CN117031511B - Spacecraft navigation method, device, system, electronic equipment and storage medium - Google Patents
Spacecraft navigation method, device, system, electronic equipment and storage medium Download PDFInfo
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- CN117031511B CN117031511B CN202311296237.4A CN202311296237A CN117031511B CN 117031511 B CN117031511 B CN 117031511B CN 202311296237 A CN202311296237 A CN 202311296237A CN 117031511 B CN117031511 B CN 117031511B
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- 238000005259 measurement Methods 0.000 claims description 16
- 238000012795 verification Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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Abstract
The application discloses a spacecraft navigation method, a device, a system, electronic equipment and a storage medium, and relates to the technical field of aerospace, wherein the method comprises the following steps: receiving a navigation request sent by a spacecraft; determining a target satellite node for processing the navigation request; transmitting the navigation request to a target satellite node, determining navigation information of the spacecraft based on the navigation request by the target satellite node, and transmitting the navigation information to the spacecraft; the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is also used for sending the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node carries out consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system. The method and the device reduce the self weight of the spacecraft, reduce the complexity of a spacecraft control system, improve the effective load of the spacecraft, and enable the spacecraft to execute more flight tasks.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a spacecraft navigation method, device, system, electronic equipment and storage medium.
Background
The navigation system of the existing spacecraft generally comprises an inertial measurement unit, a satellite navigation terminal, an integrated navigation computer and other devices. The inertial measurement unit calculates the position and the speed of the spacecraft by measuring the motion gesture and the acceleration of the spacecraft; the satellite navigation terminal acquires the position, speed and time information of the spacecraft by receiving satellite signals; and the integrated navigation computer performs fusion calculation according to the measurement results of the inertial measurement unit and the satellite navigation terminal to obtain the accurate position, speed and attitude information of the spacecraft.
Because the navigation systems are all installed in the spacecraft, the self weight of the spacecraft is increased, and the complexity of the control system of the spacecraft is increased.
Therefore, how to reduce the self weight of the spacecraft and the complexity of the control system of the spacecraft becomes a technical problem to be solved in the industry.
Disclosure of Invention
The application provides a spacecraft navigation method, device, system, electronic equipment and storage medium, which are used for solving the technical problem of how to reduce the self weight of a spacecraft and reduce the complexity of a control system of the spacecraft.
The application provides a spacecraft navigation method, which is applied to a satellite block chain system and comprises the following steps:
receiving a navigation request sent by a spacecraft;
determining a target satellite node for processing the navigation request;
the navigation request is sent to the target satellite node, navigation information of the spacecraft is determined by the target satellite node based on the navigation request, and the navigation information is sent to the spacecraft;
wherein the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is further configured to send the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node performs consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
In some embodiments, the determining the target satellite node that processed the navigation request includes:
analyzing the navigation request and determining real-time position information of the spacecraft;
acquiring real-time position information and real-time running state of each satellite node;
determining the satellite node with normal real-time running state as a candidate satellite node;
determining a spatial distance between the spacecraft and each candidate satellite node based on the real-time position information of the spacecraft and the real-time position information of each candidate satellite node;
and determining the candidate satellite node corresponding to the minimum value in the space distance as the target satellite node.
In some embodiments, the determining the candidate satellite node corresponding to the minimum value in the spatial distance as the target satellite node includes:
under the condition that the target satellite nodes are a plurality of nodes, acquiring the calculation performance index of each target satellite node;
and determining the target satellite node corresponding to the maximum value in the calculated performance index as the final target satellite node.
In some embodiments, the method further comprises:
selecting a preset number of satellite nodes from all satellite nodes in the satellite block chain system as proxy nodes;
the navigation request and the navigation information are consensus based on each proxy node.
