CN117234106A - Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof - Google Patents
Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof Download PDFInfo
- Publication number
- CN117234106A CN117234106A CN202311524986.8A CN202311524986A CN117234106A CN 117234106 A CN117234106 A CN 117234106A CN 202311524986 A CN202311524986 A CN 202311524986A CN 117234106 A CN117234106 A CN 117234106A
- Authority
- CN
- China
- Prior art keywords
- evaluation
- simulation system
- reliability
- satellite
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 185
- 238000011156 evaluation Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 claims abstract description 74
- 239000013598 vector Substances 0.000 claims abstract description 60
- 238000004891 communication Methods 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000013077 scoring method Methods 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 39
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 10
- 230000007547 defect Effects 0.000 claims description 9
- 230000010363 phase shift Effects 0.000 claims description 8
- 230000007474 system interaction Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000002474 experimental method Methods 0.000 claims description 4
- 230000002829 reductive effect Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000008186 active pharmaceutical agent Substances 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000002087 whitening effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a satellite attitude and orbit control ground simulation system and a reliability evaluation method thereof, belonging to the technical field of satellite simulation, wherein the ground simulation system comprises: the system comprises a GNC system, a dynamics simulation system, a motion system, a measurement system and a communication system; the run-time synchronization protocol between the systems ensures the timeliness of the simulation system as a whole and does not require additional hardware equipment. The reliability evaluation method is used for constructing an evaluation index system, an EARTH and expert scoring method is adopted to obtain a reliability index sequence, weight vectors of all layers of the evaluation node under evaluation of different expert importance levels are obtained through an AHP method, D-S evidence theory is utilized to fuse the weight vectors, evaluation vectors at all times in the reliability index sequence are obtained according to a fuzzy membership function, the total reliability of the system is comprehensively calculated from bottom to top through a fuzzy comprehensive evaluation method, influence of expert subjective factors on reliability evaluation is reduced, and consistency of dynamic indexes of the ground simulation system is comprehensively evaluated.
Description
Technical Field
The application relates to a satellite attitude and orbit control ground simulation system and a reliability evaluation method thereof, belonging to the technical field of satellite simulation.
Background
Modeling and simulation are considered as the third method for understanding the world which is the same as the theoretical research and experimental research in the information age. The simulation technology utilizes the model to study the system, and plays an indispensable role in the fields of industry, agriculture, commerce, education, military, traffic and the like by virtue of the advantages of low cost, reusability, no damage, strong flexibility and the like. Because the development period of the spacecraft is long, the cost is high, the process is complex, the practical cost for controlling the pose of the spacecraft is extremely high and can not be repeated, and therefore, the spacecraft ground simulation technology is required to be adopted for analyzing and researching the problem of controlling the pose of the spacecraft.
The reliability of the simulation system refers to the reliability degree of the user of the simulation system corresponding to the result of a simulation test of the simulation system under a certain environment and a certain condition to solve the accuracy of the defined problem, or the reliability degree of the simulation system serving as a similar substitution system of the prototype system capable of reproducing the prototype system on the overall structure and behavior level under the specific purpose and meaning of modeling and simulation. Along with the deep research of complex simulation technology, the evaluation of simulation reliability is more and more widely focused, and becomes the research focus of the simulation field.
In research on ground simulation verification methods of attitude and orbit control systems of space vehicles (full text database of Chinese Shuoshi thesis (engineering science and technology II edit), period 03 of 2014, harbin university of industry, he Chao), the design and implementation means, simulation scheme and other problems of ground simulation systems of attitude and orbit control systems of space vehicles are intensively studied. In order to meet the requirement of large data volume communication among all subsystems under the hard real-time condition, an optical fiber reflection memory card is adopted to form a reflection memory network for data interaction and instruction control among all subsystems. However, the construction of the optical fiber reflection memory network requires the installation of an additional optical fiber reflection memory card, so that the overall cost is high, and the optical fiber reflection memory network needs wired connection, and is not suitable for a test scene requiring wireless transmission, such as an air floatation system.
In the reliability assessment method of the guidance simulation system based on DS/AHP and gray cloud clustering (electronic measurement technique, 2017,40 (07), pan Yunlong and the like), a simulation reliability assessment model based on evidence theory and gray cloud clustering is provided aiming at subjectivity and uncertainty of reliability quantification of the complex guidance simulation system. Firstly, obtaining opinions of a plurality of experts by a group analytic hierarchy process, and carrying out evidence theory fusion on inconsistent opinions to obtain index weight with higher credibility; and then, adopting a gray cloud clustering method, taking a gray cloud model as a whitening weight function, carrying out quantization treatment on qualitative evaluation, and finally, calculating gray cluster coefficients to complete reliability evaluation of the simulation system. The model is applied to evaluate the guided semi-physical simulation system, and the result accords with objective reality, so that the model has feasibility and practicability, and a new effective way is provided for evaluating the reliability of simulation and comprehensively evaluating the problem. However, the acquisition of the bottom index depends on scoring of 4 experts, and the evaluation method is greatly influenced by subjective factors of the experts and needs more personnel to participate.
The invention with the application number of 202210123783.7 discloses a satellite tracking and pointing control ground simulation system efficiency evaluation method, which comprises the following steps: constructing a hierarchical model structure of a satellite high-precision tracking and pointing control ground simulation system; determining weight coefficients of each layer of similar elements and similar values of the similar elements in the hierarchical model structure; tracking and comparing the similarity degree of the simulation system and the actual system, and determining the similarity of each layer of similarity elements in the simulation system based on the similarity value of the similarity elements; and determining the system similarity of the simulation system according to the weight coefficient of each layer of similarity element and the similarity of each layer of similarity element, wherein the system similarity is used for evaluating the efficiency of the simulation system. The weight coefficient of each layer of similar elements is obtained by using a hierarchical analysis method according to the importance degree of a single expert on the layer of similar elements relative to the upper layer of similar elements, and is greatly influenced by subjective factors of the expert. Meanwhile, on the bottom index, only partial static indexes are considered, and dynamic indexes are not considered.
The invention of application number 202210165607.X discloses a method and a device for detecting the efficiency of a spacecraft attitude and orbit control ground simulation system, which can establish a simulation node model corresponding to the simulation system according to the designed implementation form of the satellite spacecraft attitude and orbit control ground simulation system, further analyze and obtain the simulation efficiency of the whole simulation system, and further verify the effectiveness and feasibility of the whole simulation system, and the method comprises the following steps: acquiring a simulation node information flow diagram of a spacecraft attitude and orbit control ground simulation system; based on the corresponding efficiency influence factors of each simulation node in the simulation node information flow graph, obtaining uncertainty of performance of each simulation node; based on the connection relation between the simulation nodes disclosed in the simulation node information flow diagram, the uncertainty of the performance of each simulation node is fused, so that the uncertainty of the performance of the simulation system is obtained; based on the uncertainty of the efficiency of the simulation system, the total simulation efficiency of the simulation system is obtained. On the bottom layer index, the method only considers the relative error between the disturbance torque which can be realized by the simulation system and the disturbance torque of the actual system, the information transmission delay value of the simulation system, the simulation precision representing the attitude angle and other partially static indexes, and does not consider the dynamic index.
