CN116227112A - Semi-physical simulation system and simulation method oriented to remote sensing satellite constellation system collaboration - Google Patents
Semi-physical simulation system and simulation method oriented to remote sensing satellite constellation system collaboration Download PDFInfo
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Abstract
The invention discloses a semi-physical simulation system and a simulation method oriented to remote sensing satellite constellation system collaboration, wherein the semi-physical simulation system comprises a physical platform, a digital system, high-speed hardware interface conversion equipment and a time synchronization device; the time synchronization device is used for performing time calibration on each component of the physical platform and each module of the digital system; the physical platform is used for carrying out bidirectional data communication with the digital system and receiving target imaging position information sent by the high-speed hardware interface conversion equipment; the digital system obtains information processing and fusion results; and sending the target imaging position information obtained by load detection simulation to high-speed hardware interface conversion equipment. The semi-physical simulation system can realize the time consistency of the digital system and the physical system in the semi-physical simulation system, and can carry out compatible processing on different target environment simulation tasks and different digital model inputs.
Description
Technical Field
The invention relates to the technical field of system simulation and integrated verification, in particular to a semi-physical simulation system and a simulation method oriented to remote sensing satellite constellation system cooperation.
Background
The system simulation technology is an effective method for supporting the development complete flow of remote sensing satellite design, manufacture, comprehensive test and the like. In order to combine the advantages of high confidence and low cost, semi-physical simulation technology is gradually introduced into the field of remote sensing satellite development.
Most of the current semi-physical simulation systems aiming at remote sensing satellites focus on the realization of single-satellite simulation functions, parts which are easy to be used for physical simulation in the single satellite, such as on-satellite sensors, moving parts and other entities are brought into a simulation closed loop, the real physical simulation of the motion characteristics is realized, the rest functions on the satellite are realized through simple digital simulation, and the simulation of the single-satellite task capacity is realized through the combination of digital and physical. For constellation-level simulation, most of the current system-level constellation collaborative simulation systems only aim at specific types of remote sensing satellites, and a universal simulation platform applicable to different types of remote sensing satellites is not available.
However, the main defect of the current semi-physical simulation is that the simulation capability of the system is lacking, the capability of simulating tens or even hundreds of constellation clusters is required to be insufficient, and the capability of cooperative work of the constellation system is difficult to verify.
Particularly, for constellation-level simulation, the synchronization of a physical platform and a digital system requires a unified simulation process, so that the synchronization of simulation actions of a plurality of remote sensing satellites in the system is realized. If time synchronization is not carried out, the simulation steps of the physical platform and the digital system are not matched in time, and the overall simulation process of the constellation is affected. At present, a software-defined assignment method is often adopted to realize time synchronization, and the time synchronization is limited by external factors such as network delay, program execution time and the like, and cannot be realized accurately.
Disclosure of Invention
In view of the above, the invention provides a semi-physical simulation system and a simulation method oriented to the coordination of a remote sensing satellite constellation system, which can solve the technical problems that the prior art cannot realize the time synchronization of a physical platform and a digital system of a remote sensing satellite constellation, cannot realize the expansion of the number of digital satellite nodes of the simulation platform and is suitable for the access of various remote sensing satellites.
The present invention is so implemented as to solve the above-mentioned technical problems.
A semi-physical simulation system facing remote sensing satellite constellation system cooperation comprises:
the system comprises a physical platform, a digital system, high-speed hardware interface conversion equipment and a time synchronization device;
the time synchronization device is used for performing time calibration on each component of the physical platform and each module of the digital system; the time signal sent by the time synchronization device is sent to the star processing device of the physical platform and the digital system;
the physical platform is used for carrying out bidirectional data communication with the digital system and receiving target imaging position information sent by the high-speed hardware interface conversion equipment;
the digital system is used for carrying out bidirectional digital communication with the physical platform, receiving the time signal sent by the time synchronization device, converting the time signal into satellite time data, and realizing digital satellite time synchronization; processing and fusing the state information of the accessed multiple remote sensing satellite digital models to obtain information processing and fusing results; and sending the target imaging position information obtained by load detection simulation to high-speed hardware interface conversion equipment.
