged at positions suitable for installing the prisms on the single-axis air flotation platform, the satellite GNC system and the target detector, and the installation of the reflecting prisms is realized through the existing mechanism, and as shown in figure 6, the reflecting prisms 3 arranged on the control moment gyro in the satellite GNC system are shown. The installation matrix laser calibration system is used for realizing coordinate conversion among the single-axis air floating platform, the satellite GNC system and the target detector before a simulation experiment, and improving the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector.
Specifically, the laser coordinate measuring instrument is arranged at a position which is convenient for receiving and reflecting laser with a reflecting prism on the single-axis air flotation platform, the satellite GNC system and the target detector, and is convenient for realizing the measurement of the installation matrix of the satellite GNC system and the target detector relative to the single-axis air flotation platform through the reflecting prism arranged on the single-axis air flotation platform, the satellite GNC system and the target detector, so that the coordinate conversion among the single-axis air flotation platform, the satellite GNC system and the target detector is completed, and the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector are improved. The installation matrix laser calibration system does not directly participate in the whole simulation process, but can provide precision guarantee for the simulation process.
Because the mission satellite portion and the target satellite portion co-simulate the behavior of the satellite near the point of intersection, the mission satellite portion and the target satellite portion need to be synchronized for action, which requires that the mission satellite portion and the target satellite portion need to be synchronized for control. And for matching of two stars data, the data acquisition of the two stars data also needs to be synchronized. The whole double-star high-speed intersection motion space-time simulation device can be abstracted into a distributed system with two nodes, the single-axis air flotation platform is used as a bench node, the node is used as a synchronous slave node, the non-single-axis air flotation platform is used as a bench node corresponding to the node, and the bench node is used as a synchronous master node of the distributed system.
In order to solve the synchronization of the two-star motion and the data, the space-time synchronization simulation device for the two-star high-speed intersection motion further comprises a synchronization system on the platform and under the platform, as shown in fig. 7 to 10. The on-board and off-board synchronizing system comprises a synchronizing clock master board card and a plurality of synchronizing clock slave board cards. The synchronous clock slave board card is arranged in the industrial personal computer of the coaxial multi-degree-of-freedom target motion simulator, and is arranged in the under-platform data acquisition industrial personal computer, such as an industrial personal computer of a centralized control platform, and time synchronous calibration is realized with the synchronous clock slave board card in a wired, wireless or laser mode.
Fig. 7 shows that the card hardware interface in the synchronization system above and below the platform comprises the following modules: standard 422 serial port (comprising 3 paths, synchronizing time is output to other devices through 422 serial port); the clock pulse output module (comprising 3 paths, forming pulses according to the synchronous card time on the platform and the platform for the data acquisition system to use); PCI interface chip (including 1 path, providing synchronized time information to computer or receiving computer configuration); the wired synchronous interface (comprising 4 paths, including a synchronous signal sending module and a synchronous signal receiving module, 4 paths of serial ports in total); UWB wireless communication modules (comprising 2 paths, which are used only to implement delay-controllable wireless communications); the timing module (comprising a constant-temperature crystal oscillator which is used for completing self-time-keeping synchronization of the main board card and each board card disconnected from the main board card in the simulation experiment process); the power module (for accessing external input 5V power). It should be noted that the synchronization card hardware of the master node and the slave node is completely the same, and is set as a main board card or a slave board card, which is determined by computer configuration, and the computer realizes the configuration of the synchronization device on the platform and under the platform through the PCI bus, for example, the output of the synchronization device can be configured, including the output of internal time information (including the millisecond of year, month, day, time, second and microsecond) through the 422 serial port, and the output pulse can also be configured, so that the data acquisition system is convenient to use the synchronization pulse as the data acquisition pulse.
When the synchronous clock master board card and the synchronous clock slave board card are specifically used, the synchronous clock master board card and the synchronous clock slave board card respectively provide the synchronized time for respective computers, and the configuration of the computers can be accepted. In the preparation stage of the full-physical simulation experiment, firstly, the synchronous board card is configured according to the node type, the synchronous mode and the external data acquisition equipment, after the configuration is finished, the time synchronization of each node in the distributed system is finished by using one of three modes (wired, wireless and laser) between the main board card and the plurality of slave board cards, and the synchronization is finished by operating the respective synchronous card by computer software. Before the full-physical simulation experiment formally starts, the wired connection of the main board card and the slave board card is disconnected, or the wireless synchronization is stopped, or the synchronization laser signals are closed, and at the moment, the clock synchronization card of each node performs self-conservation by using the high-precision constant-temperature crystal oscillator (namely the temperature compensation crystal oscillator) on the self board, so that the time synchronization precision of each node of the distributed system can be ensured to be in microsecond level in the full-physical simulation experiment process.