Disclosure of Invention
The application aims to provide a satellite attitude and orbit control ground simulation system and a reliability evaluation method thereof, which can effectively ensure the overall timeliness of the simulation system without additional hardware equipment.
To achieve the above object, a first aspect of the present application provides a satellite attitude and orbit control ground simulation system, including:
the system comprises a GNC system, a dynamics simulation system, a motion system, a measurement system and a communication system;
the communication system is respectively connected with the GNC system, the dynamics simulation system, the motion system and the measurement system and is used for realizing information transmission among the systems;
the GNC system is used for obtaining control instructions according to the current attitude and orbit information of the simulated satellite output by the measurement system and the attitude and orbit information given by the outside and transmitting the control instructions to the dynamics simulation system;
the dynamics simulation system is used for obtaining attitude information and orbit information of the simulated satellite through physical experiments or mathematical simulations according to the control instruction and transmitting the attitude information and orbit information to the motion system;
The motion system is used for bearing the simulated satellite and controlling the simulated satellite to move according to the attitude information and the orbit information output by the dynamics simulation system;
the measurement system is used for measuring the current gesture and orbit of the simulated satellite, obtaining the current gesture orbit information of the simulated satellite and transmitting the current gesture orbit information to the GNC system;
the GNC system, the dynamics simulation system, the motion system and the measurement system are provided with respective clocks, and the synchronization protocols are operated among the systems based on the communication system so as to ensure the synchronism of different clocks;
the time synchronization protocol includes:
selecting a clock of any system as a master clock, selecting clocks of other systems as slave clocks, taking the master clock time as a reference, taking every preset synchronous period as a time period, and executing the following steps in each time period until the simulation is finished:
s100, in an nth time period, the master clock and one of the slave clocks mutually send messages through a communication system, and according to the time when the master clock sends the messages and the time when the slave clock receives the messages, the delay from the master clock to the slave clock and the delay from the slave clock to the master clock in the current time period are calculated;
S110, clock offset and propagation delay of the current time period are obtained from a clock end through self-adaptive Kalman filtering;
s120, adjusting the clock frequency of the slave clock by using a PI controller according to the clock offset so as to achieve time synchronization;
s130, judging whether all slave clocks and the master clock finish one time of time synchronization, if so, executing a step S140, otherwise, returning to the step S100;
and S140, calculating the reliability of the communication system at the current moment by taking the maximum value of the clock offset of the master clock and all the slave clocks as the maximum clock offset at the current moment and taking the maximum value of the propagation delay of the master clock and all the slave clocks as the maximum propagation delay at the current moment.
In one embodiment, the dynamics simulation system is a digital simulation system or a semi-physical simulation system or an all-physical system;
the dynamics simulation system includes: a gesture dynamics simulation system for obtaining the gesture information, and an orbit dynamics simulation system for obtaining the orbit information.
The second aspect of the present application provides a reliability evaluation method, which is used for reliability evaluation of the satellite attitude and orbit control ground simulation system in the first aspect or any implementation manner of the first aspect, and comprises the following steps:
Constructing an evaluation index system of the satellite attitude and orbit control ground simulation system, wherein the evaluation index system comprises a plurality of evaluation nodes for reliability evaluation and unidirectional connecting lines for connecting the evaluation nodes;
based on the current attitude and orbit information of the simulated satellite obtained by the satellite attitude and orbit control ground simulation system, a trusted index sequence of a bottom layer evaluation node in an evaluation index system is obtained through an EARTH and expert scoring method;
acquiring weight vectors of each layer of the evaluation node under the evaluation of different expert importance degrees by an AHP method, and fusing the weight vectors by a D-S evidence theory to obtain fused weight vectors;
confirming a fuzzy membership function of a bottom layer evaluation node in an evaluation index system;
confirming evaluation vectors at all moments in a trusted index sequence of a bottom layer evaluation node in an evaluation index system according to the fuzzy membership function;
and comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using a fuzzy comprehensive evaluation method according to the evaluation vectors at each moment and the weight vectors fused among all layers of the evaluation nodes.
In one embodiment, the evaluation index system further comprises a plurality of trace-back nodes for searching for reliability defects and unidirectional connecting lines for connecting the evaluation nodes and the trace-back nodes or connecting the trace-back nodes;
The method for comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using the fuzzy comprehensive evaluation method further comprises the following steps:
if the total reliability at a certain moment does not reach the preset condition, calculating the reliability index value of the bottom layer backtracking node under the evaluation node of which the reliability at the current moment does not reach the preset condition, and judging whether the bottom layer backtracking node is the source of the reliability defect according to the reliability index.
In one embodiment, the reliability index sequence of the bottom layer evaluation node comprises a posture reliability time sequence, a position reliability time sequence and a system interaction reliability time sequence;
the obtaining the trusted index sequence of the bottom layer evaluation node in the evaluation index system comprises the following steps:
applying the same input as the actual satellite system to the satellite attitude and orbit control ground simulation system, acquiring the outputs of the satellite attitude and orbit control ground simulation system and the actual satellite system every other preset evaluation period, obtaining consistency of each output of the satellite attitude and orbit control ground simulation system and the actual satellite system by an EARTH method, obtaining consistency indexes, and obtaining an attitude credibility time sequence and a position credibility time sequence according to each consistency index;
And obtaining a system interaction credibility time sequence by an expert scoring method.
In one embodiment, the obtaining the consistency of each output of the satellite attitude and orbit control ground simulation system and the actual satellite system by using the EARTH method includes:
a, B is set to be the time sequence of the output of the actual satellite system and the satellite attitude and orbit control ground simulation system, and the phase error between the phase shift step number and A, B is calculated by using a calculation formula of the cross correlation coefficient;
shifting A, B according to the phase shift step number and obtaining a shifted time sequence asTime seriesPerforming dynamic time warping and calculating to obtain an amplitude error;
time series after movementThe derivative of each point in (2) gives the sequence +.>And deriving the sequence +.>Performing dynamic time warping and calculating to obtain a topology error;
and (5) obtaining a consistency index representing the consistency of the curve according to the phase error, the amplitude error and the topology error.