Preferably, the physical platform is configured with a bus interface card, a star processing module and a protocol conversion gateway;
the bus interface card of the physical platform provides a universal bus interface, and is suitable for bus access and data transceiving of various remote sensing satellite electrical components; the bus interface card is directly connected with the physical hardware and is used for receiving load real-time data from the physical hardware;
the satellite processing module is a comprehensive data management system of a physical platform, integrates a telemetry system, a remote control system and a tracking rail measurement system, has an on-board autonomous management function, and generates data signals to drive other subsystems in the simulation system to execute corresponding actions;
the protocol conversion gateway defines a field conversion protocol of an information flow of physical hardware and a digital network communication message, realizes bidirectional conversion of a network communication protocol based on a hardware interface protocol and a digital system for a physical platform, and further realizes data cooperation of the physical platform and the digital system.
Preferably, the digital system comprises a special driver module, a software API interface module, a remote control telemetry module and a load detection information simulation module;
the special driver module acquires an external digital satellite constellation model formed by a plurality of external remote sensing satellites in an extensible number for simulation, and generates state information of the digital satellite constellation; the data exchange is carried out between the software API interface module of the digital system and the protocol conversion gateway of the physical platform, so that the data driving of the digital platform to the physical platform and the information feedback of the digital system by the physical platform are realized; simulating the digital satellite constellation based on the workflow of the actual remote sensing satellite constellation, and generating remote control telemetry information of the digital satellite constellation by a remote control telemetry module in a simulation mode; acquiring information processing and fusion results of the star processing device based on a remote control telemetry module in the digital system, and transmitting remote control telemetry information to the star processing device of a physical platform in real time; the load detection information simulation module acquires the position of an observed target on an image plane, namely a target imaging position, based on an optical load imaging principle; and transmitting the target imaging position to the physical hardware through the high-speed hardware interface conversion device.
A semi-physical simulation method facing remote sensing satellite constellation system cooperation is based on the semi-physical simulation system, and comprises the following steps:
step S21: synchronizing the physical platform and the digital system by a time synchronization device of the semi-physical simulation system;
step S22: the digital system and the physical platform carry out bidirectional data communication through a software API interface module and a protocol conversion gateway, and a task scene and a working mode of a remote sensing satellite constellation are set;
step S23: the physical platform is connected with a plurality of remote sensing satellite digital models, simulates the running conditions of 1 to N remote sensing satellite digital models, and drives each remote sensing satellite digital model through a special driver module to perform collaborative simulation of a constellation system; wherein N is the number of the digital models accessed into a plurality of remote sensing satellites;
step S24: the remote sensing satellite constellation simulates a collaborative observation task scene, performs task processing and generates a remote control and telemetry signal; based on the optical load imaging principle, the position of an observed target on an image plane, namely the imaging position of the target, is obtained.
Preferably, the acquiring the position of the observed object on the image plane, that is, the object imaging position, based on the optical load imaging principle includes:
step S31: based on earth's geodetic coordinate systemThe conversion formula of the coordinate system is introduced into the equatorial radius and the ovality of the earth, and the conversion is carried out according to the longitude, the latitude and the altitude of the observed target to obtain the coordinate r of the observed target under the earth inertial coordinate system e ：
Wherein x is e 、y e 、z e The coordinates of the observed object in the x, y and z directions under the earth inertial coordinate system are respectively, H r L is the height of the observed object in a ground fixed coordinate system r Lambda is the latitude of the observed object in the ground fixed coordinate system r For the longitude of the observed object in the ground fixed coordinate system, R N ＝R e (1+fsin 2 L) is the principal radius of curvature of the meridian, R e Is the equatorial radius of the earth, f is the ellipticity of the earth, R z (. Cndot.) represents the rotation matrix about the Z-axis, α Gr The rotation angle of the earth fixed coordinate system relative to the earth inertial coordinate system at the current moment is represented;
step S32: satellite coordinates where observation tasks are to be performed
Substituting the conversion relation from the ground fixed coordinate system to the ground inertial coordinate system to obtain the coordinate of the satellite in the ground inertial coordinate system>
The expression form of the sight line vector under the ground inertia is as follows:
wherein v is e Is the line of sight vector, r e R is the coordinate of the observed object in the ground inertial coordinate system es To perform the coordinates of the satellite for the observation task in the earth inertial frame,
latitude, longitude and altitude of the satellite under a ground fixed coordinate system;
obtaining a conversion matrix from a ground inertial system to a star coordinate system according to the right ascent and descent of the orbit of the satellite and the inclination angle of the orbit:
wherein R is z (. Cndot.) is a rotation matrix around Z axis, i is an orbit inclination angle, Ω is the right ascent and descent of the orbit where the satellite is located, u=ω+θ is a latitude argument, ω is a near-place argument, and θ is a true near-point argument; r is R x (. Cndot.) represents a rotation matrix about the X-axis;
adjusting a matrix for the coordinate axis;
step S33: and carrying out coordinate rotation on the sight line vector under the ground inertial system to obtain the sight line vector under the star coordinate system:
wherein x is s 、y s 、z s The coordinates of the sight line vector in the x, y and z directions under the star coordinate system are respectively;
according to the instant posture of the satellite-borne sensor, v s Performing coordinate rotation to obtain a target sight line vector v under a sensor coordinate system c ：
Wherein x is c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively,
psi is the sensor attitude angle, R y () represents rotating the matrix about the Y-axis;
through projective transformation, the sight vector under the sensor is intersected with the image plane to obtain the projection point r of the target on the image plane p Will r p Dividing by the pixel size and rounding to obtain the target imaging position r m 。
Preferably, the projection point r p The target imaging position r m The calculation method of (1) is as follows:
wherein x is p 、y p Respectively representing the coordinates of the target in the x and y directions of the projection point of the image plane, x m 、y m Respectively representing the coordinates of the object in the x and y directions in the image plane coordinate system, x c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively shown, f represents the focal length of the optical sensor, and IFOV represents the instantaneous field of view of the sensor.
The beneficial effects are that:
(1) The invention can realize the time consistency of the digital system and the physical system in the semi-physical simulation system, realize the data interaction in the system, and simultaneously, the system can carry out compatible processing for different target environment simulation tasks and different digital model inputs, and has the characteristics of a universal architecture and an expandability platform.
(2) The semi-physical simulation system can realize the starting of the self-simulation deduction process of the physical platform and the digital system according to the driving of the time synchronization device, and the time in the whole process from the end of the simulation is kept consistent, so that the aging reliability of the simulation system is obviously improved, and the consistency transfer of the simulation time to the physical system and the digital system is realized; the problem that the digital system and the physical platform are difficult to time synchronize is solved.
(3) The semi-physical simulation system can connect the physical platform and the digital system based on the protocol conversion gateway, realize the cooperative interaction of the physical platform and the digital system, and complete the integration of data and information in the form of network communication. Based on the bidirectional conversion of the hardware interface protocol and the network communication protocol, the data cooperation of the physical satellite and the digital satellite is realized, and the problem that the physical platform and the digital system are difficult to interactively cooperate is solved.
(4) The semi-physical simulation system realizes constellation expandability by designing the universal bus interface, so that a plurality of remote sensing satellites of the access system can work together in a networking mode in a coordinated manner, and the capability of processing complex tasks is improved. Aiming at the defect that the existing semi-physical simulation system is difficult to access various electrical components of satellites, the invention designs a physical platform with universality, is provided with a multi-bus interface and universal star software to form the universal physical platform, and is suitable for bus access and data receiving and transmitting of various remote sensing satellite electrical components.
(5) Aiming at the increasingly complex demands of the current users, the semi-physical simulation system can realize the collaborative simulation of the system through constellation networking, and greatly reduce the difficulty of task planning and decomposition.
Drawings
Fig. 1 is a schematic structural diagram of a semi-physical simulation system for remote sensing satellite constellation system cooperation provided by the invention.
Fig. 2 is a schematic diagram of a simulation flow of a semi-physical simulation system for remote sensing satellite constellation system cooperation provided by the invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
The invention provides a remote sensing satellite constellation system, as shown in fig. 1, and provides a semi-physical simulation system for cooperation of the remote sensing satellite constellation system, which comprises the following components:
physical platform, digital system, high-speed hardware interface conversion equipment and time synchronization device.
