Method and device for determining instruction sending time delay of spacecraft and storage medium
A technology for command sending and determination method, which is applied in the field of computer communication, can solve the problem of low determination accuracy of transmission time delay, and achieve the effect of improving the determination accuracy
Inactive Publication Date: 2020-05-29
中国人民解放军63920部队
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[0007] Embodiments of the present invention provide a method, device, and storage medium for determining a command sending delay of ...
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In sum, the instruction forwarding time-delay calculation device based on the lunar relay star of this embodiment is divided into two independent time-delay calculation devices, which are used to calculate the instruction sending time-delay respectively, and simultaneously according to the ground station and The sending delay of the lunar relay star is calculated according to the different lengths of the command codes, the space communication distance is calculated in real time according to the orbital characteristics of the orbiting lunar relay star and the target spacecraft, and the space communication distance delay is dynamically calculated according to the real-time calculation results, thus realizing the lunar The accurate calculation of the time delay of each part of the relay star forwarding command completes the calculation method and device of the command forwarding time delay based on the lunar relay star. Among them, the time delay of transmitting commands by the lunar relay satellite is calculated in a segmented manner, and the calculation method is more detailed, which can adapt to the communication characteristics of different measurement and control equipment used for command transmission; according to the orbital characteristics of the lunar relay satellite and the target spacecraft, Using the real-time calculated ground station, the space communication distance from the lunar relay star to the target aircraft, the space distance communication time delay calculation is more accurate;) When calculating the ground station sending time delay and the moon relay star forwarding time delay, respectively according to The original command code length sent by the ground and the command code length after the analysis and processing of the lunar relay star are used to calculate the command sending delay, and the calculation is performed according to the respective code rates of the ground station and the lunar relay star, so that it can adapt to different types of measurement and control equipment. Processing method, the calculation of transmission delay of different types of instructions and instruction codes of different lengths is more accurate.
In this embodiment, the first section of time delay that the target instruction is sent to the relay star via the ground control center is obtained by the first acquisition unit 31; the second acquisition unit 32 is used to obtain the target instruction and is processed and forwarded by the relay star to the second section o...
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The invention discloses a method and a device for determining instruction sending time delay of a spacecraft and a storage medium. The method comprises the following steps: acquiring a first section of time delay sent to a relay satellite by a target instruction through a ground control center; obtaining a second time delay of the target instruction processed by the relay star and forwarded to thetarget spacecraft; and accumulating the first section of time delay and the second section of time delay to obtain a target time delay of sending a target instruction to the target spacecraft by theground control center. According to the invention, the technical problem of low determination precision of the instruction sending time delay of the spacecraft is solved.
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Example Embodiment
[0027] Example 1
[0028] According to an embodiment of the present invention, an embodiment of a method for determining a command sending delay of a spacecraft is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer such as a set of computer-executable instructions system, and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
[0029] figure 1 It is a flow chart of a method for determining a command sending delay of a spacecraft according to an embodiment of the present invention. like figure 1 As shown, the method may include the following steps:
[0030] Step S102, acquiring the first period of time delay for the target command to be sent to the relay satellite via the ground control center.
[0031] In the technical solution provided by step S102 of the present invention, the ground control center can issue a target command, which can be used to control the target spacecraft, and the target command can be sent to the relay satellite through the ground station, and the relay star will After the target command is received and processed, the obtained target command code is sent to the target spacecraft.
[0032] Optionally, the relay satellite in this embodiment is a lunar relay satellite, and the target spacecraft is a lunar orbiting spacecraft.
[0033] When the target spacecraft flying around the moon flies to the back of the moon, the target spacecraft will be blocked by the moon, and the ground will not be able to communicate with the target spacecraft. The relay star can be a relay communication satellite sent by humans to the moon for the ground The control center communicates with the target spacecraft orbiting the moon, including sending commands to the target spacecraft and receiving data information from the target spacecraft. Among them, the relay satellite flies on certain orbits (for example, halo orbit), and the orbital characteristics are also constantly changing.