In one embodiment, the obtaining the weight vector between the layers of the evaluation node under the evaluation of different expert importance levels through the AHP method includes:
comparing importance of child nodes relative to father nodes in pairs, and constructing a judgment matrix;
Calculating a weight vector according to the judgment matrix;
and obtaining a random consistency ratio according to the weight vector, judging whether the random consistency ratio is smaller than 0.1 or infinite, if so, judging that the matrix is consistent, wherein the weight vector is available, otherwise, judging that the matrix is inconsistent, and adjusting the judging matrix until the weight vector is consistent.
The memory of the third aspect of the application, the processor and the computer program stored in the memory and executable on the processor, the processor implementing the steps of the second aspect or any of the embodiments of the second aspect described above when the computer program is executed.
A fourth aspect of the application provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of the second aspect or any implementation of the second aspect.
From the above, the application provides a satellite attitude and orbit control ground simulation system and a reliability evaluation method thereof, wherein the ground simulation system is a distributed simulation system, a time synchronization protocol is operated among the systems, the offset among the clocks of the systems is limited in a smaller range, and the overall timeliness of the ground simulation system is ensured; and the time synchronization protocol uses the original communication system of the ground simulation system, and no extra hardware equipment is needed.
The application also provides a credibility evaluation method for the satellite attitude and orbit control ground simulation system, which is used for evaluating the credibility of the satellite attitude and orbit control ground simulation system, and the credibility finally obtained by the credibility evaluation method is a time sequence related to the simulation time of the satellite attitude and orbit control ground simulation system, so that the problem that the credibility of the ground simulation system is greatly different due to factors such as error accumulation, orbit perturbation and the like in a short-time and long-time simulation experiment, and a single credibility value cannot accurately express the characteristic can be effectively solved. The influence of expert subjective factors on credibility evaluation can be reduced by using the D-S evidence theory to fuse weight vectors. By adopting the EARTH system verification method, the consistency of the dynamic indexes of the simulation system can be comprehensively evaluated from three aspects of phase, amplitude and topology, and the reliability of the ground simulation system for controlling the attitude and orbit of the satellite can be quantitatively evaluated more accurately. By using an evaluation index system comprising an evaluation node and a backtracking node, the overall reliability of the satellite attitude and orbit control ground simulation system is evaluated, and a source of reliability defects can be searched through the backtracking node under the condition that the overall reliability is not ideal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a satellite attitude and orbit control ground simulation system according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an operation of a time synchronization protocol according to an embodiment of the present application;
fig. 3 is a schematic diagram of a process of sending a message between a master clock M and a slave clock S in an nth time synchronization period according to an embodiment of the present application;
fig. 4 is a schematic diagram of a time synchronization system between a master clock M and a slave clock S according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a reliability evaluation method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an evaluation index system model according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of determining A, B consistency by an EARTH method according to an embodiment of the present application;
Fig. 8 is a schematic flow chart of obtaining weights by an AHP method according to an embodiment of the present application;
fig. 9 is a schematic diagram of a membership function according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Example 1
The embodiment of the application provides a satellite attitude and orbit control ground simulation system, as shown in fig. 1, which comprises:
the system comprises a GNC system, a dynamics simulation system, a motion system, a measurement system and a communication system;
the communication system is respectively connected with the GNC system, the dynamics simulation system, the motion system and the measurement system and is used for realizing information transmission among the systems;
The GNC system is used for obtaining control instructions according to the current attitude and orbit information of the simulated satellite output by the measurement system and the attitude and orbit information given by the outside and transmitting the control instructions to the dynamics simulation system;
the dynamics simulation system is used for obtaining attitude information and orbit information of the simulated satellite through physical experiments or mathematical simulations according to the control instruction and transmitting the attitude information and orbit information to the motion system;
the motion system is used for bearing the simulated satellite and controlling the simulated satellite to move according to the attitude information and the orbit information output by the dynamics simulation system;
the measuring system is used for measuring the current gesture and orbit of the simulated satellite, obtaining the current gesture orbit information of the simulated satellite and transmitting the current gesture orbit information to the GNC system to form a closed loop;
the GNC system, the dynamics simulation system, the motion system and the measurement system all have respective clocks, and the synchronization protocol is operated among the systems based on the communication system so as to ensure the synchronism of different clocks.
In one embodiment, the GNC system, i.e., the Guidance (Navigation), navigation (Navigation), and Control (Control) subsystem of the satellite, is responsible for specific Navigation, guidance, and Control calculations. In the embodiment of the application, the input end of the GNC system is connected with the outside and the measuring system through the communication system, the current attitude and orbit information of the simulated satellite and the attitude and orbit information given by the outside and output by the measuring system are received, navigation, guidance and control calculation are carried out on the simulated satellite according to the attitude and orbit information provided by the current attitude and orbit information and the outside, so that corresponding control instructions are obtained, and the control instructions are transmitted to the dynamics simulation system through the communication system at the output end.
Optionally, the dynamics simulation system is a digital simulation system or a semi-physical simulation system or an all-physical system;
the dynamics simulation system includes: a gesture dynamics simulation system for obtaining the gesture information, and an orbit dynamics simulation system for obtaining the orbit information.
In one embodiment, the gesture dynamics simulation system can be a digital simulation system based on computer simulation, a full-physical system based on a triaxial air bearing table, or a semi-physical simulation system with one gesture based on digital simulation of other gestures of the uniaxial air bearing table. Similarly, the orbit dynamics simulation system also has three simulation system forms of digital, physical and semi-physical.
In one embodiment, the measurement system may measure the attitude and orbit of the analog satellite using inertial navigation devices or visual measurements, etc., and transmit the measured attitude and orbit to the GNC system via the communication system to form a closed loop.
In one implementation manner, the satellite attitude and orbit control ground simulation system provided by the embodiment of the application is used as a distributed simulation system, each system is provided with own clocks, and certain offset exists inevitably among the clocks, so that a time synchronization protocol is needed among the systems to ensure the time synchronism of the whole simulation system. As shown in fig. 2, the time synchronization protocol includes: selecting any one of the clocks as a master clock M, and the other clocks as slave clocks S, wherein the time of the master clock M is used as the reference, and the clocks are synchronized at intervals For a time period, the following steps are executed in each time period until the simulation is finished:
s100, in the nth time period, the master clock M and the ith slave clock S mutually send messages through the communication system, and the time delay from the master clock M to the slave clock S in the current time period is calculated according to the time when the master clock M sends the messages and the time when the slave clock S receives the messagesAnd delay from clock S to master clock M>；
Specifically, as shown in fig. 3, in the nth time period, the process of the master clock M and the slave clock S sending messages to each other is as follows:
s101, the master clock M sends a synchronous message to the slave clock S and records the time of sending the message；
S102, receiving synchronous message from clock S, recording time of receiving message；
S103 the master clock M will carryThe following message of the information is sent to the slave clock S;
s104, the slave clock S sends a delay request message to the master clock M, and records the time of sending the message；
S105, the master clock M receives the delay request message and records the time of receiving the message；
S106 the master clock M will carryThe following message of information is sent to the slave clock S.