The time synchronization device is used for performing time calibration on each component of the physical platform and each module of the digital system; and the time signal sent by the time synchronization device is sent to the star processing device of the physical platform and the digital system.
The physical platform is used for carrying out bidirectional data communication with the digital system and receiving target imaging position information sent by the high-speed hardware interface conversion equipment; the physical platform is provided with a bus interface card, a star processing module and a protocol conversion gateway.
The digital system is used for carrying out bidirectional digital communication with the physical platform, receiving the time signal sent by the time synchronization device, converting the time signal into satellite time data, and realizing digital satellite time synchronization; processing and fusing the state information of the accessed multiple remote sensing satellite digital models to obtain information processing and fusing results; transmitting target imaging position information obtained by load detection simulation to high-speed hardware interface conversion equipment; the digital system comprises a remote control telemetry module, a software API interface module, a special driver module and a load detection information simulation module.
Further, the input data signal flow of external physical hardware is obtained through a bus interface card of the physical platform; the star service processing module is used for receiving the time signal, converting the bus format and the second pulse, synchronizing the time of the electrical components in the physical platform, and calibrating the time of other components of the physical platform based on the time signal. Compared with the existing remote sensing satellite simulation physical platform, the satellite service processing device of the physical platform can perform information fusion processing on different types of remote sensing satellites, and simulation deduction of heterogeneous satellite constellations is achieved.
Further, the digital system is used for receiving the time signal sent by the time synchronization device, converting the time signal into satellite time data and realizing digital satellite time synchronization; the system is also used for carrying out bidirectional digital communication with a physical platform, acquiring an external digital satellite constellation model formed by a plurality of external remote sensing satellites with expandable quantity for simulation based on a special driver module, and generating state information of the digital satellite constellation; the data exchange is carried out between the software API interface module of the digital system and the protocol conversion gateway of the physical platform, so that the data driving of the digital platform to the physical platform and the information feedback of the digital system by the physical platform are realized; simulating the digital satellite constellation based on the workflow of the actual remote sensing satellite constellation, and generating remote control telemetry information of the digital satellite constellation by a remote control telemetry module in a simulation mode; acquiring information processing and fusion results of the star processing device based on a remote control telemetry module in the digital system, and transmitting remote control telemetry information to the star processing device of a physical platform in real time; the load detection information simulation module acquires the position of an observed target on an image plane, namely a target imaging position, based on an optical load imaging principle; and transmitting the target imaging position to the physical hardware through the high-speed hardware interface conversion device.
Further, the physical hardware is configured to convert the obtained target imaging position into target real-time position data.
Further, the bus interface card of the physical platform provides a universal bus interface, and is suitable for bus access and data transceiving of various remote sensing satellite electrical components. The bus interface card is directly connected with the physical hardware and is used for receiving load real-time data from the physical hardware. The universal bus is a passage for information interaction of each physical electric component module of the semi-physical simulation system, and each submodule mounted on the bus realizes the receiving of remote control instructions, the sending of remote measurement and the interaction of data through various buses.
Further, the protocol conversion gateway defines a field conversion protocol of an information flow of physical hardware and a digital network communication message, and realizes bidirectional conversion of the network communication protocol based on a hardware interface protocol and a digital system for a physical platform, thereby realizing data cooperation of the physical platform and the digital system.
Further, the satellite processing module is a comprehensive data management system of a physical platform, integrates a telemetry system, a remote control system and a tracking and rail measuring system, has an on-board autonomous management function, and generates data signals to drive other subsystems in the simulation system to execute corresponding actions.
Further, after a plurality of remote sensing satellites are connected to the reserved universal interface of the digital system, the digital system can perform data driving on the connected digital satellites, and remote sensing satellite constellation collaborative simulation is performed.
The digital system comprises a remote sensing and remote control module, a load detection information simulation module, a special driver module and a software API interface, can perform task data interaction with a physical platform, can drive a satellite digital model, can simulate the real-time conditions of the attitude orbit and the load sight of a remote sensing satellite, and performs the process of performing remote sensing and remote control information interaction with the physical platform.
According to the invention, the remote sensing satellite constellation system collaborative simulation is realized by accessing physical hardware and a digital satellite model into the semi-physical simulation platform. The physical hardware is the equipment for remote sensing satellite core task simulation, and the constellation collaborative task generally comprises the functions of processing load information, planning inter-satellite tasks in the satellite, interacting with the inter-satellite network and the like. The satellite digital model implements a digital simulation of the satellite core mission functions and data interfaces.
The invention represents a high-confidence system-level test verification concept, is a semi-physical simulation platform with general properties, can play an important role in aspects of research and development, design and development, on-orbit verification, engineering construction, system operation, technical upgrading and the like of a remote sensing satellite system, and can simulate all on-orbit detection, processing, operation and transmission characteristics of a satellite.
The block diagram of the constellation-oriented co-simulation semi-physical simulation system is shown in fig. 1. The basic framework of the system platform mainly comprises a physical system and a digital platform, and the service support network is a tera-meganetwork system and supports a user to monitor and operate working states of various semi-physical and digital simulators in the system. The unified time reference in the semi-physical system is generated by a time synchronization module, and the working time of the semi-physical simulation environment and the working time of the digital simulation environment are synchronized through a service support network, so that the whole semi-physical simulation environment is driven. The data transmission between the semi-physical system and the physical hardware is completed by the high-speed hardware interface conversion equipment, and the digital system transmits the analog signals for generating the load to the external load in a high-speed transmission mode. The communication and data interaction among various system devices are connected through a device information network, the device information network comprises an analog bus network (CAN, SPACEWIRE, 1553B and the like), a protocol conversion gateway, an 2711 interface network and a tera-meganetwork, the electric parts are physically connected and communicated through CAN/SPACEWIRE/1553B interface cards mounted on the information network, and the electric parts of the inter-satellite interaction network are converted into the tera-meganetwork through 422/LVDS interfaces to realize communication with a digital model.
The load detection information simulation module in the digital system consists of a scene generation server, a disk array and various databases. The scene generating software operates on the scene generating server, and image information of each load of each satellite in the constellation at corresponding time points is obtained by reading imaging parameter information of various databases and combining orbit simulation information and is stored in the disk array. Meanwhile, the system has the function of outputting the target position track information in the scene to the task cooperative subsystem according to an on-board interface format; the remote sensing and remote control module in the digital system and the satellite processing device of the physical platform can carry out two-way data transmission communication, so that the remote sensing satellite can timely receive remote control signals and feed back remote sensing information; the software API interface in the digital system and the protocol conversion gateway of the physical platform can carry out bidirectional data communication, are main channels for realizing cooperative work, realize the rapid call of hardware board card resources through an open API interface driver, complete the rapid prototyping development work of the software of the in-satellite task planning system, package the API driver into library functions, call through a development environment in the algorithm transplanting process, and greatly reduce the time required by code engineering; the special driver module in the digital system is responsible for sending instructions to the digital model outside the system, and driving the digital model to complete simulation deduction according to the expected flow.
The components of the invention are constantly interacted in the simulation to form an organic unified whole, which can exert the performance which the monomer does not have and finish the collaborative simulation work under various complex scenes and complex tasks.
As shown in fig. 2, the invention provides a semi-physical simulation method for remote sensing satellite constellation system cooperation, which uses the semi-physical simulation system as described above, and the simulation method comprises the following steps:
step S21: synchronizing the physical platform and the digital system by a time synchronization device of the semi-physical simulation system;
step S22: the digital system and the physical platform carry out bidirectional data communication through a software API interface module and a protocol conversion gateway, and a task scene and a working mode of a remote sensing satellite constellation are set;
step S23: the physical platform is connected with a plurality of remote sensing satellite digital models, simulates the running conditions of 1 to N remote sensing satellite digital models, and drives each remote sensing satellite digital model through a special driver module to perform collaborative simulation of a constellation system; wherein N is the number of the digital models accessed into a plurality of remote sensing satellites;
step S24: the remote sensing satellite constellation simulates a collaborative observation task scene, performs task processing and generates a remote control and telemetry signal; based on the optical load imaging principle, the position of an observed target on an image plane, namely the imaging position of the target, is obtained.
Further, the acquiring the position of the observed object on the image plane, that is, the object imaging position based on the optical load imaging principle includes:
step S31: introducing the radius of the earth equator and the ellipticity of the earth according to a conversion formula from an earth geodetic coordinate system to an earth fixedly connected coordinate system, and converting according to the longitude, latitude and altitude of an observed target to obtain the coordinate r of the observed target under the earth inertial coordinate system e ：
Wherein x is e 、y e 、z e The coordinates of the observed object in the x, y and z directions under the earth inertial coordinate system are respectively, H r L is the height of the observed object in a ground fixed coordinate system r Lambda is the latitude of the observed object in the ground fixed coordinate system r For the longitude of the observed object in the ground fixed coordinate system, R N ＝R e (1+fsin 2 L) is the principal radius of curvature of the meridian, R e Is the equatorial radius of the earth, f is the ellipticity of the earth, R z (. Cndot.) represents the rotation matrix about the Z-axis, α Gr The rotation angle of the earth-fixed coordinate system relative to the earth-inertial coordinate system at the current moment (also called greenish right angle) is represented.
Step S32: satellite coordinates where observation tasks are to be performed
Substituting the conversion relation from the ground fixed coordinate system to the ground inertial coordinate system to obtain the coordinate of the satellite in the ground inertial coordinate system>
The expression form of the sight line vector under the ground inertia is as follows:
wherein v is e Is the line of sight vector, r e R is the coordinate of the observed object in the ground inertial coordinate system es Is the coordinate of the satellite in the ground inertial coordinate system,
latitude, longitude and altitude of the satellite in a ground fixed coordinate system respectively;
obtaining a conversion matrix from a ground inertial system to a star coordinate system according to the right ascent and descent of the orbit of the satellite and the inclination angle of the orbit:
wherein R is z (. Cndot.) is a rotation matrix around Z axis, i is an orbit inclination angle, Ω is the right ascent and descent of the orbit where the satellite is located, u=ω+θ is a latitude argument, ω is a near-place argument, and θ is a true near-point argument; r is R x (. Cndot.) represents a rotation matrix about the X-axis;
the matrix is adjusted for the coordinate axes.
Step S33: and carrying out coordinate rotation on the sight line vector under the ground inertial system to obtain the sight line vector under the star coordinate system:
wherein x is s 、y s 、z s The coordinates of the sight line vector in the x, y and z directions under the star coordinate system are respectively.
According to the instant posture of the satellite-borne sensor, v s Performing coordinate rotation to obtain a target sight line vector v under a sensor coordinate system c ：
Wherein x is c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively,
psi is the sensor attitude (azimuth, pitch) angle, R y (.) represents rotating the matrix about the Y-axis.
Through projective transformation, the sight vector under the sensor is intersected with the image plane to obtain the projection point r of the target on the image plane p Will r p Dividing by the pixel size and rounding to obtain the target imaging position r m ：
Wherein x is p 、y p Respectively representing the coordinates of the target in the x and y directions of the projection point of the image plane, x m 、y m Respectively representing the coordinates of the object in the x and y directions in the image plane coordinate system, x c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively shown, f represents the focal length of the optical sensor, and IFOV represents the instantaneous field of view of the sensor.
The above specific embodiments merely describe the design principle of the present invention, and the shapes of the components in the description may be different, and the names are not limited. Therefore, the technical scheme described in the foregoing embodiments can be modified or replaced equivalently by those skilled in the art; such modifications and substitutions do not depart from the spirit and technical scope of the invention, and all of them should be considered to fall within the scope of the invention.
Claims (6)
1. A semi-physical simulation system oriented to remote sensing satellite constellation system cooperation is characterized by comprising:
the system comprises a physical platform, a digital system, high-speed hardware interface conversion equipment and a time synchronization device;
the time synchronization device is used for performing time calibration on each component of the physical platform and each module of the digital system; the time signal sent by the time synchronization device is sent to the star processing device of the physical platform and the digital system;
the physical platform is used for carrying out bidirectional data communication with the digital system and receiving target imaging position information sent by the high-speed hardware interface conversion equipment;
the digital system is used for carrying out bidirectional digital communication with the physical platform, receiving the time signal sent by the time synchronization device, converting the time signal into satellite time data, and realizing digital satellite time synchronization; processing and fusing the state information of the accessed multiple remote sensing satellite digital models to obtain information processing and fusing results; and sending the target imaging position information obtained by load detection simulation to high-speed hardware interface conversion equipment.
2. The semi-physical simulation system of claim 1, wherein the physical platform is configured with a bus interface card, a star processing module, and a protocol conversion gateway;
the bus interface card of the physical platform provides a universal bus interface, and is suitable for bus access and data transceiving of various remote sensing satellite electrical components; the bus interface card is directly connected with the physical hardware and is used for receiving load real-time data from the physical hardware;
the satellite processing module is a comprehensive data management system of a physical platform, integrates a telemetry system, a remote control system and a tracking rail measurement system, has an on-board autonomous management function, and generates data signals to drive other subsystems in the simulation system to execute corresponding actions;
the protocol conversion gateway defines a field conversion protocol of an information flow of physical hardware and a digital network communication message, realizes bidirectional conversion of a network communication protocol based on a hardware interface protocol and a digital system for a physical platform, and further realizes data cooperation of the physical platform and the digital system.
3. The semi-physical simulation system of any of claims 1-2 wherein said digital system includes a dedicated driver module, a software API interface module, a remote telemetry module, a load detection information simulation module;
the special driver module acquires an external digital satellite constellation model formed by a plurality of external remote sensing satellites in an extensible number for simulation, and generates state information of the digital satellite constellation; the data exchange is carried out between the software API interface module of the digital system and the protocol conversion gateway of the physical platform, so that the data driving of the digital platform to the physical platform and the information feedback of the digital system by the physical platform are realized; simulating the digital satellite constellation based on the workflow of the actual remote sensing satellite constellation, and generating remote control telemetry information of the digital satellite constellation by a remote control telemetry module in a simulation mode; acquiring information processing and fusion results of the star processing device based on a remote control telemetry module in the digital system, and transmitting remote control telemetry information to the star processing device of a physical platform in real time; the load detection information simulation module acquires the position of an observed target on an image plane, namely a target imaging position, based on an optical load imaging principle; and transmitting the target imaging position to the physical hardware through the high-speed hardware interface conversion device.
4. A semi-physical simulation method oriented to remote sensing satellite constellation system cooperation, using the semi-physical simulation system as claimed in any one of claims 1-3, the simulation method comprising the following steps:
step S21: synchronizing the physical platform and the digital system by a time synchronization device of the semi-physical simulation system;
step S22: the digital system and the physical platform carry out bidirectional data communication through a software API interface module and a protocol conversion gateway, and a task scene and a working mode of a remote sensing satellite constellation are set;
step S23: the physical platform is connected with a plurality of remote sensing satellite digital models, simulates the running conditions of 1 to N remote sensing satellite digital models, and drives each remote sensing satellite digital model through a special driver module to perform collaborative simulation of a constellation system; wherein N is the number of the digital models accessed into a plurality of remote sensing satellites;
step S24: the remote sensing satellite constellation simulates a collaborative observation task scene, performs task processing and generates a remote control and telemetry signal; based on the optical load imaging principle, the position of an observed target on an image plane, namely the imaging position of the target, is obtained.
5. The semi-physical simulation method of claim 4, wherein said acquiring the position of the observed object in the image plane, i.e. the object imaging position, based on the optical load imaging principle, comprises:
step S31: introducing the radius of the earth equator and the ellipticity of the earth according to a conversion formula from an earth geodetic coordinate system to an earth fixedly connected coordinate system, and converting according to the longitude, latitude and altitude of an observed target to obtain the coordinate r of the observed target under the earth inertial coordinate system e ：
Wherein x is e 、y e 、z e The coordinates of the observed object in the x, y and z directions under the earth inertial coordinate system are respectively, H r L is the height of the observed object in a ground fixed coordinate system r Lambda is the latitude of the observed object in the ground fixed coordinate system r For the longitude of the observed object in the ground fixed coordinate system, R N ＝R e (1+fsin 2 L) is the principal radius of curvature of the meridian, R e Is the equatorial radius of the earth, f is the ellipticity of the earth, R z (. Cndot.) represents the rotation matrix about the Z-axis, α Gr The rotation angle of the earth fixed coordinate system relative to the earth inertial coordinate system at the current moment is represented;
step S32: satellite coordinates where observation tasks are to be performed
Substituting the conversion relation from the ground fixed coordinate system to the ground inertial coordinate system to obtain the coordinate of the satellite in the ground inertial coordinate system>
The expression form of the sight line vector under the ground inertia is as follows:
wherein v is e Is the line of sight vector, r e R is the coordinate of the observed object in the ground inertial coordinate system es Is the coordinate of the satellite in the ground inertial coordinate system,
latitude, longitude and altitude of the satellite under a ground fixed coordinate system;
obtaining a conversion matrix from a ground inertial system to a star coordinate system according to the right ascent and descent of the orbit of the satellite and the inclination angle of the orbit:
wherein R is z (. Cndot.) is a rotation matrix around Z axis, i is an orbit inclination angle, Ω is the right ascent and descent of the orbit where the satellite is located, u=ω+θ is a latitude argument, ω is a near-place argument, and θ is a true near-point argument; r is R x (. Cndot.) represents a rotation matrix about the X-axis;
adjusting a matrix for the coordinate axis;
step S33: and carrying out coordinate rotation on the sight line vector under the ground inertial system to obtain the sight line vector under the star coordinate system:
wherein x is s 、y s 、z s The coordinates of the sight line vector in the x, y and z directions under the star coordinate system are respectively;
according to the instant posture of the satellite-borne sensor, v s Performing coordinate rotation to obtain a target sight line vector v under a sensor coordinate system c ：
Wherein x is c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively,
psi is the sensor attitude angle, R y () represents rotating the matrix about the Y-axis;
through projective transformation, the sight vector under the sensor is intersected with the image plane to obtain the projection point r of the target on the image plane p Will r p Dividing by the pixel size and rounding to obtain the target imaging position r m 。
6. The semi-physical simulation method according to claim 5, wherein said projection point r p The target imaging position r m The calculation method of (1) is as follows:
wherein x is p 、y p Respectively representing the coordinates of the target in the x and y directions of the projection point of the image plane, x m 、y m Respectively representing the coordinates of the object in the x and y directions in the image plane coordinate system, x c 、y c 、z c The coordinates of the sight line vector in the x, y and z directions under the sensor coordinate system are respectively, f represents the focal length of the optical sensor, and IFOV represents the transmissionThe instantaneous field of view of the sensor.
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| CN117068405A (en) * | 2023-08-08 | 2023-11-17 | 中国科学院微小卫星创新研究院 | CPS-based digital satellite simulation system and method thereof |
| CN117170996A (en) * | 2023-11-02 | 2023-12-05 | 中国人民解放军63921部队 | Dynamic reconfigurable on-board processing system evaluation platform and method |
| CN117667361A (en) * | 2024-01-31 | 2024-03-08 | 西安羚控电子科技有限公司 | Distributed collaborative simulation architecture implementation method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117068405A (en) * | 2023-08-08 | 2023-11-17 | 中国科学院微小卫星创新研究院 | CPS-based digital satellite simulation system and method thereof |
| CN117170996A (en) * | 2023-11-02 | 2023-12-05 | 中国人民解放军63921部队 | Dynamic reconfigurable on-board processing system evaluation platform and method |
| CN117170996B (en) * | 2023-11-02 | 2024-02-06 | 中国人民解放军63921部队 | Dynamic reconfigurable on-board processing system evaluation platform and method |
| CN117667361A (en) * | 2024-01-31 | 2024-03-08 | 西安羚控电子科技有限公司 | Distributed collaborative simulation architecture implementation method and device |
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