[0034] The ground control center sends the target command to the target spacecraft, including the following four steps: the control center remote host generates and sends the target command; the central server sends the target command to the ground station; the ground station processes the target command and sends the relay satellite; The follower satellite receives the processed target command and sends it to the target spacecraft.
[0035]Since the ground control center needs to send the target command to the target spacecraft according to the scheduled time, the accuracy of the time when the target command arrives at the target spacecraft is high, and the smaller the time error, the better. Under the condition that the distance between the earth and the moon reaches 380,000 kilometers, the target command will be forwarded through the relay satellite and other complicated links, so it is necessary to accurately send the target command to the target spacecraft. Therefore, the ground control center needs to accurately calculate the target command issued by the ground control center, to The relay star forwards the target command and delays the arrival time of the target spacecraft, so that the target command can be issued in advance, so that the time when the target command arrives at the target spacecraft is more accurate.
[0036] Since the communication characteristics of the sending equipment of the ground station and the communication characteristics of the relay satellite are different in the following ways: the processing mechanism and delay of the two are different, and the sending code rate is also different. Among them, the ground control center sends The content of the target command code sent to the relay star is different from the content of the target command code forwarded by the relay star to the target spacecraft, and the length of the target command code is also different. Therefore, in this embodiment, when calculating the time delay for the ground control center to transmit to the target spacecraft via the relay star, a "two-stage" method can be used to calculate the time delay for the ground control center to transmit to the target spacecraft via the relay star, including: The time delay between the ground survey station sending the target command and the relay satellite is taken as the first delay T1; the time delay when the relay star processes and forwards the target command to the target spacecraft is taken as the second delay T2 to calculate The time delay for the ground control center to transmit to the target spacecraft via the relay satellite.
[0037] This embodiment obtains the first period of time delay when the target command is sent to the relay satellite via the ground control center. When the ground control center sends the target command to the relay satellite through the station equipment of the ground station, the ground control center first sends After the command arrives at the ground station, the station equipment at the ground station analyzes and processes the target command, and then sends the target command to the relay satellite. Therefore, this embodiment can delay the processing of the target command according to the ground control center. , the time delay of the target instruction from the ground control center to the ground station, the processing time delay of the station equipment of the ground station to the target instruction, the time delay of the ground station sending out, and the distance between the ground satellite (ground station and relay satellite) The space communication distance delay to determine the above-mentioned first delay.
[0038] Step S104, obtaining the second period of time delay for the target command to be processed and forwarded to the target spacecraft through the relay satellite.
[0039] In the technical solution provided by step S104 of the present invention, this embodiment can also obtain the second period of time delay for the target command to be processed and forwarded to the target spacecraft through the relay star.
[0040] In this embodiment, after the relay star receives the target command, it can cache and parse the outer format of the command code of the target command, and forward the valid command to the target spacecraft. Therefore, the embodiment can determine the above-mentioned second period of time according to the delay of the relay star processing the target command, the delay of the relay star forwarding the target command, and the time delay of the space communication distance between star devices (relay star and spacecraft). delay.
[0041] Step S106, accumulating the first period of time delay and the second period of time delay to obtain the target time delay for the ground control center to send the target command to the target spacecraft.
[0042] In the technical solution provided by step S106 of the present invention, the acquisition target command is sent to the relay satellite through the ground control center for the first period of delay, and the target command is processed by the relay star and forwarded to the second segment of the target spacecraft After the time delay, the first time delay and the second time delay can be accumulated to obtain the target time delay for the ground control center to send the target command to the target spacecraft.
[0043] In this embodiment, the time delay for the target command to be forwarded to the target spacecraft via the ground control center via the relay star includes the first time delay T1 for the ground station to send the target command to the relay star and the relay star processing and The second delay of forwarding the target command to the target spacecraft, the first delay and the second delay are calculated separately, and they are accumulated, and the accumulated result is determined as the ground control center sending the target command to the target spacecraft The target delay is the command forwarding delay based on the relay satellite.