At this time, the slave clock S terminal is obtained by the following operationAnd->：
S110, obtaining clock offset of current time period from clock end through self-adaptive Kalman filtering Propagation delay +.>；
Specifically, the state equation and the observation equation required for implementing the adaptive kalman filter are as follows:
wherein the state variablesThe method comprises the steps of carrying out a first treatment on the surface of the System matrix->The method comprises the steps of carrying out a first treatment on the surface of the System noise->Wherein->And->System noise associated with clock skew and propagation delay, respectively, is considered to be in conformity with normal distribution，Is a system noise covariance matrix, wherein +.>And->A system noise covariance matrix associated with the clock offset and the propagation delay, respectively; observation variable->The method comprises the steps of carrying out a first treatment on the surface of the Observation matrix->The method comprises the steps of carrying out a first treatment on the surface of the Observation noise->Wherein->And->Respectively is->And->Correlated observation noise, which is considered to be in accordance with the normal distribution +.>，For observing a noise covariance matrix, whereinAnd->Respectively is->And->An associated observed noise covariance matrix.、、、The optimal filtering effect of the Kalman filter is achieved by adjusting the clock according to the clock stability condition.
The adaptive Kalman filtering steps are as follows:
s1101 state prediction:；
s1102 covariance prediction:；
s1103 innovation covariance calculation:；
s1104 Kalman gain matrix calculation:；
s1105 state optimal estimation:；
s1106 covariance correction:；
s1107 normalization information square calculation at the previous time:
wherein the method comprises the steps ofFor filtering in the n-1 time period New information;Square normalized innovation over the n-1 time period;
s1108 state backward prediction at the previous time:；
s1109, reverse normalization information square calculation at the previous moment:
wherein the method comprises the steps ofInverse filtering information in the n-1 time period;Normalizing the square of the innovation for the inverse of the n-1 th time period;
s1110, normalizing the innovation ratio:
if it isThe filtering within this time period ends with +.>Is a filtering output; if->Then recalculate the innovation covariance +>：
From recalculated innovation covarianceRepeating S1104, S1105, S1106, re-calculating the Kalman gain matrix +.>Optimal state estimation->Post-correction covariance->。
S120 storing clock offsetsPropagation delay +.>For subsequent analysis of the system time synchronization according to the clock offset +.>Adjusting the clock frequency of the slave clock S by using a PI controller to achieve time synchronization;
specifically, as shown in FIG. 4, the time synchronization system between the master clock M and the slave clock S is based on the delay from the master clock M to the slave clock S in the current time periodAnd delay from clock S to master clock M>Obtaining clock offset of current time period by adaptive Kalman filtering>Propagation delay +. >And clock offset +.>Propagation delay +.>Storing data; according to clock skew->And adjusting the clock frequency of the slave clock S by using the PI controller and performing kernel frequency locking so as to achieve time synchronization of the master clock and the slave clock.
S130 judges whether all slave clocks S complete one time synchronization with the master clock M, if yes, step S140 is executed, otherwise, step S100 is returned to for the first timeiTime synchronization is carried out on +1 slave clocks S;
s140 is based on data storage, with the master clock M being clock-shifted from all slave clocks SMaximum clock offset +.>Propagation delay +.>Is the maximum propagation delay +.>And calculating the reliability of the communication system at the current moment.
Specifically, the reliability of the communication system at the current moment can be calculated by the following formula:
wherein the method comprises the steps ofFor the credibility of the communication system at the current moment, +.>As a factor related to the clock skew therein,is a factor related to the propagation delay.
From the above, the embodiment of the application provides a satellite attitude and orbit control ground simulation system, which is a distributed simulation system, and a time synchronization protocol is operated among the systems to limit the offset among the system clocks in a smaller range, so that the overall timeliness of the ground simulation system is ensured; and the time synchronization protocol uses the original communication system of the ground simulation system, and no extra hardware equipment is needed.
Example two
The embodiment of the application provides a reliability assessment method based on consistency analysis, which is used for carrying out reliability assessment on a satellite attitude and orbit control ground simulation system in any one embodiment, wherein the reliability is obtained in the form of an equidistant time sequence so as to represent the change condition of the reliability of the system along with time, and as shown in fig. 5, the reliability assessment method comprises the following steps:
s200, constructing an evaluation index system of a satellite attitude and orbit control ground simulation system, wherein the evaluation index system comprises a plurality of evaluation nodes for reliability evaluation and unidirectional connecting lines for connecting the evaluation nodes;
optionally, the evaluation index system further includes a plurality of trace-back nodes for searching for reliability defects, and unidirectional connection lines for connecting the evaluation node and the trace-back nodes or connecting the trace-back nodes, each node representing a measurable nodeThe system local credibility evaluation index time sequence is equal to the system credibility time sequence in an equal interval time sequence and the same time interval, and the time interval is set as an evaluation period. The unidirectional connecting lines are connected to the upper node by the lower node, the types of the unidirectional connecting lines indicate how to calculate the connected upper node indexes by the lower node indexes, and the unidirectional connecting lines specifically comprise common connecting lines representing linear weighting and backtracking connecting lines only representing upper and lower relationships between backtracking nodes and evaluation nodes or backtracking nodes.
In one embodiment, fig. 6 is a schematic diagram of an evaluation index system model, which can be increased or decreased according to the deviation of the actual simulation system structure based on fig. 6 in actual application, and the model is further described below as an example. In the figure, the nodes are represented by circles, the common connecting lines are represented by single arrows, and the backtracking connecting lines are represented by open arrows.
Wherein,a time sequence of total credibility of the system;The system posture reliability time sequence is adopted;A system position credibility time sequence;And (5) a credibility time sequence for system interaction. The system attitude and position credibility time sequence can be obtained through experiments and calculation, is basically not influenced by simulation time, is a constant sequence and is obtained in a scoring form by an expert. The total credibility of the system can be directly calculated by the three nodes, so the three nodes and the root node are all evaluation nodes.
The rest nodesBacktracking nodes:the reliability time sequence of the full physical simulation system for gesture dynamics is provided;A reliability time sequence of a rotating part of the motion system;A credibility time sequence of the gesture measurement system; / >The credibility time sequence of the orbit dynamics digital simulation system is provided;The credibility time sequence of the translational part of the motion system is provided;A time sequence of credibility for a position measurement system;A credibility time sequence of the communication system;The reliability time sequence is the GNC system reliability time sequence;a time sequence of overshoot for the rotating subsystem;Ascending a time sequence for the rotating subsystem;Stabilizing the time sequence for the rotation subsystem;Is a translation subsystem overshoot time sequence;A translation subsystem rise time sequence;The time series is stabilized for the translation subsystem.