More specifically, in the case of using wired synchronization, it is necessary to use a dedicated cable, which is done through a serial port in the synchronization transmitting module or the synchronization receiving module. The main board card firstly transmits a synchronous signal and records the transmitting time, the slave board card receives the synchronous signal and records the receiving time, after the synchronous signal is transmitted, the main board card uses the same cable to broadcast the self-recorded transmitting time to the slave board card by adopting a serial port protocol, and after the slave board card receives the transmitting time broadcast by the main board card, the transmitting time is compared with the self-receiving time to complete the synchronization. When synchronizing in this way, the master node and the slave node have the following connection:
When the number of the used slave boards of the synchronous clock is less than or equal to 2, the master board of the synchronous clock and the slave boards of the synchronous clock are connected in a wired mode through a master-slave tree topology structure, wherein the master board of the synchronous clock and the slave boards of the synchronous clock are shown in figure 8. The slave boards are respectively connected with the synchronous transmitting module interfaces of the main board, and the communication of time information and the calibration of the slave board time are automatically completed by each board under the operation of software.
When the number of the used slave boards of the synchronous clock card is larger than 2, the interfaces of the synchronous transmitting modules of the master boards may be insufficient, so that the master boards of the synchronous clock card and the slave boards of the synchronous clock card are connected in a wired mode by using a master-slave chain topology structure as shown in fig. 9. The second slave board card acquires the forwarded time correction information of the main board card from the first slave board card and forwards the time correction information of the main board card at the same time. And sequentially completing time calibration from the board card according to the connection sequence.
When the number of slave boards is large, the time calibration can be completed by using a wireless synchronous connection mode so as to avoid a large number of cable connections. Fig. 10 shows that when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless manner, the synchronous signal transmission is realized by using the UWB wireless communication module. The wireless communication protocol uses a special timing protocol having the functions of calculation of transmission delay, programmable delay of calibration pulse, transfer of standard time information, etc. The wireless connection The method experiences when delivering the synchronization signal: code synchronous signal for main board cardMain board card hardware (UWB) transmitting a synchronization signal>Radio signal propagation->Receiving a synchronization signal from a board card>Decoding of synchronization signals from a card>In which the radio signal propagation time can be consideredAnd 0. The synchronization signal is transmitted from the master node to the delay +.>This delay can be approximated by means of a least squares fit at the time of design production of the synchronization device.
And when the synchronous clock master board card and the synchronous clock slave board card are connected in a laser mode, the transmission of the synchronous signals is realized by utilizing a laser and a photoelectric sensing device. The laser is connected with the synchronous clock main board card and is excited by the synchronous clock main board card to realize laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the photoelectric sensing device and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the time for receiving the laser and the excitation time difference of the main board card. Specifically, the master node excites the laser at the synchronous instant and records the excitation time of the master node, the slave node records the receiving time after receiving the signal of the photoelectric sensing device, the master node sends the excitation time to the slave node, and the slave node compares the two time differences and completes the time And (5) synchronous action. Compared with the wireless mode, the laser mode omits the encoding and decoding and the sending time of the wireless signal, and can approximate the starting time of the laserLaser propagation time->The sensing time of the photoelectric sensing device>The sum of the three parts->The use of a laser to deliver the synchronization signal can thus greatly increase the initial error at the moment of synchronization, i.e. the total synchronization error = initial error + self-clocking error.
Therefore, the on-table and under-table synchronization system solves the problems of data acquisition, motion control and time synchronization of the distributed system on the basis of not influencing the simulation experiment process, and finally enables nodes at different spatial positions to operate at the same rhythm. Likewise, the above-table and below-table synchronous system does not directly participate in the whole simulation process, but can provide precision guarantee for the simulation process.