[0044] Through the above steps S102 to S106, obtain the first period of time delay for the target command to be sent to the relay satellite via the ground control center; obtain the second period of time delay for the target command to be processed and forwarded to the target spacecraft through the relay star; The one-stage time delay and the second-stage time delay are accumulated to obtain the target time delay for the ground control center to send the target command to the target spacecraft, thereby realizing the accurate determination of each part of the time delay for the relay satellite to transmit the target command, avoiding the Considering the time delay caused by the distance between the ground and the spacecraft, without considering the time delay caused by the distance between the ground and the relay star, and the distance between the relay star and the spacecraft, there is a determination accuracy of the spacecraft’s command sending delay Low technical problems, and then achieve the technical effect of improving the determination accuracy of the command sending delay of the spacecraft.
[0045] The above-mentioned method of this embodiment will be further introduced below.
[0046] As an optional implementation manner, step S102, obtaining the first period of time delay when the target instruction is sent to the relay satellite via the ground control center includes: obtaining the first processing time when the ground control center processes the target instruction into the first instruction delay; obtain the first sending delay when the ground control center sends the first instruction to the ground station; obtain the second processing delay when the ground station processes the first instruction into the second instruction; obtain the second instruction issued by the ground station the first sending delay; obtain the first communication delay between the ground station and the relay satellite; the first processing delay, the first sending delay, the second processing delay, the first sending delay and the first The communication delays are accumulated to obtain the first delay.
[0047] In this embodiment, after realizing the first period of time delay for obtaining the target command sent to the relay satellite via the ground control center, the ground control center can process the target command to obtain the first processing time delay of the first command, That is, the processing time delay of the ground control center can represent the first processing time delay by T11; the ground control center can send the first command to the ground station, and can obtain the first time that the ground control center sends the first command to the ground station. The transmission delay, that is, the delay from the ground control center to the ground station, can be represented by T12; after the ground station obtains the first command, it can process the first command to obtain the second command, for example, the ground The station equipment at the station parses and processes the first instruction to obtain the second instruction, and obtains the second processing delay for the ground station to process the first instruction into the second instruction, that is, the station equipment processing delay, which can be Expressed by T13; after the ground station processes the first command into the second command, the ground station can send the second command to the relay satellite, and can obtain the first sending delay of the ground station to issue the second command, and also That is, the time delay sent by the ground station can pass through T14; after the ground station sends the second instruction to the relay satellite, there is still a communication delay between the ground station and the relay satellite (earth satellite), that is, The space communication distance delay, also known as the earth-satellite space communication distance delay, can be represented by T15, and then the first processing delay, the first sending delay, the second processing delay, the first sending delay and the second A communication delay is accumulated to obtain the first delay, for example, the first delay T1=T11+T12+T13+T14+T15.
[0048] In this embodiment, before the relay satellite is launched, the first processing delay T11, the first transmission delay T12, and the second processing delay T13 can be specially tested on the ground to obtain test data, and the test data can be taken as The mean value is used as the time delay value for calculation. In general, these delay test results do not change much before and after the relay satellite is launched, so the variation error can be ignored.
[0049] As an optional implementation manner, obtaining the first communication delay between the ground station and the relay satellite includes: obtaining the first distance between the ground station and the relay satellite; calculating the distance between the first distance and the speed of light The quotient is determined as the first communication delay.