S210, based on the current attitude and orbit information (also called a ground simulation system) of a simulated satellite obtained by the satellite attitude and orbit control ground simulation system, obtaining a credible index sequence of a bottom layer evaluation node in an evaluation index system through EARTH (Enhanced Error Assessment of Response Time Histories) and an expert scoring method;
alternatively, taking the evaluation index system in fig. 6 as an example, it is necessary to obtain the time series of attitude credibility of the systemPosition confidence time series +.>Credibility time series of interaction with system>；
In one embodiment, the system pose reliability time series The evaluation mode of (2) is as follows:
applying the input of the same system as the actual satellite to the whole ground simulation system, and outputting every preset evaluation period in the pitching, yawing and rolling postures of the ground simulation system and the actual satellite systemRespective intercept->Is a segment of (2); each section of output of the ground simulation system and the actual satellite system is consistent by using an EARTH verification method; consistent pitch, yaw, roll gestures for the same momentTaking the maximum value as the system attitude reliability at the moment to finally obtain a time sequence of the system attitude reliability +.>。
System location confidence time seriesMethod for determining and->Similarly, the consistency index is obtained by utilizing X, Y, Z direction output curves of a ground simulation system and an actual satellite system so as to obtain a final system position reliability time sequence +.>。
Setting the system interaction credibility to be basically not influenced by simulation time, and setting the system interaction credibility time sequence to be basically influenced by simulation timeThe value of the constant sequence is set to be a constant sequence, and the value is difficult to describe by using quantitative indexes, so that the embodiment of the application is obtained by using an expert scoring method, and the scoring range is 0 to 1.
Optionally, as shown in fig. 7, the procedure of determining the consistency between A, B by the EARTH method is as follows:
A, B are time series of outputs of the actual satellite system and the ground simulation system respectively,is A sequence->Value of time of day->Is B sequence->A value of time of day;
s211 LiCalculating the number of phase steps by using the calculation formula of cross-correlation (cross-correlation) coefficientAnd phase error->；
The calculation formula of the cross correlation coefficient is as follows:
wherein the method comprises the steps ofFor the number of steps of movement, N is the length of the time series A, B.
Phase shift step numberThe calculation formula of (2) is as follows:
wherein argmax [ … ]]Meaning the size of the argument when the function value is maximum.Can be used to evaluate the phase difference between A, B sequences.
Since in most practical cases a small number of phase shift steps is considered a local error, there is no penalty on consistency assessment at the same rate as a large number of phase shift steps.
Thus setting the phase errorThe calculation formula of (2) is as follows:
where r is the growth rate, c is the rise point, and can be set according to practical problems and experience.
S212, shifting A, B according to the phase shift step number and obtaining a shifted time sequence asTime series->Dynamic time warping (Dynamic Time Warping, DTW) is performed to minimize the effects of phase and topology errors on the time series, and the magnitude error +_is calculated using the vector norm >；
Specifically, the B sequence is shifted in the direction of time increaseStep, intercepting the overlapping part of the sequence A and the sequence B after the movement on the time axis, and recording the time sequence after the movement as +.>. For time series->The method of performing dynamic time warping is as follows:
let the cost matrix d beSquare matrix in between, matrix and row column number are +.>Length of sequence. Element->Can be calculated by
Wherein the method comprises the steps ofIs->Sequence->Value of time of day->Is->Sequence->Value of time of day->As a sign of the absolute value of the sign,is->Time->Derivative of sequence with respect to time, ">Is->Time->The derivative of the sequence with respect to time.
Curved pathIs composed of ordered binary serial numbersThe set of components is defined as follows: />
Curved pathThe elements in (a) are binary groups->A path corresponding to the lower left corner element to the upper right corner element of the d matrix, wherein +.>For time series +.>Sequence number of element in->For time series +.>The sequence number of the element in (c),for the sequence->Is a length of (c). In addition, a curved path->The following three constraints need to be satisfied:
(1) Boundary constraints
And->Respectively representing the start point and the end point of the curved path, respectively corresponding to the element number pairs in the lower left and upper right corner of the matrix d, thus +. >，。
(2) Continuity constraints
The curved path should be continuous, so that the two-tupleAnd->Is adjacent, satisfying:，。
(3) Monotonicity constraint
To ensure that the curved path is a unidirectional path from bottom left to top right,andthe following should be satisfied:，。
Paths satisfying the three constraintsThere are many, the embodiment of the present application selects a path satisfying the following formula as a curved path of dynamic time curvature +.>：
Set two groupsIs->Element of (a)>，. The time series after recording the time warp is +.>The expression is as follows:
amplitude errorThe calculation formula of (2) is as follows:
wherein the method comprises the steps ofRepresenting the L1 norm of the vector, i.e., the sum of the absolute values of the elements in the vector.
S213 time series after movementThe derivative of each point in (2) gives the sequence +.>And deriving the sequence +.>Performing dynamicTime warp is taken->Calculating topology error using vector norms>；
Specifically, the method of dynamic time warping is the same as in step S212.
Topology errorThe calculation formula of (2) is as follows: />
Wherein the method comprises the steps ofRepresenting the L1 norm of the vector, i.e., the sum of the absolute values of the elements in the vector.
S214 according to the phase errorAmplitude error->Topology error->Finding an index characterizing the consistency of the curve +.>。
Wherein the method comprises the steps ofCan be previously scored according to the expert's consistency of several pairs of output curves already obtained, curve phase error +. >Amplitude error->Topology error->Fitting and obtaining, and directly taking out according to engineering experience.
S220, acquiring weight vectors of the evaluation node layers under the evaluation of different expert importance levels through a AHP (Analytical Hierarchy Process) method, and fusing the weight vectors through a D-S (Dempster-Shafer' S) evidence theory to obtain fused weight vectors;
optionally, as shown in fig. 8, the steps of obtaining weights by the AHP method are as follows:
s221, comparing importance of the lower layer nodes relative to the father node in pairs, and constructing a judgment matrix J;
wherein q is the total number of the nodes at the lower layer,the importance degree of the r node and the s node relative to the father node is represented, the value of the importance degree is determined by an expert according to the following table 1, and the importance degree is satisfied +.>。
Table 1 importance of the r node and the s node relative to the parent node
S222, calculating a weight vector according to the judgment matrix J;
specifically, the judgment matrix J is normalized:
summing the normalized matrix according to columns:
and then normalized to obtain a weight vector W:
，
wherein the method comprises the steps ofTranspose the symbols for the matrix.
S223, consistency test:
the weight vector W obtained in step S222 is essentially a feature vector corresponding to the maximum feature value of the judgment matrix J, and the maximum feature value of the judgment matrix J can be obtained according to W ：
Wherein the method comprises the steps ofVector +.f after multiplication of matrix A with vector W>The elements.