The method for completing the space-time synchronous simulation of the double-star high-speed intersection motion by using the space-time synchronous simulation device of the double-star high-speed intersection motion comprises the following steps:
(1) According to the orbit parameters of the target satellite and the task satellite which are pre-simulated, calculating the orbit and the attitude of the target satellite through the target satellite attitude orbit calculation system, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator; the multi-degree-of-freedom servo mechanism drives the target characteristic simulator to move according to the resolving result to simulate the movement of the target satellite, so that the relative positions of the target characteristic simulator and the single-axis air floating platform accord with the relative positions of the actual satellites; the target characteristic simulator completes optical characteristic simulation of the target satellite according to the resolving result, wherein the optical characteristic simulation comprises target attitude characteristic simulation and distance characteristic simulation;
(2) The target detector on the single-axis air flotation platform receives the optical characteristic signals simulated by the target characteristic simulator, automatically calculates the relative position between the target detector and the target satellite, and then feeds back the calculated result to the satellite GNC system, and the satellite GNC system controls the single-axis air flotation platform to realize the pointing and gesture movement of the tracked target satellite according to the calculated result, so as to realize an automatic closed-loop feedback control system and achieve the simulation of the double-star high-speed intersection movement in the real space environment.
The method also comprises the step of coordinate conversion and calibration among the single-axis air floating platform, the satellite GNC system and the target detector before the simulation experiment. The step is realized through the installation matrix laser calibration system, the laser coordinate measuring instrument is used for realizing the installation matrix measurement of the satellite GNC system and the target detector relative to the single-axis air bearing platform through the reflecting prisms arranged on the single-axis air bearing platform, the satellite GNC system and the target detector, so that the coordinate conversion among the single-axis air bearing platform, the satellite GNC system and the target detector is completed, and the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector are improved.
The method also comprises a time synchronization calibration step in the simulation process of the target satellite and the task satellite before the simulation experiment. The steps are realized through the synchronous system on the upper and lower tables. And the synchronous clock master board card and the synchronous clock slave board card realize time synchronous calibration in a wired, wireless or laser mode.
When the number of the slave boards of the synchronous clock is less than or equal to 2, the master-slave tree topology structure is adopted to realize the wired synchronization mode connection, and when the number of the slave boards of the synchronous clock is greater than 2, the master-slave chain topology structure is adopted to realize the wired synchronization mode connection.
And when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless mode, the UWB wireless communication module is utilized to realize the transmission of synchronous signals.
When the synchronous clock main board card is connected with the synchronous clock slave board card in a laser mode, synchronous signal transmission is achieved through the laser and the photoelectric sensing device, wherein the laser is connected with the synchronous clock main board card and is excited by the laser to achieve laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the single-shaft air floating platform and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the time difference between the time of receiving the laser and the excitation time of the main board card.
The double-star high-speed intersection motion space-time synchronous simulation device realizes two-degree-of-freedom simulation of a target satellite and a task satellite which move relatively by utilizing a multi-degree-of-freedom servo mechanism, and on the basis, the simulation of the 3-axis attitude information of the distance (depth) information of the target satellite is completed by utilizing a target characteristic simulator in combination with a target satellite attitude and orbit calculation system, and finally the 6-degree-of-freedom motion of the target satellite is realized. Meanwhile, the on-board and off-board synchronization system combines the experimental requirements of the spacecraft full-physical simulation experiment, provides three modes of wired, wireless and laser to complete the synchronization function of the system, improves the control precision of tracking a target satellite of the satellite GNC system and the detection pointing precision of a target detector by installing a matrix laser calibration system, and can complete a self-synchronization and self-integration closed-loop feedback control system under the condition of not receiving external information. The simulated actual satellite discovers the target according to the self-detection equipment, controls the process of tracking the target by the self-gesture, has stronger simulation, can be more truly close to the working state of the satellite in the space environment, and is suitable for application under more special use scenes.
Claims (10)
1. The double-star high-speed intersection motion space-time synchronization simulation device is characterized by comprising a single-shaft air floatation platform and a coaxial multi-degree-of-freedom target motion simulator;
The single-axis air flotation platform is used for simulating a mission satellite body, a target detector and a satellite GNC system are arranged on the single-axis air flotation platform, the target detector is used for receiving optical characteristic signals sent by a target characteristic simulator in the coaxial multi-degree-of-freedom target motion simulator, automatically calculating the relative position between the target detector and a target satellite, feeding back a calculation result to the satellite GNC system, and the satellite GNC system is used for controlling the single-axis air flotation platform to realize the pointing and gesture motion of the tracking target satellite according to the calculation result;
the coaxial multi-degree-of-freedom target motion simulator is used for simulating the motion and external characteristics of a target satellite on a task satellite intersecting orbit in a two-satellite high-speed intersecting area and comprises a target satellite attitude and orbit calculation system, a multi-degree-of-freedom servo mechanism and a target characteristic simulator; the target satellite attitude and orbit calculation system is used for completing the calculation of the target satellite orbit and the target satellite attitude according to the actual orbit parameters of the target satellite and the task satellite, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator, wherein the target characteristic simulator is used for completing the optical characteristic simulation of the target satellite according to the calculation result sent by the target satellite attitude and orbit calculation system, and is arranged on the multi-degree-of-freedom servo mechanism, and the multi-degree-of-freedom servo mechanism is used for driving the target characteristic simulator to move according to the calculation result sent by the target satellite attitude and orbit calculation system so as to realize the movement simulation of the target satellite, so that the relative positions of the target characteristic simulator and the single-axis air floating platform accord with the relative positions among the actual satellites.