In some embodiments, the selecting a predetermined number of satellite nodes from the satellite nodes in the satellite block chain system as proxy nodes includes:
acquiring historical navigation records and calculation performance indexes of all satellite nodes in the satellite block chain system;
determining a first credibility of each satellite node based on the historical navigation record of each satellite node;
determining a second credibility of each satellite node based on the calculated performance index of each satellite node;
determining the node credibility of each satellite node based on the first credibility and/or the second credibility;
and arranging all the satellite nodes in descending order according to the node reliability, and selecting a preset number of satellite nodes as proxy nodes.
In some embodiments, the satellite blockchain system further includes a ground station node;
before the determining the target satellite node that handles the navigation request, the method further includes:
the navigation request is sent to the ground station node, and the ground station node performs validity verification on the navigation request;
receiving a validity verification result sent by the ground station node;
and determining a target satellite node for processing the navigation request under the condition that the validity verification result is passed.
The application provides a spacecraft navigation device, is applied to satellite block chain system, includes:
the receiving unit is used for receiving the navigation request sent by the spacecraft;
a determining unit, configured to determine a target satellite node that processes the navigation request;
the navigation unit is used for sending the navigation request to the target satellite node, determining navigation information of the spacecraft based on the navigation request by the target satellite node and sending the navigation information to the spacecraft;
wherein the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is further configured to send the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node performs consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
The application provides a spacecraft navigation system, which comprises a spacecraft and a satellite block chain system;
the spacecraft comprises an inertial measurement unit and a navigation request unit; the inertial measurement unit is used for acquiring flight state parameters of the spacecraft; the navigation request unit is used for generating a navigation request based on the flight state parameters, sending the navigation request to the satellite block chain system and receiving navigation information sent by the satellite block chain system;
the satellite block chain system comprises a plurality of satellite nodes; the satellite node is provided with the spacecraft navigation device.
The application provides electronic equipment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the spacecraft navigation method when executing the computer program.
The present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the spacecraft navigation method.
The spacecraft navigation method, the device, the system, the electronic equipment and the storage medium are applied to a satellite block chain system, a target satellite node for processing the navigation request is determined by receiving the navigation request sent by the spacecraft, the navigation request is sent to the target satellite node, the navigation information of the spacecraft is determined by the target satellite node based on the navigation request, and the navigation information is sent to the spacecraft; because the navigation to the spacecraft is realized through the satellite block chain system, the spacecraft is not required to be provided with devices such as a satellite navigation terminal, a combined navigation computer and the like, the self weight of the spacecraft is reduced, the complexity of a spacecraft control system is reduced, the effective load of the spacecraft is improved, and more flight tasks can be executed by the spacecraft; because the navigation request and the navigation information of the spacecraft are written into the satellite block chain system, the satellite block chain system comprises a plurality of satellite nodes, each satellite node can store the navigation information of the spacecraft, the navigation of the spacecraft can be realized, and the operation safety and stability of the spacecraft are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the technical solutions of the present application or the prior art, the following description will briefly introduce the drawings used in the embodiments or the description of the prior art, and it is obvious that, in the following description, the drawings are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a spacecraft navigation method according to an embodiment of the application;
fig. 2 is a schematic structural diagram of a spacecraft navigation device according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a spacecraft navigation system according to an embodiment of the disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flow chart of a spacecraft navigation method according to an embodiment of the application, and as shown in fig. 1, the method includes a step 110, a step 120, and a step 130.
Step 110, receiving a navigation request sent by the spacecraft.
Specifically, an execution main body of the spacecraft navigation method provided by the embodiment of the application is a spacecraft navigation device, and is applied to a satellite block chain system. The satellite blockchain system is a blockchain network composed of a plurality of satellites, and each satellite forms a node in the satellite blockchain system, namely a satellite node. Each satellite node is provided with a computer or equipment which participates in maintaining the whole blockchain system, and each satellite can perform data communication and information synchronization. Types of satellites may include low earth orbit satellites, geostationary orbit satellites, and the like. For example, a satellite blockchain system may be made up of multiple satellite networks orbiting the earth.
In each satellite node, a program related to a spacecraft navigation method can be run, and a spacecraft navigation device can be arranged for navigating a spacecraft.