Can be according toObtaining the random consistency ratio->：
Wherein the method comprises the steps ofFor determining the matrix consistency index, the matrix consistency index can be obtained according to the determination matrix J dimension table 2:
TABLE 2 matrix consistency index
If it is<When 0.1 or infinity is found, the judgment matrix J is identical, and the obtained weight vector W can be directly used. Otherwise, the judgment matrix J is inconsistent, and the judgment matrix J needs to be adjusted until the judgment matrix J is consistent.
In one embodiment, the method of D-S evidence theory fusion weights is as follows:
is provided with a firstWeight vector derived by expert->Q is the total number of lower nodes (weight vector dimension), and the fused weight can be calculated according to the following formula>：
Wherein the method comprises the steps ofIs the total number of fused weight vectors.
S230, confirming a fuzzy membership function of a bottom layer evaluation node in an evaluation index system;
in one embodiment, set comment set V= { untrusted, substantially untrusted, less trusted, generally untrusted, more trusted, trusted }, in system pose reliability time seriesFor example, the same membership function as shown in FIG. 9 may be constructed for all times in the system pose reliability time series.
S240, confirming evaluation vectors at all moments in a trusted index sequence of a bottom evaluation node in an evaluation index system according to the fuzzy membership function;
In one embodiment, the system posture reliability time sequence is still usedFor example, if at the kth timeThe evaluation result can be used as fuzzy set +.>The representation is:
it can also be written in the form of vectors, i.e. evaluation vectors:
s250, comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using a fuzzy comprehensive evaluation method according to the evaluation vectors at all times and the weight vectors fused among all layers of the evaluation nodes.
In one embodiment, the evaluation vector of each time of the upper node may be calculated according to the weight vector between the upper and lower layers and the evaluation vector of each time of the lower node, and the calculation formula is as follows:
wherein the method comprises the steps ofFor the evaluation vector at the kth time of the upper node index, < >>Is the weight vector between the upper and lower layers, < ->The comprehensive evaluation matrix at the kth moment is composed of the evaluation vectors of all the nodes at the lower layer below the kth moment:
wherein the method comprises the steps ofIs the lower layer->Evaluation vector of individual node->The total number of the lower nodes.
“"symbol is defined as:
wherein the method comprises the steps ofFor vector->Middle->Element(s)>For vector->Middle->Element(s)>Is a matrixMiddle->Line->Column element->To take the maximum sign>To take smaller value symbols.
The total reliability of the ground simulation system is also an evaluation vector, and a determined reliability index can be obtained by adopting a maximum membership method.
For example: the total credibility evaluation vector at the kth time of the ground simulation system is as followsThe corresponding confidence rating is then the comparison confidence. If the comment set V is quantized, the total credibility of the ground simulation system at the kth time is 0.7 if the unreliable, basic unreliable, less reliable, generally unreliable, more reliable and reliable correspond to 0.1, 0.3, 0.4, 0.5, 0.6, 0.7 and 0.9 respectively.
Optionally, the step of comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using the fuzzy comprehensive evaluation method further comprises the following steps: if the total reliability at a certain moment does not reach the preset condition (if the reliability is poor in evaluation), calculating the reliability index value of the bottom layer backtracking node under the evaluation node of which the reliability at the current moment does not reach the preset condition, and judging whether the bottom layer backtracking node is the source of the reliability defect according to the reliability index. If the reliability of the node is low, the node is considered to be the source of the reliability defect.
In one embodiment, the pose dynamics full-physics simulation system credibility time seriesAnd credibility time sequence of orbit dynamics digital simulation system +.>Time series of credibility with system posture>And system position reliability time series +.>The method of the determination is similar, but only for the subsystem.
Since the measurement system and GNC system are generally identical to the actual satellite, and even are part of the actual satellite, the confidence sequence can be set to a constant sequence with a value of 1.
Communication system credibility time sequenceConfidence sequence which can be calculated in real time by the time synchronization part +.>The transformation is carried out. Habitually evaluation period->Generally greater than synchronization period->It is necessary to add synchronization period->The following confidence sequenceConversion to evaluation period>Reliability time sequence of the communication system>The specific method is as follows:
wherein,the k-th set of synchronization cycle times included in the k-th evaluation cycle time is the time number of the evaluation cycle, and n is the time number of the synchronization cycle.
From the above, the reliability evaluation method provided by the embodiment of the application is used for performing reliability evaluation on the satellite attitude and orbit control ground simulation system provided by the first embodiment, and the reliability finally obtained is a time sequence related to simulation time, so that the problem that the reliability of the ground simulation system is greatly different due to factors such as error accumulation, orbit perturbation and the like in short-time and long-time simulation experiments, and a single reliability value cannot accurately express the characteristic can be effectively solved. The influence of expert subjective factors on credibility evaluation can be reduced by using the D-S evidence theory to fuse weight vectors. By adopting the EARTH system verification method, the consistency of the dynamic indexes of the simulation system can be comprehensively evaluated from three aspects of phase, amplitude and topology, and the reliability of the control ground simulation system can be quantitatively evaluated more accurately. By using an evaluation index system comprising an evaluation node and a backtracking node, the source of the reliability defect can be searched through the backtracking node under the condition that the overall reliability is not ideal besides the function of evaluating the overall reliability of the simulation system.
Example III
The embodiment of the application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the memory is used for storing the software program and a module, and the processor executes various functional applications and data processing by running the software program and the module stored in the memory. The memory and the processor are connected by a bus. Specifically, the processor implements any of the steps of the above-described embodiment by running the above-described computer program stored in the memory.
It should be appreciated that in embodiments of the present application, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read-only memory, flash memory, and random access memory, and provides instructions and data to the processor. Some or all of the memory may also include non-volatile random access memory.