2. The double-star high-speed intersection motion space-time synchronization simulation device according to claim 1, wherein the multi-degree-of-freedom servo mechanism comprises a base and a coaxial rotary table arranged at the upper part of the base, wherein the coaxial rotary table is arranged at the periphery of the single-shaft air floating platform and is coaxially arranged with the single-shaft air floating platform, the coaxial rotary table is connected with the base through a bearing, and a driving motor drives a bearing outer rotor to rotate so as to realize rotation around the single-shaft air floating platform;
the utility model discloses a coaxial revolving platform, including coaxial revolving platform, target characteristic simulator, target detector, slide table, coaxial revolving platform, straight line slide rail, inclination arm that one side of coaxial revolving platform is equipped with its upper end to the slope of unipolar air supporting platform top, be equipped with the straight line slide rail on the inclination arm, the inside sliding table that is equipped with of straight line slide rail, be fixed with the single-axis target simulation platform on the sliding table, target characteristic simulator sets up on the single-axis target simulation platform, by the sliding table drives it along straight line slide rail is rectilinear motion, the single-axis target simulation platform is used for guaranteeing target characteristic simulator is directional all the time target detector, the opposite side of coaxial revolving platform is equipped with the balancing weight.
3. The double-star high-speed intersection motion space-time synchronization simulation device according to claim 2, wherein the tilting arm adopts an adjustable rotating arm, and the tilting arm is driven to rotate by a slewing driving mechanism to realize adjustment of the tilting angle; or alternatively
The inclined arm is an arch arm extending from one side of the coaxial rotary table to the other side, an arc guide rail is arranged in the arch arm, and a sliding table driven by a belt transmission mechanism is arranged in the arc guide rail.
4. The double-star high-speed intersection motion space-time synchronization simulation device according to any one of claims 1 to 3, further comprising an installation matrix laser calibration system, wherein the installation matrix laser calibration system comprises a laser coordinate measuring instrument and a reflecting prism respectively installed on the single-axis air bearing platform, the satellite GNC system and the target detector, and the laser coordinate measuring instrument is used for realizing installation matrix measurement of the satellite GNC system and the target detector relative to the single-axis air bearing platform through the reflecting prism arranged on the single-axis air bearing platform, the satellite GNC system and the target detector so as to complete coordinate conversion among the single-axis air bearing platform, the satellite GNC system and the target detector and improve control precision of tracking of a target satellite by the satellite GNC system and detection pointing precision of the target detector.
5. The double-star high-speed intersection motion space-time synchronization simulation device according to any one of claims 1 to 3, further comprising a platform-to-platform lower synchronization system, wherein the platform-to-platform lower synchronization system comprises a synchronization clock master board card and a plurality of synchronization clock slave boards, at least one synchronization clock slave board card is arranged in an industrial personal computer on the single-shaft air floatation platform, at least one synchronization clock slave board card is arranged in an industrial personal computer of the coaxial multi-degree-of-freedom target motion simulator, the synchronization clock master board card is arranged in a data acquisition industrial personal computer under a platform, and time synchronization calibration is realized with the synchronization clock slave board card in a wired, wireless or laser mode;
And the synchronous clock master board card and the synchronous clock slave board cards are respectively provided with a constant-temperature crystal oscillator timing module, and the constant-temperature crystal oscillator timing modules are used for completing self-time-keeping synchronization of the master board card and each board card disconnected from the slave board card in the simulation experiment process.
6. The double-star high-speed intersection motion space-time synchronization simulation device according to claim 5, wherein when the synchronous clock master board card and the synchronous clock slave board card are connected in a wired mode, transmission of synchronous signals is realized by using a cable, and the wired connection mode adopts a master-slave tree topology structure or a master-slave chain topology structure; or alternatively, the process may be performed,
when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless mode, a UWB wireless communication module is utilized to realize transmission of synchronous signals; or alternatively, the process may be performed,
when the synchronous clock main board card is connected with the synchronous clock slave board card in a laser mode, synchronous signal transmission is achieved through the laser and the photoelectric sensing device, wherein the laser is connected with the synchronous clock main board card and is excited by the laser to achieve laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the single-shaft air floating platform and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the difference between the time of receiving the laser and the excitation time of the main board card.
7. A method for simulating the space-time synchronization of double-star high-speed intersection motion, which is characterized by being completed by the double-star high-speed intersection motion space-time synchronization simulation device according to any one of claims 1 to 6, and comprising the following steps:
(1) According to the orbit parameters of the target satellite and the task satellite which are pre-simulated, calculating the orbit and the attitude of the target satellite through the target satellite attitude orbit calculation system, and sending the calculation result to the multi-degree-of-freedom servo mechanism and the target characteristic simulator; the multi-degree-of-freedom servo mechanism drives the target characteristic simulator to move according to the resolving result to simulate the movement of the target satellite, so that the relative positions of the target characteristic simulator and the single-axis air floating platform accord with the relative positions of the actual satellites; the target characteristic simulator dynamically completes optical characteristic simulation of the target satellite in real time according to the resolving result, wherein the optical characteristic simulation comprises target attitude characteristic simulation and distance characteristic simulation;
(2) The target detector on the single-axis air flotation platform receives the optical characteristic signals simulated by the target characteristic simulator, automatically calculates the relative position between the target detector and the target satellite, and then feeds back the calculated result to the satellite GNC system, and the satellite GNC system controls the single-axis air flotation platform to realize the pointing and gesture movement of the tracked target satellite according to the calculated result, so as to realize an automatic closed-loop feedback control system and achieve the simulation of the double-star high-speed intersection movement in the real space environment.
8. The method for simulating the space-time synchronization of the double-star high-speed intersection motion according to claim 7, further comprising the step of coordinate conversion calibration among the single-axis air flotation platform, the satellite GNC system and the target detector before a simulation experiment, wherein the step is realized by installing a matrix laser calibration system, the matrix laser calibration system comprises a laser coordinate measuring instrument and reflecting prisms respectively installed on the single-axis air flotation platform, the satellite GNC system and the target detector, and the laser coordinate measuring instrument is used for realizing coordinate conversion among the single-axis air flotation platform, the satellite GNC system and the target detector relative to the single-axis air flotation platform through the reflecting prisms arranged on the single-axis air flotation platform, the satellite GNC system and the target detector so as to improve the control precision of the satellite GNC system for tracking the target satellite and the detection pointing precision of the target detector.
9. The method for simulating time-space synchronization of double-star high-speed intersection motion according to claim 7, further comprising a time synchronization calibration step in the process of simulating a target satellite and a task satellite before a simulation experiment, wherein the step is realized through a on-board and off-board synchronization system, the on-board and off-board synchronization system comprises a synchronous clock master board card and a plurality of synchronous clock slave board cards, at least one synchronous clock slave board card is arranged in an industrial personal computer on the single-shaft air-bearing platform, at least one synchronous clock slave board card is arranged in an industrial personal computer of the coaxial multi-degree-of-freedom target motion simulator, and the synchronous clock master board card is arranged in an off-board data acquisition industrial personal computer and realizes time synchronization calibration with the synchronous clock slave board card in a wired, wireless or laser mode.
10. The space-time synchronization simulation method for the double-star high-speed intersection motion of claim 9, wherein when the master board card of the synchronous clock and the slave board card of the synchronous clock are connected in a wired mode, transmission of synchronous signals is realized by using a cable, when the number of the slave board cards of the synchronous clock is less than or equal to 2, the wired synchronization mode is realized by adopting a master-slave tree topology structure, and when the number of the slave board cards of the synchronous clock is greater than 2, the wired synchronization mode is realized by adopting a master-slave chain topology structure; or alternatively, the process may be performed,
when the synchronous clock master board card is connected with the synchronous clock slave board card in a wireless mode, a UWB wireless communication module is utilized to realize transmission of synchronous signals; or alternatively, the process may be performed,
when the synchronous clock main board card is connected with the synchronous clock slave board card in a laser mode, synchronous signal transmission is achieved through the laser and the photoelectric sensing device, wherein the laser is connected with the synchronous clock main board card and is excited by the laser to achieve laser emission, the photoelectric sensing device is arranged on the single-shaft air floating platform and is connected with the synchronous clock slave board card arranged on the single-shaft air floating platform and is used for sensing and receiving laser emitted by the laser, and the synchronous clock slave board card completes time synchronous calibration according to the time difference between the time of receiving the laser and the excitation time of the main board card.
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