The spacecraft, also called space craft, is various kinds of aircrafts which run in space according to the law of celestial mechanics and execute specific tasks of exploration, development, utilization of space, celestial bodies and the like. May include a launch vehicle, an orbital final stage of rocket flight in space after launch, or a satellite, etc.
The spacecraft may send a navigation request to the satellite blockchain system during space flight. The navigation request is used for requesting the satellite block chain system to determine navigation information required by the spacecraft in space flight according to satellite positioning information, and the navigation information comprises information such as space position, flight speed, flight path and the like.
The spacecraft can send navigation requests to any one satellite node or the satellite node closest to the satellite in the satellite block chain system when flying in space. After receiving the navigation request, the satellite node sends the navigation request to the spacecraft navigation device.
Step 120, determining a target satellite node that handles the navigation request.
Specifically, the spacecraft navigation device may determine a target satellite node that processes the navigation request according to the received navigation request. The target satellite node is a satellite that navigates the spacecraft.
For example, the spacecraft navigation device may determine the target satellite node according to the distance between the spacecraft and the satellite node, may determine the target satellite node according to the calculation performance of each satellite node, may determine the target satellite node according to the operation state of each satellite node, and so on.
And 130, sending the navigation request to a target satellite node, determining navigation information of the spacecraft based on the navigation request by the target satellite node, and sending the navigation information to the spacecraft.
The target satellite node is also used for sending the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node carries out consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
Specifically, after determining the target satellite node, the spacecraft navigation device may send a navigation request to the target satellite node, and the target satellite node calculates according to the information in the navigation request and the data information such as the satellite positioning information to obtain navigation information, and then sends the navigation information to the spacecraft through the satellite communication device. The navigation information is used for guiding and controlling the spacecraft to fly in space, and can comprise information such as flight orbit, flight path, flight attitude and the like.
The spacecraft is provided with a satellite navigation receiver, and navigation information is received through the device. And controlling the engine of the spacecraft to complete attitude control or orbit control according to the navigation information, and continuously executing the flight task.
The target satellite node is further configured to send a navigation request and navigation information to each satellite node in the satellite block chain system after completing navigation of the spacecraft. And each satellite node carries out consensus on the navigation request and the navigation information according to a consensus mechanism in the block chain, and writes the navigation request and the navigation information into the satellite block chain system under the condition that the consensus result is passed, namely each satellite node stores the navigation request and the navigation information.
Compared with the prior art, the navigation system in the spacecraft is simplified, devices such as a satellite navigation terminal and an integrated navigation computer (taking a carrier rocket as an example, 1 set of inertial measurement units, 2 sets of satellite navigation terminals and 2 sets of integrated navigation computers are usually configured in the carrier rocket) are not needed to be configured, and satellite navigation can be realized by a satellite block chain system. Even if any satellite in the satellite block chain system fails, other satellites can continue to navigate the spacecraft because each satellite in the block chain system records and stores navigation requests and navigation information.
The spacecraft navigation method provided by the embodiment of the application is applied to a satellite block chain system, a target satellite node for processing the navigation request is determined by receiving the navigation request sent by the spacecraft, the navigation request is sent to the target satellite node, the navigation information of the spacecraft is determined by the target satellite node based on the navigation request, and the navigation information is sent to the spacecraft; because the navigation to the spacecraft is realized through the satellite block chain system, the spacecraft is not required to be provided with devices such as a satellite navigation terminal, a combined navigation computer and the like, the self weight of the spacecraft is reduced, the complexity of a spacecraft control system is reduced, the effective load of the spacecraft is improved, and more flight tasks can be executed by the spacecraft; because the navigation request and the navigation information of the spacecraft are written into the satellite block chain system, the satellite block chain system comprises a plurality of satellite nodes, each satellite node can store the navigation information of the spacecraft, the navigation of the spacecraft can be realized, and the operation safety and stability of the spacecraft are improved.
It should be noted that each embodiment of the present application may be freely combined, permuted, or executed separately, and does not need to rely on or rely on a fixed execution sequence.
In some embodiments, step 120 comprises:
analyzing the navigation request and determining the real-time position information of the spacecraft;
acquiring real-time position information and real-time running state of each satellite node;
determining the satellite node with normal real-time running state as a candidate satellite node;
determining a spatial distance between the spacecraft and each candidate satellite node based on the real-time position information of the spacecraft and the real-time position information of each candidate satellite node;
and determining the candidate satellite node corresponding to the minimum value in the space distance as a target satellite node.
Specifically, an inertial measurement unit (Inertial Measurement Unit, IMU) may be disposed in the spacecraft, and is configured to measure flight state parameters of the spacecraft, for example, information such as acceleration, angular velocity and position may be included, and by calculating and analyzing these data, parameters such as flight speed, flight orbit, flight altitude, etc. of the spacecraft may be obtained. The satellite nodes cannot directly measure and obtain the flight state parameters of the spacecraft, because the flight state of the spacecraft is influenced by various factors, such as earth rotation, atmospheric disturbance, gravitational field effect and the like. Therefore, it is desirable for the spacecraft to generate navigation requests from these data and send to the satellite blockchain system.
The navigation device of the spacecraft in the satellite block chain system analyzes the navigation request, and can determine the real-time position information of the spacecraft according to the obtained parameters such as the flight speed, the flight orbit, the flight height and the like. The satellite block chain system can inquire each satellite node in the system to acquire the real-time position information and the real-time running state of each satellite node.
Because of the large number of satellite nodes, all satellite nodes can be screened according to the real-time running state, and the satellite nodes with normal real-time running state are determined as candidate satellite nodes.
And calculating the space distance between the spacecraft and each candidate satellite node according to the real-time position information of the spacecraft and the real-time position information of each candidate satellite node. The closer the space distance is, the shorter the communication distance between the spacecraft and the satellite node is, the shorter the data transmission time is, and the better the communication quality is. The candidate satellite node corresponding to the minimum value in the spatial distance may be determined as the target satellite node, that is, the candidate satellite node corresponding to the minimum spatial distance may be determined as the target satellite node.
According to the spacecraft navigation method, satellite nodes are screened through the real-time running state and the space distance between the spacecraft, so that the communication quality between the spacecraft and the satellite nodes is improved, and the accuracy of spacecraft navigation is improved.
In some embodiments, determining the satellite node corresponding to the minimum in the spatial distance as the target satellite node includes:
under the condition that the target satellite nodes are a plurality of nodes, acquiring the calculation performance index of each target satellite node;
and determining the target satellite node corresponding to the maximum value in the calculated performance index as the final target satellite node.
Specifically, if there are a plurality of target satellite nodes, the calculation performance index of each target satellite node may be acquired.
The calculated performance index is used to measure the performance of the on-board computer in each satellite node. The higher the calculation performance index is, the stronger the calculation capability of the satellite node is, and the calculation accuracy of navigation information can be improved, so that the flight control accuracy of the spacecraft is improved. The computational performance metrics may be measured by processor clock frequency, memory capacity of the processor, floating point number operation speed of the processor, and the like.
And determining a target satellite node corresponding to the maximum value in the calculated performance index as a final target satellite node, sending a navigation request to the final target satellite node, and navigating the spacecraft by the satellite node.
According to the spacecraft navigation method provided by the embodiment of the application, the plurality of target satellite nodes are screened by calculating the performance indexes, so that the calculation accuracy of navigation information is improved, and the flight control accuracy of the spacecraft is improved.
In some embodiments, the method further comprises:
selecting a preset number of satellite nodes from all satellite nodes in a satellite block chain system as proxy nodes;
the navigation request and the navigation information are consensus based on each proxy node.
Specifically, in the satellite blockchain system, when the navigation request and the navigation information need to be written, the written information needs to be identified together, that is, the navigation request and the navigation information need to be verified.
In consideration of the fact that the number of satellites in the satellite block chain system is large and the satellites are distributed at different positions, if all satellite nodes are required to participate in consensus, the communication cost of the whole satellite block chain system is increased, the response time of the whole spacecraft navigation process is long, and the spacecraft navigation efficiency is reduced.
Therefore, a proxy consensus method can be adopted to select a preset number of satellite nodes from all satellite nodes in the satellite block chain system as proxy nodes. The navigation request and the navigation information are commonly recognized by the proxy nodes. Consensus algorithms may include, for example, proof of Work (PoW) and Proof of equity (PoS) algorithms. The preset number can be set as needed.
According to the spacecraft navigation method provided by the embodiment of the application, the preset number of satellite nodes are selected from all satellite nodes in the satellite block chain system to serve as proxy nodes, the navigation request and the navigation information are subjected to consensus, the number of nodes participating in the consensus is reduced, the response time of the whole spacecraft navigation process is reduced, and the efficiency of the spacecraft navigation is improved.
In some embodiments, selecting a predetermined number of satellite nodes from among the respective satellite nodes in the satellite blockchain system as the proxy node includes:
acquiring historical navigation records and calculation performance indexes of all satellite nodes in a satellite block chain system;
determining a first credibility of each satellite node based on the historical navigation record of each satellite node;
determining a second credibility of each satellite node based on the calculated performance index of each satellite node;
determining the node credibility of each satellite node based on the first credibility and/or the second credibility;
and arranging all the satellite nodes in descending order according to the node reliability, and selecting a preset number of satellite nodes as proxy nodes.
Specifically, the reliability is the degree of behavioral trust of each satellite node in the navigation process. The higher the reliability, the more reliable the satellite node is, and the higher the accuracy of the consensus result is.
The trustworthiness of each satellite node may be determined from its historical navigation record and computational performance index.
The historical navigation record is a record of navigation behaviors of the spacecraft in which the satellite node participates, and can comprise navigation times, navigation accuracy and the like. If the navigation times in the historical navigation record of the satellite node are higher, the behavior of the satellite node is more reliable, and the reliability is higher; if the navigation accuracy in the historical navigation record of the satellite node is higher, the more reliable the behavior of the satellite node is, and the higher the reliability is. The number of navigation times and the navigation accuracy can be selected from the historical navigation record as measurement standards, and the first credibility of the satellite node is determined in a weighted mode.
The computational performance metrics may include the clock frequency of the processor, the memory capacity of the processor, the floating point number operation speed of the processor, and the like. The higher the calculation performance index is, the higher the calculation accuracy of the satellite node is, the higher the calculation speed is, the higher the accuracy of the navigation result is, the more reliable the behavior of the satellite node is, and the higher the reliability is. The clock frequency, the memory capacity, the floating point number operation speed and the like can be selected from the calculation performance indexes as measurement standards, and the second credibility of the satellite node is determined in a weighted mode.
The first reliability may be determined as the node reliability of each satellite node, the second reliability may be determined as the node reliability of each satellite node, and the result obtained by performing weighted summation on the first reliability and the second reliability may be determined as the node reliability of each satellite node. And arranging the satellite nodes in descending order according to the node reliability, and selecting a preset number of satellite nodes from the descending order as proxy nodes.
According to the spacecraft navigation method provided by the embodiment of the application, the node reliability of each satellite node is determined according to the historical navigation record and the calculation performance index of each satellite node, the accuracy of agent node selection is improved, the number of nodes participating in consensus is reduced, the response time of the whole spacecraft navigation process is reduced, and the efficiency of spacecraft navigation is improved.
In some embodiments, the satellite blockchain system further includes a ground station node;
before determining the target satellite node to process the navigation request, the method further comprises:
transmitting the navigation request to a ground station node, and verifying the validity of the navigation request by the ground station node;
receiving a validity verification result sent by a ground station node;
and determining a target satellite node for processing the navigation request under the condition that the validity verification result is passed.
In particular, ground station nodes may also be included in the satellite blockchain system. The ground station may be a ground control center or a ground measurement and control station, etc. The ground station is used as a node to be connected into the satellite block chain system, so that an operator can conveniently acquire and check the flight state of the spacecraft.
Before performing the navigation solution, the spacecraft navigation device may send a navigation request to the ground station node, which validates the navigation request. The content of the validity verification may include content such as identity verification of the spacecraft, flight mission verification of the spacecraft, and the like. The ground station node transmits the valid verification result to the satellite blockchain system. And under the condition that the validity verification result is passed, the spacecraft navigation device determines a target satellite node for processing the navigation request.
According to the spacecraft navigation method provided by the embodiment of the application, the ground station performs validity verification on the navigation request sent by the spacecraft before navigation calculation, so that the safety of spacecraft navigation is improved.
The apparatus provided in the embodiments of the present application will be described below, and the apparatus described below and the method described above may be referred to correspondingly.
Fig. 2 is a schematic structural diagram of a spacecraft navigation device according to an embodiment of the application, and as shown in fig. 2, the device 200 is applied to a satellite block chain system, and includes:
a receiving unit 210, configured to receive a navigation request sent by a spacecraft;
a determining unit 220 for determining a target satellite node that processes the navigation request;
the navigation unit 230 is configured to send a navigation request to a target satellite node, determine navigation information of the spacecraft based on the navigation request by the target satellite node, and send the navigation information to the spacecraft;
the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is also used for sending the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node carries out consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
Specifically, the spacecraft navigation device may be implemented by hardware, for example, a spacecraft navigation device independently provided in each satellite node of the satellite block chain system; it may also be implemented in software, such as a spacecraft navigation program running in each satellite node of a satellite blockchain system.
The spacecraft navigation device provided by the embodiment of the application is applied to a satellite block chain system, a target satellite node for processing the navigation request is determined by receiving the navigation request sent by the spacecraft, the navigation request is sent to the target satellite node, the navigation information of the spacecraft is determined by the target satellite node based on the navigation request, and the navigation information is sent to the spacecraft; because the navigation to the spacecraft is realized through the satellite block chain system, the spacecraft is not required to be provided with devices such as a satellite navigation terminal, a combined navigation computer and the like, the self weight of the spacecraft is reduced, the complexity of a spacecraft control system is reduced, the effective load of the spacecraft is improved, and more flight tasks can be executed by the spacecraft; because the navigation request and the navigation information of the spacecraft are written into the satellite block chain system, the satellite block chain system comprises a plurality of satellite nodes, each satellite node can store the navigation information of the spacecraft, the navigation of the spacecraft can be realized, and the operation safety and stability of the spacecraft are improved.
In some embodiments, the determining unit is to:
analyzing the navigation request and determining the real-time position information of the spacecraft;
acquiring real-time position information and real-time running state of each satellite node;
determining the satellite node with normal real-time running state as a candidate satellite node;
determining a spatial distance between the spacecraft and each candidate satellite node based on the real-time position information of the spacecraft and the real-time position information of each candidate satellite node;
and determining the candidate satellite node corresponding to the minimum value in the space distance as a target satellite node.
In some embodiments, the determining unit is to:
under the condition that the target satellite nodes are a plurality of nodes, acquiring the calculation performance index of each target satellite node;
and determining the target satellite node corresponding to the maximum value in the calculated performance index as the final target satellite node.
In some embodiments, the apparatus further comprises:
the consensus unit is used for selecting a preset number of satellite nodes from all satellite nodes in the satellite block chain system as proxy nodes;
the navigation request and the navigation information are consensus based on each proxy node.
In some embodiments, the consensus unit is to:
acquiring historical navigation records and calculation performance indexes of all satellite nodes in a satellite block chain system;
determining a first credibility of each satellite node based on the historical navigation record of each satellite node;
determining a second credibility of each satellite node based on the calculated performance index of each satellite node;
determining the comprehensive credibility of each satellite node based on the first credibility and/or the second credibility;
and arranging all the satellite nodes in descending order according to the comprehensive credibility, and selecting a preset number of satellite nodes as proxy nodes.
In some embodiments, the satellite blockchain system further includes a ground station node. The determining unit is used for:
transmitting the navigation request to a ground station node, and verifying the validity of the navigation request by the ground station node;
receiving a validity verification result sent by a ground station node;
and determining a target satellite node for processing the navigation request under the condition that the validity verification result is passed.
Fig. 3 is a schematic structural diagram of a spacecraft navigation system according to an embodiment of the disclosure, and as shown in fig. 3, the system 300 includes a spacecraft 310 and a satellite blockchain system 320. In the figure, solid lines represent electrical connection relationships, and broken lines represent communication relationships.
Spacecraft 310 includes an inertial measurement unit 311 and a navigation request unit 312.
The inertial measurement unit 311 is configured to obtain a flight state parameter of the spacecraft 310;
the navigation request unit 312 is configured to generate a navigation request based on the flight status parameter, and send the navigation request to the satellite block chain system 320, and receive the navigation information sent by the satellite block chain system 320.
The satellite blockchain system 320 includes a plurality of satellite nodes 321; the satellite node 321 is provided with a spacecraft navigation device 200.
According to the spacecraft navigation system provided by the embodiment of the application, the navigation to the spacecraft is realized through the satellite block chain system, so that the spacecraft is not required to be provided with devices such as a satellite navigation terminal, an integrated navigation computer and the like, the self weight of the spacecraft is reduced, the complexity of the spacecraft control system is reduced, the payload of the spacecraft is improved, and more flight tasks can be executed by the spacecraft; because the navigation request and the navigation information of the spacecraft are written into the satellite block chain system, the satellite block chain system comprises a plurality of satellite nodes, each satellite node can store the navigation information of the spacecraft, the navigation of the spacecraft can be realized, and the operation safety and stability of the spacecraft are improved.
Fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, as shown in fig. 4, the electronic device may include: processor (Processor) 410, communication interface (Communications Interface) 420, memory (Memory) 430, and communication bus (Communications Bus) 440, wherein Processor 410, communication interface 420, and Memory 430 complete communication with each other via communication bus 440. The processor 410 may invoke logic commands in the memory 430 to perform the following method:
receiving a navigation request sent by a spacecraft; determining a target satellite node for processing the navigation request; transmitting the navigation request to a target satellite node, determining navigation information of the spacecraft based on the navigation request by the target satellite node, and transmitting the navigation information to the spacecraft; the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is also used for sending the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node carries out consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
In addition, the logic commands in the memory described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the present application may call the logic instruction in the memory to implement the above method, and the specific implementation manner of the processor is consistent with the implementation manner of the foregoing method, and may achieve the same beneficial effects, which are not described herein again.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments.
The specific embodiment is consistent with the foregoing method embodiment, and the same beneficial effects can be achieved, and will not be described herein.
Embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of spacecraft navigation, applied to a satellite blockchain system, comprising:
receiving a navigation request sent by a spacecraft;
determining a target satellite node for processing the navigation request;
the navigation request is sent to the target satellite node, navigation information of the spacecraft is determined by the target satellite node based on the navigation request, and the navigation information is sent to the spacecraft;
wherein the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is further configured to send the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node performs consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
2. The spacecraft navigation method of claim 1, wherein said determining a target satellite node that handles said navigation request comprises:
analyzing the navigation request and determining real-time position information of the spacecraft;
acquiring real-time position information and real-time running state of each satellite node;
determining the satellite node with normal real-time running state as a candidate satellite node;
determining a spatial distance between the spacecraft and each candidate satellite node based on the real-time position information of the spacecraft and the real-time position information of each candidate satellite node;
and determining the candidate satellite node corresponding to the minimum value in the space distance as the target satellite node.
3. The spacecraft navigation method of claim 2, wherein said determining a candidate satellite node corresponding to a minimum value in spatial distance as said target satellite node comprises:
under the condition that the target satellite nodes are a plurality of nodes, acquiring the calculation performance index of each target satellite node;
and determining the target satellite node corresponding to the maximum value in the calculated performance index as the final target satellite node.
4. The spacecraft navigation method of claim 1, wherein said method further comprises:
selecting a preset number of satellite nodes from all satellite nodes in the satellite block chain system as proxy nodes;
the navigation request and the navigation information are consensus based on each proxy node.
5. The method according to claim 4, wherein selecting a predetermined number of satellite nodes from the satellite nodes in the satellite block chain system as proxy nodes comprises:
acquiring historical navigation records and calculation performance indexes of all satellite nodes in the satellite block chain system;
determining a first credibility of each satellite node based on the historical navigation record of each satellite node;
determining a second credibility of each satellite node based on the calculated performance index of each satellite node;
determining the node credibility of each satellite node based on the first credibility and/or the second credibility;
and arranging all the satellite nodes in descending order according to the node reliability, and selecting a preset number of satellite nodes as proxy nodes.
6. The spacecraft navigation method of any of claims 1-5, wherein said satellite blockchain system further comprises a ground station node;
before the determining the target satellite node that handles the navigation request, the method further includes:
the navigation request is sent to the ground station node, and the ground station node performs validity verification on the navigation request;
receiving a validity verification result sent by the ground station node;
and determining a target satellite node for processing the navigation request under the condition that the validity verification result is passed.
7. A spacecraft navigation device, for use in a satellite blockchain system, comprising:
the receiving unit is used for receiving the navigation request sent by the spacecraft;
a determining unit, configured to determine a target satellite node that processes the navigation request;
the navigation unit is used for sending the navigation request to the target satellite node, determining navigation information of the spacecraft based on the navigation request by the target satellite node and sending the navigation information to the spacecraft;
wherein the satellite block chain system comprises a plurality of satellite nodes; the target satellite node is further configured to send the navigation request and the navigation information to each satellite node in the satellite block chain system; after each satellite node performs consensus on the navigation request and the navigation information, the navigation request and the navigation information are written into the satellite block chain system.
8. A spacecraft navigation system, comprising a spacecraft and a satellite blockchain system;
the spacecraft comprises an inertial measurement unit and a navigation request unit; the inertial measurement unit is used for acquiring flight state parameters of the spacecraft; the navigation request unit is used for generating a navigation request based on the flight state parameters, sending the navigation request to the satellite block chain system and receiving navigation information sent by the satellite block chain system;
the satellite block chain system comprises a plurality of satellite nodes; the spacecraft navigation device of claim 7 is provided in the satellite node.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the spacecraft navigation method of any of claims 1 to 6 when executing the computer program.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the spacecraft navigation method of any of claims 1 to 6.
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| CN108663052A (en) * | 2018-04-28 | 2018-10-16 | 北京空间飞行器总体设计部 | Autonomous space non-cooperative target Relative Navigation camera is directed toward control method on a kind of star |
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| CN116599574A (en) * | 2023-07-14 | 2023-08-15 | 成都本原星通科技有限公司 | Lightweight intelligent contract access control method based on low-orbit satellite network |
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| US20080059009A1 (en) * | 2006-09-05 | 2008-03-06 | Honeywell International Inc. | Systems and methods for interplanetary navigation |
| US10523758B2 (en) * | 2018-02-09 | 2019-12-31 | Vector Launch Inc. | Distributed storage management in a satellite environment |
| US11531119B2 (en) * | 2020-05-21 | 2022-12-20 | International Business Machines Corporation | Coordinated smart contract-based satellite management and operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108663052A (en) * | 2018-04-28 | 2018-10-16 | 北京空间飞行器总体设计部 | Autonomous space non-cooperative target Relative Navigation camera is directed toward control method on a kind of star |
| CN109412677A (en) * | 2018-11-12 | 2019-03-01 | 清华大学 | Cooperate with to star the communication broadcast method for self-adaption amalgamation in block catenary system |
| CN116599574A (en) * | 2023-07-14 | 2023-08-15 | 成都本原星通科技有限公司 | Lightweight intelligent contract access control method based on low-orbit satellite network |
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