It should be appreciated that the above-described integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the method embodiments described above when executed by a processor. The computer program comprises computer program code, and the computer program code can be in a source code form, an object code form, an executable file or some intermediate form and the like. The computer readable medium may include: any entity or device capable of carrying the computer program code described above, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The content of the computer readable storage medium can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
It should be noted that, the method and the details thereof provided in the foregoing embodiments may be combined into the apparatus and the device provided in the embodiments, and are referred to each other and are not described in detail.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will 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 technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. A satellite attitude and orbit control ground simulation system, comprising:
The system comprises a GNC system, a dynamics simulation system, a motion system, a measurement system and a communication system;
the communication system is respectively connected with the GNC system, the dynamics simulation system, the motion system and the measurement system and is used for realizing information transmission among the systems;
the GNC system is used for obtaining control instructions according to the current attitude and orbit information of the simulated satellite output by the measurement system and the attitude and orbit information given by the outside and transmitting the control instructions to the dynamics simulation system;
the dynamics simulation system is used for obtaining attitude information and orbit information of the simulated satellite through physical experiments or mathematical simulations according to the control instruction and transmitting the attitude information and orbit information to the motion system;
the motion system is used for bearing the simulated satellite and controlling the simulated satellite to move according to the attitude information and the orbit information output by the dynamics simulation system;
the measurement system is used for measuring the current gesture and orbit of the simulated satellite, obtaining the current gesture orbit information of the simulated satellite and transmitting the current gesture orbit information to the GNC system;
the GNC system, the dynamics simulation system, the motion system and the measurement system are provided with respective clocks, and the synchronization protocols are operated among the systems based on the communication system so as to ensure the synchronism of different clocks;
The time synchronization protocol includes: selecting a clock of any system as a master clock, selecting clocks of other systems as slave clocks, taking the master clock time as a reference, taking every preset synchronous period as a time period, and executing the following steps in each time period until the simulation is finished:
s100, in an nth time period, the master clock and one of the slave clocks mutually send messages through a communication system, and according to the time when the master clock sends the messages and the time when the slave clock receives the messages, the delay from the master clock to the slave clock and the delay from the slave clock to the master clock in the current time period are calculated;
s110, clock offset and propagation delay of the current time period are obtained from a clock end through self-adaptive Kalman filtering;
s120, adjusting the clock frequency of the slave clock by using a PI controller according to the clock offset so as to achieve time synchronization;
s130, judging whether all slave clocks and the master clock finish one time of time synchronization, if so, executing a step S140, otherwise, returning to the step S100;
and S140, calculating the reliability of the communication system at the current moment by taking the maximum value of the clock offset of the master clock and all the slave clocks as the maximum clock offset at the current moment and taking the maximum value of the propagation delay of the master clock and all the slave clocks as the maximum propagation delay at the current moment.
2. The satellite attitude and orbit control ground simulation system according to claim 1, wherein the dynamics simulation system is a digital simulation system or a semi-physical simulation system or an all-physical system;
the dynamics simulation system includes: a gesture dynamics simulation system for obtaining the gesture information, and an orbit dynamics simulation system for obtaining the orbit information.
3. A reliability evaluation method for performing reliability evaluation on the satellite attitude and orbit control ground simulation system according to claim 1 or 2, comprising:
constructing an evaluation index system of the satellite attitude and orbit control ground simulation system, wherein the evaluation index system comprises a plurality of evaluation nodes for reliability evaluation and unidirectional connecting lines for connecting the evaluation nodes;
based on the current attitude and orbit information of the simulated satellite obtained by the satellite attitude and orbit control ground simulation system, a trusted index sequence of a bottom layer evaluation node in an evaluation index system is obtained through an EARTH and expert scoring method;
acquiring weight vectors of each layer of the evaluation node under the evaluation of different expert importance degrees by an AHP method, and fusing the weight vectors by a D-S evidence theory to obtain fused weight vectors;
Confirming a fuzzy membership function of a bottom layer evaluation node in an evaluation index system;
confirming evaluation vectors at all moments in a trusted index sequence of a bottom layer evaluation node in an evaluation index system according to the fuzzy membership function;
and comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using a fuzzy comprehensive evaluation method according to the evaluation vectors at each moment and the weight vectors fused among all layers of the evaluation nodes.
4. The method of claim 3, wherein the evaluation index system further comprises a plurality of trace-back nodes for finding reliability defects and unidirectional connection lines for connecting the evaluation nodes and the trace-back nodes or each trace-back node;
the method for comprehensively calculating the total credibility of the satellite attitude and orbit control ground simulation system from bottom to top by using the fuzzy comprehensive evaluation method further comprises the following steps:
if the total reliability at a certain moment does not reach the preset condition, calculating the reliability index value of the bottom layer backtracking node under the evaluation node of which the reliability at the current moment does not reach the preset condition, and judging whether the bottom layer backtracking node is the source of the reliability defect according to the reliability index.
5. The method for evaluating the reliability according to claim 3 or 4, wherein the reliability index sequence of the bottom-level evaluating node comprises a posture reliability time sequence, a position reliability time sequence and a system interaction reliability time sequence;
The obtaining the trusted index sequence of the bottom layer evaluation node in the evaluation index system comprises the following steps:
applying the same input as the actual satellite system to the satellite attitude and orbit control ground simulation system, acquiring the outputs of the satellite attitude and orbit control ground simulation system and the actual satellite system every other preset evaluation period, obtaining consistency of each output of the satellite attitude and orbit control ground simulation system and the actual satellite system by an EARTH method, obtaining consistency indexes, and obtaining an attitude credibility time sequence and a position credibility time sequence according to each consistency index;
and obtaining a system interaction credibility time sequence by an expert scoring method.
6. The method of claim 5, wherein said obtaining consistency for each output of the satellite attitude and orbit control ground simulation system and the actual satellite system by the EARTH method and obtaining a consistency index comprises:
a, B is set to be the time sequence of the output of the actual satellite system and the satellite attitude and orbit control ground simulation system, and the phase error between the phase shift step number and A, B is calculated by using a calculation formula of the cross correlation coefficient;
shifting A, B according to the phase shift step number and obtaining a shifted time sequence as Time seriesPerforming dynamic time warping and calculating to obtain an amplitude error;
time series after movementThe derivative of each point in (2) gives the sequence +.>And deriving the sequence +.>Performing dynamic time warping and calculating to obtain a topology error;
and (5) obtaining a consistency index representing the consistency of the curve according to the phase error, the amplitude error and the topology error.
7. The method for evaluating the credibility of claim 3 or 4, wherein the obtaining the weight vector between layers of the evaluation node under the evaluation of different expert importance levels by using the AHP method comprises:
comparing importance of child nodes relative to father nodes in pairs, and constructing a judgment matrix;
calculating a weight vector according to the judgment matrix;
and obtaining a random consistency ratio according to the weight vector, judging whether the random consistency ratio is smaller than 0.1 or infinite, if so, judging that the matrix is consistent, wherein the weight vector is available, otherwise, judging that the matrix is inconsistent, and adjusting the judging matrix until the weight vector is consistent.
8. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 3 to 7 when the computer program is executed.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 3 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311524986.8A CN117234106B (en) | 2023-11-16 | 2023-11-16 | Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311524986.8A CN117234106B (en) | 2023-11-16 | 2023-11-16 | Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117234106A true CN117234106A (en) | 2023-12-15 |
| CN117234106B CN117234106B (en) | 2024-02-06 |
Family
ID=89097072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311524986.8A Active CN117234106B (en) | 2023-11-16 | 2023-11-16 | Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117234106B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080597A (en) * | 1999-09-13 | 2001-03-27 | Mitsubishi Electric Corp | Attitude control device for three-axis stability satellite |
| US6735523B1 (en) * | 2000-06-19 | 2004-05-11 | American Gnc Corp. | Process and system of coupled real-time GPS/IMU simulation with differential GPS |
| CN103309242A (en) * | 2013-04-24 | 2013-09-18 | 上海卫星工程研究所 | Image navigation/registration demonstration and verification system based on real-time simulation platform and method |
| CN104077490A (en) * | 2014-07-03 | 2014-10-01 | 哈尔滨工业大学 | Aircraft navigation guidance and control ground simulation system performance evaluating method |
| CN104077456A (en) * | 2014-07-06 | 2014-10-01 | 哈尔滨工业大学 | Method for performance evaluation of spacecraft attitude control ground simulation system |
| KR101640720B1 (en) * | 2015-12-17 | 2016-07-18 | 한국항공우주연구원 | Method and apparatus for comparing performance of satellite attitude control |
| WO2017078221A1 (en) * | 2015-11-06 | 2017-05-11 | 한국항공우주연구원 | Simulation device of satellite, and method therefor |
| CN114154355A (en) * | 2022-02-10 | 2022-03-08 | 伸瑞科技（北京）有限公司 | Efficiency evaluation method for satellite tracking pointing control ground simulation system |
| CN115268390A (en) * | 2022-04-14 | 2022-11-01 | 哈尔滨工业大学 | High-precision satellite tracking and pointing control ground simulation system AHP (attitude and heading Process) efficiency evaluation method |
| CN116032396A (en) * | 2022-11-07 | 2023-04-28 | 中国空间技术研究院 | System model construction method and system simulation method for low-orbit constellation system |
| WO2023097932A1 (en) * | 2021-11-30 | 2023-06-08 | 江苏徐工工程机械研究院有限公司 | Method and system for screening a plurality of simulation results of engineering machinery |
| CN116661335A (en) * | 2023-07-27 | 2023-08-29 | 哈尔滨工业大学 | Spacecraft attitude control physical simulation system with tracking and aiming device and evaluation method thereof |
| CN116933487A (en) * | 2023-06-06 | 2023-10-24 | 中国空间技术研究院 | Spacecraft system simulation collision damage judging system and method |
-
2023
- 2023-11-16 CN CN202311524986.8A patent/CN117234106B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001080597A (en) * | 1999-09-13 | 2001-03-27 | Mitsubishi Electric Corp | Attitude control device for three-axis stability satellite |
| US6735523B1 (en) * | 2000-06-19 | 2004-05-11 | American Gnc Corp. | Process and system of coupled real-time GPS/IMU simulation with differential GPS |
| CN103309242A (en) * | 2013-04-24 | 2013-09-18 | 上海卫星工程研究所 | Image navigation/registration demonstration and verification system based on real-time simulation platform and method |
| CN104077490A (en) * | 2014-07-03 | 2014-10-01 | 哈尔滨工业大学 | Aircraft navigation guidance and control ground simulation system performance evaluating method |
| CN104077456A (en) * | 2014-07-06 | 2014-10-01 | 哈尔滨工业大学 | Method for performance evaluation of spacecraft attitude control ground simulation system |
| WO2017078221A1 (en) * | 2015-11-06 | 2017-05-11 | 한국항공우주연구원 | Simulation device of satellite, and method therefor |
| KR101640720B1 (en) * | 2015-12-17 | 2016-07-18 | 한국항공우주연구원 | Method and apparatus for comparing performance of satellite attitude control |
| WO2023097932A1 (en) * | 2021-11-30 | 2023-06-08 | 江苏徐工工程机械研究院有限公司 | Method and system for screening a plurality of simulation results of engineering machinery |
| CN114154355A (en) * | 2022-02-10 | 2022-03-08 | 伸瑞科技（北京）有限公司 | Efficiency evaluation method for satellite tracking pointing control ground simulation system |
| CN115268390A (en) * | 2022-04-14 | 2022-11-01 | 哈尔滨工业大学 | High-precision satellite tracking and pointing control ground simulation system AHP (attitude and heading Process) efficiency evaluation method |
| CN116032396A (en) * | 2022-11-07 | 2023-04-28 | 中国空间技术研究院 | System model construction method and system simulation method for low-orbit constellation system |
| CN116933487A (en) * | 2023-06-06 | 2023-10-24 | 中国空间技术研究院 | Spacecraft system simulation collision damage judging system and method |
| CN116661335A (en) * | 2023-07-27 | 2023-08-29 | 哈尔滨工业大学 | Spacecraft attitude control physical simulation system with tracking and aiming device and evaluation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117234106B (en) | 2024-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Crassidis et al. | Optimal estimation of dynamic systems | |
| CN105868853B (en) | Method for predicting short-term wind power combination probability | |
| Zhao et al. | Robust adaptive cubature Kalman filter and its application to ultra-tightly coupled SINS/GPS navigation system | |
| CN113269314B (en) | New energy power generation scene data migration method based on generation countermeasure network | |
| CN113175931B (en) | Cluster networking collaborative navigation method and system based on constraint Kalman filtering | |
| CN108805287A (en) | The Gyro Random error compensating method and system of genetic wavelet neural network | |
| CN115545159A (en) | Average sea surface temperature forecasting method of deep neural network | |
| Zhang et al. | High‐degree cubature Kalman filter for nonlinear state estimation with missing measurements | |
| CN116993832B (en) | CNN-based position prediction method and device for flight target | |
| CN117234106B (en) | Satellite attitude and orbit control ground simulation system and reliability evaluation method thereof | |
| Xu et al. | A dt machine learning-based satellite orbit prediction for iot applications | |
| Arras et al. | Finite-element structural updating using frequency response functions | |
| Li et al. | Sequential unbiased converted measurement non‐linear filter with range rate in ECEF coordinates | |
| Kim et al. | Predicting IGS RTS corrections using ARMA neural networks | |
| Horibe et al. | Quantitative measure for nonlinear unstable systems based on the region of attraction and its application to designing parameter optimization–inverted pendulum example | |
| CN112990256A (en) | Multi-sensor noise calculation method, information fusion method, storage medium and device | |
| Das et al. | Minuscule Corrections to Near-surface Solar Internal Rotation Using Mode Coupling | |
| York et al. | Convergence basin analysis for spacecraft trajectory targeting | |
| Cui et al. | The atmospheric model of neural networks based on the improved Levenberg-Marquardt algorithm | |
| Ward | Information-based methods and models for particle flow filtering | |
| CN118549955B (en) | Beidou satellite ephemeris prediction method and system based on wave-type parallel network | |
| Weisman | Nonlinear transformations and filtering theory for space operations | |
| CN108332776B (en) | Method for constructing MEMS gyroscope random error combination prediction model | |
| Peng et al. | Machine Learning Gyro Calibration Method Based on Attitude Estimation | |
| Sheng | Design of algorithms for improving resilience of sensors in space exploration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |