CN116227195B - Method for correcting real-time state of simulation space environment - Google Patents
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- G—PHYSICS
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- G06F30/00—Computer-aided design [CAD]
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F30/20—Design optimisation, verification or simulation
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Abstract
The invention relates to a method for correcting a simulated space environment, in particular to a method for correcting the real-time state of the simulated space environment. The method comprises the steps of arranging node satellites in a simulated space, connecting data of the node satellites, mutually monitoring each connected satellite, analyzing the transmitted data by a control background, deducing the motion trail of an aircraft with data change, and correcting and predicting the aircraft with state change. According to the invention, the data of the aircraft moving in the simulated space are acquired through the set node satellite, the regression track of the aircraft with track change is formulated, and after the regression is completed, the regression data is recorded, so that the control background learns the regression data, and the satellite can avoid meteorites according to the movement state of the meteorites when flying in the space.
Description
Technical Field
The invention relates to a method for correcting a simulated space environment, in particular to a method for correcting the real-time state of the simulated space environment.
Background
In order to explore outer space, satellites are continuously launched to the outer space in recent years, so that data of flying in the outer sky and environmental data of the outer space are continuously obtained, people can assist in next outer space exploration according to the data obtained by the outer sky, material samples are provided for outer space exploration, a large amount of meteorites float in the outer space, the movement of the meteorites brings great danger to the aircraft flying in the outer sky, the aircraft is in danger of being crashed, the meteorites in the outer space are avoided in the space exploration process, simulation of space environment is often carried out to carry out flying training, the movement mode of the meteorites in the outer space is not fixed, the direction of movement of the meteorites is diversified, the risk of flying of the aircraft is increased, and a method is needed to calculate the track of the aircraft by monitoring the flying track of the aircraft in the space simulation process, so that the effect of correcting the simulated environment is achieved, and the aircraft can be effectively avoided in the future flying stage.
Disclosure of Invention
The invention aims to provide a method for correcting the real-time state of a simulated space environment, so as to solve the problems in the background technology.
In order to achieve the above purpose, a method for correcting the real-time state of a simulated space environment is provided, which comprises the following steps:
s1, arranging node satellites in a simulated space, and connecting data of the node satellites with each other;
s2, each connected satellite monitors each other, acquires movement data (a moving track and a moving speed and a moving direction) of an aircraft nearby the satellite, and transmits the acquired data to a control background through an adjacent satellite;
s3, analyzing the transmitted data by the control background, judging whether the running state of the aircraft is correct according to the analyzed data, deducing the motion trail of the aircraft with the changed data, simulating according to the deduced result, and acquiring the influence on the satellite monitoring area after the aircraft data is changed;
s4, correcting and predicting the aircraft with the state change, predicting the data required to change the corrected moving track, enabling the aircraft to recover to the original track, ensuring the normal operation of the aircraft, recording the corrected data, and performing memory learning on the corrected method through a control background so as to achieve the effect of correcting the flying track in real time in the later stage of flying.
As a further improvement of the present technical solution, the step of interconnecting the node satellites in S1 is as follows:
s1.1, setting a satellite in a simulated space, and enabling the satellite to surround a planet in the simulated space, wherein the satellite surrounding the planet is defined as a node satellite;
s1.2, mutually connecting signals among a plurality of satellites to form a tight signal connection network among the satellites;
s1.3, the tight connection network is of a net structure, each satellite is provided with an auxiliary satellite, when one satellite is damaged, the satellite adjacent to the satellite transmits the auxiliary satellite to the damaged satellite position, and the auxiliary satellite replaces the original satellite after reaching the designated position.
As a further improvement of the technical scheme, in the step S2, while each connected satellite monitors each other, the satellite positioned at the edge of the mesh structure is set as an observation satellite, the satellite in the middle of the mesh structure is set as a correction satellite, the observation satellite observes the periphery of the mesh structure and the surrounding merle, and meanwhile, the correction satellite and the observation satellite are combined to form an observation range;
the correction satellite monitors the moving data of merle in the middle of the net structure in real time, and transmits the monitored data to the control background in real time.
As a further improvement of the technical scheme, in S3, the control background analyzes the transmitted data, and determines whether the running state of the aircraft is on the specified running track according to the analyzed data, which comprises the following specific steps:
s3.1, acquiring data of other satellites monitored by each satellite, combining all the data into integral data, and comparing the acquired integral data with the data of the movement of the originally set aircraft;
s3.2, eliminating the monitoring data of the aircraft with unchanged movement data, marking the aircraft with changed data, and deducing the track of the merle movement through the data of the satellite monitoring aircraft to obtain the track of the aircraft movement;
s3.3, predicting the influence of the aircraft on the satellite monitored area through the deduced track of the aircraft, and deducing the change of the whole space through the change of the satellite monitored area.
As a further improvement of the technical scheme, in S3.3, the satellite near the changed aircraft acquires data in real time on the information of the aircraft while deducing the moving track of the aircraft, and the real-time analysis is carried out by controlling the background so as to exclude invalid deduction results at any time.
As a further improvement of the present technical solution, in S4, the steps for correcting and predicting the aircraft with the changed state are as follows:
s4.1, comparing the original moving track data of the aircraft with the moving track data of the current aircraft, calculating the difference between the two groups of data, predicting a return track according to the moving track of the current aircraft, and controlling the moving direction and speed of the aircraft by controlling a background after the return track is predicted, so that the moving direction and the return track of the aircraft are overlapped, and the aircraft returns to the original track;
s4.2, storing the moving data of the aircraft, marking the aircraft with the track change, and monitoring the aircraft with the track change in real time at the later stage;
s4.3, recording data of the aircraft returning to the original track through the regression track, and learning the recorded data through a control background, so that real-time track change is carried out through the recorded data in the satellite flight in the later period to avoid meteoroid.
As a further improvement of the technical scheme, in S2, the external aircraft observed by the observation satellite is marked, track data of the movement of the aircraft is continuously obtained, the obtained data is fed back to the control background, and the control background predicts the movement of the external aircraft.
As a further improvement of the technical scheme, in the step S3, a Floyd algorithm is adopted for the calculation formula of the predicted movement track of the aircraft and the regression track in the step S4, and the algorithm steps are as follows:
obtaining the shortest path between any two points in the current moving track and the original track of the aircraft in a heuristic way;
setting a net G= (V, G), and obtaining a shortest path (Vi, the..vj) between any two vertexes Vi, vj in the G by using an adjacent matrix A, wherein n is the number of vertexes;
(1) whether a probing path (Vi, V0, vj) exists or not, if so, comparing the path lengths of the (Vi, vj) and the (Vi, V0, vj), and taking the path length smaller as the shortest path with the current intermediate vertex sequence number from Vi to Vj equal to 0;
(2) retry probes (vi..vi+n...vj) if present, comparing (vi..vj) to (vi..vi..vi+n, vj), taking the minimum as the shortest path of the intermediate vertex sequence number < = 1 from Vi to Vj at present;
(3) similarly, the current shortest path (Vi...vj) obtained above is probed for V2, V3...vn-1, resulting in the final shortest path from Vi to Vj.
Compared with the prior art, the invention has the beneficial effects that:
1. in the method for correcting the real-time state of the simulation space environment, the data of the aircraft moving in the simulation space are acquired through the set node satellite, the data of the aircraft moving and the data originally planned by the aircraft are compared, the regression track of the aircraft with track change is formulated, and the aircraft can be restored to the original track, so that the running track of the aircraft is corrected, and the aircraft can normally move in the original track.
2. In the method for correcting the real-time state of the simulation space environment, the aircraft with the moving track change is subjected to the setting of the regression track, and after the regression is completed, the regression data are recorded, so that the control background learns the regression data, and when the satellite flies in the space, the satellite can avoid merle according to the moving state of the aircraft.
Drawings
FIG. 1 is a schematic overall flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the present embodiment is directed to a method for correcting a real-time state of a simulated space environment, comprising the following steps:
s1, arranging node satellites in a simulated space, and connecting data of the node satellites with each other;
the step of interconnecting node satellites in S1 is as follows:
s1.1, setting a satellite in a simulated space, and enabling the satellite to surround a planet in the simulated space, wherein the satellite surrounding the planet is defined as a node satellite;
s1.2, mutually connecting signals among a plurality of satellites to form a tight signal connection network among the satellites;
s1.3, the tight connection network is of a net structure, each satellite is provided with an auxiliary satellite, when one satellite is damaged, the satellite adjacent to the satellite transmits the auxiliary satellite to the damaged satellite position, and the auxiliary satellite replaces the original satellite after reaching the designated position;
the method comprises the steps that a network structure which is communicated with each other is formed in a simulated space through a plurality of satellites, and an aircraft entering the satellite monitoring area obtains the moving speed and moving direction of the aircraft through data intercommunication among the plurality of satellites, so that the system can calculate the running track of the aircraft according to the obtained aircraft data.
S2, each connected satellite monitors each other, acquires movement data (a moving track and a moving speed and a moving direction) of an aircraft nearby the satellite, and transmits the acquired data to a control background through an adjacent satellite;
s2, while each connected satellite monitors each other, the satellite positioned at the edge of the net structure is set as an observation satellite, the satellite in the middle of the net structure is set as a correction satellite, the observation satellite observes the periphery of the net structure and the nearby aircrafts, and meanwhile, the correction satellite and the observation satellite are combined to form an observation range; the correction satellite monitors the moving data of the aircraft positioned in the middle of the net structure in real time, and transmits the monitored data to the control background in real time; the intensity of the system on data calculation is reduced by distinguishing the satellite functions, so that the speed of data calculation is increased.
Meanwhile, in S2, the external aircraft observed by the observation satellite is marked, the moving track data of the aircraft are continuously acquired, the acquired data are fed back to the control background, and the control background predicts the movement of the external aircraft to acquire the moving data of the aircraft.
S3, analyzing the transmitted data by the control background, judging whether the running state of the aircraft is correct according to the analyzed data, deducing the motion trail of the aircraft with the changed data, simulating according to the deduced result, and acquiring the influence on the satellite monitoring area after the aircraft data is changed;
s3, analyzing the transmitted data by the control background, and judging whether the running state of the aircraft is on the specified running track according to the analyzed data, wherein the specific steps are as follows:
s3.1, acquiring data of other satellites monitored by each satellite, combining all the data into integral data, and comparing the acquired integral data with the data of the movement of the originally set aircraft; results of the data comparison are obtained, including aircraft with unchanged data, and aircraft with changed data.
S3.2, eliminating the monitoring data of the aircraft with unchanged movement data, marking the aircraft with changed data, and deducing the moving track of the aircraft through the data of the satellite monitoring aircraft to obtain the moving track of the aircraft;
s3.3, predicting the influence of the aircraft on the satellite monitored area through the deduced track of the aircraft, deducing the change of the whole space through the change of the satellite monitored area, and calculating the change of the aircraft or other substances in the area through the deduced change of the whole space;
in S3.3, when the moving track of the aircraft is deduced, the satellite near the changed aircraft collects data in real time on the information of the aircraft, and real-time analysis is carried out through a control background, so that invalid deduction results are eliminated at any time, and the complexity of system calculation is reduced.
S4, correcting and predicting the aircraft with the state change, predicting the data required to change the corrected moving track, enabling the aircraft to recover to the original track, ensuring the normal operation of the aircraft, recording the corrected data, and performing memory learning on the corrected method through a control background so as to achieve the effect of correcting the flying track in real time in the later stage of flying.
In S4, the steps of correcting and predicting the aircraft with the changed state are as follows:
s4.1, comparing the original moving track data of the aircraft with the moving track data of the current aircraft, calculating the difference between the two groups of data, predicting a return track according to the moving track of the current aircraft, and controlling the moving direction and speed of the aircraft by controlling a background after the return track is predicted, so that the moving direction and the return track of the aircraft are overlapped, and the aircraft returns to the original track;
s4.2, storing the moving data of the aircraft, marking the aircraft with the track change, and monitoring the aircraft with the track change in real time at the later stage;
s4.3, recording data of the aircraft returning to the original track through the regression track, and learning the recorded data through a control background, so that real-time track change is carried out through the recorded data in the satellite flight in the later period to avoid meteoroid.
Meanwhile, when the change of the aircraft is deduced, the moving tracks of other aircraft are required to be calculated, and when the regression track is made, the regression track which is impacted by the aircraft with the regression track is eliminated, so that the aircraft with the regression track can safely return to the appointed track.
In S3, a Floyd algorithm is adopted for a calculation formula of the predicted moving track of the aircraft and the regression track in S4, and the algorithm comprises the following steps:
obtaining the shortest path between any two points in the current moving track and the original track of the aircraft in a heuristic way;
setting a net G= (V, G), and obtaining a shortest path (Vi, the..vj) between any two vertexes Vi, vj in the G by using an adjacent matrix A, wherein n is the number of vertexes;
(1) whether a probing path (Vi, V0, vj) exists or not, if so, comparing the path lengths of the (Vi, vj) and the (Vi, V0, vj), and taking the path length smaller as the shortest path with the current intermediate vertex sequence number from Vi to Vj equal to 0;
(2) retry probes (vi..vi+n...vj) if present, comparing (vi..vj) to (vi..vi..vi+n, vj), taking the minimum as the shortest path of the intermediate vertex sequence number < = 1 from Vi to Vj at present;
(3) similarly, the current shortest path (Vi...vj) obtained above is probed for V2, V3...vn-1, resulting in the final shortest path from Vi to Vj.
The system is used for carrying out calculation reaction by setting the track deviation of the aircraft as an emergency, so that the ability of the system to return the aircraft to the original track is trained.
Meanwhile, the aircraft which deviates in the simulated space environment can be compared with the track flying in the real space, the track deviation is that the aircraft performs track switching to avoid the obstacle, and when the aircraft performs track switching to avoid the obstacle, the regression track of the aircraft is planned through an algorithm obtained in the simulated space environment, so that the normal regression of the aircraft is ensured.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A method for correcting the real-time state of a simulated space environment is characterized by comprising the following steps: the method comprises the following steps:
s1, arranging node satellites in a simulated space, and connecting data of the node satellites with each other;
s2, each connected satellite monitors each other, acquires movement data of aircrafts nearby the satellite, and transmits the acquired data to a control background through an adjacent satellite;
s3, analyzing the transmitted data by the control background, judging whether the running state of the aircraft is correct according to the analyzed data, deducing the motion trail of the aircraft with the changed data, simulating according to the deduced result, and acquiring the influence on the satellite monitoring area after the aircraft data is changed;
s4, correcting and predicting the aircraft with the state change, predicting the data required to change by correcting the moving track, enabling the aircraft to recover to the original track, ensuring the normal operation of the aircraft, recording the corrected data, and memorizing and learning the corrected method through a control background;
in the step S3, the control background analyzes the transmitted data, and determines whether the running state of the aircraft is on the specified running track according to the analyzed data, which comprises the following specific steps:
s3.1, acquiring data of other satellites monitored by each satellite, combining all the data into integral data, and comparing the acquired integral data with the data of the movement of the originally set aircraft;
s3.2, eliminating the monitoring data of the aircraft with unchanged movement data, marking the meteorites with changed data, and deducing the moving track of the aircraft through the data of the satellite monitoring aircraft to obtain the moving track of the aircraft;
s3.3, predicting the influence of the aircraft on the satellite monitored area through the deduced track of the aircraft, and deducing the change of the whole space through the change of the satellite monitored area.
2. A method of modifying a real-time state of a simulated space environment as claimed in claim 1, wherein: the step of interconnecting the node satellites in the step S1 is as follows:
s1.1, setting a satellite in a simulated space, and enabling the satellite to surround a planet in the simulated space, wherein the satellite surrounding the planet is defined as a node satellite;
s1.2, mutually connecting signals among a plurality of satellites to form a tight signal connection network among the satellites;
s1.3, the tight connection network is of a net structure, each satellite is provided with an auxiliary satellite, when one satellite is damaged, the satellite adjacent to the satellite transmits the auxiliary satellite to the damaged satellite position, and the auxiliary satellite replaces the original satellite after reaching the designated position.
3. A method of modifying the real-time state of a simulated space environment as claimed in claim 2, wherein: and (2) setting the satellites positioned at the edge of the net structure as observation satellites and setting the satellites in the middle of the net structure as correction satellites while mutually monitoring each connected satellite in the S2, and observing the periphery of the net structure and the nearby aircrafts by the observation satellites, wherein the correction satellites and the observation satellites are combined to form an observation range.
4. A method of modifying a real-time state of a simulated space environment as claimed in claim 1, wherein: in the step S3.3, while deducing the moving track of the aircraft, the satellite near the changed aircraft collects data in real time on the information of the aircraft, and real-time analysis is carried out by controlling the background so as to exclude invalid deduction results at any time.
5. A method of modifying a real-time state of a simulated space environment as claimed in claim 1, wherein: in S4, the step of correcting and predicting the aircraft with the changed state is as follows:
s4.1, comparing the original moving track data of the aircraft with the moving track data of the current aircraft, calculating the difference between the two groups of data, predicting a return track according to the moving track of the current aircraft, and controlling the moving direction and speed of the aircraft by controlling a background after the return track is predicted, so that the moving direction and the return track of the aircraft are overlapped, and the aircraft returns to the original track;
s4.2, storing the moving data of the aircraft, marking the meteorites with track changes, and monitoring the aircraft with track changes in real time at the later stage;
s4.3, recording data of the aircraft returning to the original track through the regression track, and learning the recorded data through a control background, so that real-time track change is carried out through the recorded data in the satellite flight in the later period to avoid meteoroid.
6. A method of modifying the real-time state of a simulated space environment as claimed in claim 3, wherein: and in the step S2, the external aircraft observed by the observation satellite is marked, track data of the merle movement is continuously acquired, the acquired data is fed back to a control background, and the control background predicts the movement of the external aircraft.
7. The method for modifying a real-time state of a simulated space environment of claim 5, wherein: in the step S3, a Floyd algorithm is adopted for a calculation formula of the predicted moving track of the aircraft and the regression track in the step S4, and the algorithm steps are as follows:
obtaining the shortest path between any two points in the current moving track and the original track of the aircraft in a heuristic way;
setting a net G= (V, G), wherein the net G= (V, G) is represented by an adjacent matrix A, a shortest path (Vi, the..V. Vj) between any two vertexes Vi, vj in the G is obtained by n times of detection, and n is the number of the vertexes;
(1) whether a probing path (Vi, V0, vj) exists or not, if so, comparing the path lengths of the (Vi, vj) and the (Vi, V0, vj), and taking the path length smaller as the shortest path with the current intermediate vertex sequence number from Vi to Vj equal to 0;
(2) retry probes (vi..vi+n...vj) if present, comparing (vi..vj) to (vi..vi..vi+n, vj), taking the minimum as the shortest path of the intermediate vertex sequence number < = 1 from Vi to Vj at present;
(3) similarly, the current shortest path (Vi...vj) obtained above is probed for V2, V3...vn-1, resulting in the final shortest path from Vi to Vj.
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| 基于卡尔曼滤波的轨迹规划高度修正仿真实现;冯玉, 吴成富, 周勇, 马松辉;计算机仿真(10);第74-77页 * |
| 太阳风暴对卫星导航系统的影响分析;陈刘成;胡彩波;谢廷峰;刘伟;;中国科学:物理学 力学 天文学(05);第556-563页 * |
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