[0050] In this embodiment, the relay satellite is flying on the orbit, and the target spacecraft is flying on its own orbit, and the distance between the ground station and the relay satellite is also constantly changing, and the distance variation can reach tens of thousands of kilometers. Therefore, In order to ensure the accuracy of the first communication delay calculation between the ground station and the relay satellite, this embodiment can be based on the orbit characteristics of the relay satellite and the target spacecraft, according to the real-time calculation distance from the ground station to the relay satellite. To calculate the first communication delay, the real-time first distance between the ground station and the relay satellite can be obtained, that is, the space communication distance delay between the ground station and the relay satellite can be obtained, which can be expressed by D1, and then The quotient between the first distance and the speed of light determines the first communication delay, for example, the first communication delay T15=D1/V 光速 , where V 光速 Used to represent the speed of light.
[0051] As an optional implementation manner, obtaining the first sending delay of the second command issued by the ground station includes: obtaining the sending code length of the ground station; obtaining the sending code rate of the ground station; combining the sending code length with the sending The quotient between the code rates is determined as the first sending delay.
[0052] In this embodiment, the first sending delay of the ground station to send the second command can be calculated according to the communication characteristics of the ground station, and the sending code length of the ground station can be obtained first, and the sending code length is also the length of the ground station. The sending code length of the station equipment can be calculated according to the format and content of different instructions. The length of the original instruction code sent by the station equipment can be used for L1 to represent; this embodiment also obtains the sending code rate of the ground station, and the sending code The rate can be the rate at which the station equipment sends the original command code, that is, the code rate of the station equipment, which can be represented by V1. In this embodiment, the quotient between the sending code length and the sending code rate can be obtained, and the quotient can be determined as the first sending delay. For example, the first sending delay T14=L1/V1.
[0053] Therefore, T1=T11+T12+T13+(L1/V1)+(D1/V 光速 ), where the first processing delay T11, the first sending delay T12, and the second processing delay T13 can be obtained by conducting special tests on the ground, and the average value of the test data is used as the time delay value for calculation. In general, these delay test results do not change much before and after the relay satellite is launched, so the variation error can be ignored.
[0054] As an optional implementation manner, step S104, obtaining the second period of time delay during which the target instruction is processed by the relay star and forwarded to the target spacecraft, includes: obtaining the second time delay for the relay star to process the second instruction into a third instruction 3. Processing time delay; obtaining the forwarding time delay of relay star forwarding the third instruction; obtaining the second communication time delay between the relay star and the target spacecraft; for the third processing time delay, forwarding time delay and second communication time The delays are accumulated to obtain the second delay.
[0055] In this embodiment, after realizing the second period of time delay during which the acquisition target command is processed by the relay star and forwarded to the target spacecraft, the second command can be acquired by the relay star to obtain the third processing of the third command. Delay, for example, after the relay star receives the second instruction sent by the ground station, it caches and parses the outer format of the instruction code referring to the second instruction, determines the effective third instruction, and the third processing delay That is, the processing delay of the relay star can be represented by T21; after the relay star processes the second command into the third command, it will forward the third command to obtain the forwarding delay of the relay star forwarding the third command , the forwarding delay is also the forwarding delay of the relay star, which can be expressed by T22; in the process of forwarding the third command from the relay star to the target spacecraft, there will be the first relay star and the target spacecraft The second communication delay, that is, the space communication distance delay between the relay star and the spacecraft (stellar), also known as the star space communication distance delay, can be represented by T23, and then the third processing time The delay, the forwarding delay and the second communication delay are accumulated to obtain the second delay, for example, the second delay T2=T21+T22+T23.
[0056] In this embodiment, before the relay star is launched, a special test can be performed on the third processing delay of the relay star for processing the second instruction to obtain test data, and the average value of the test data can be used as the third processing delay . Generally, the third processing delay does not change much before and after the relay satellite is launched, so its variation error can be ignored.
[0057]As an optional implementation manner, obtaining the second communication delay between the relay satellite and the target spacecraft includes: obtaining a second distance between the relay satellite and the target spacecraft; calculating the distance between the second distance and the speed of light The quotient between is determined as the second communication delay.
[0058] In this embodiment, the relay star is flying on the orbit, and the target spacecraft is flying on its own orbit, and the distance between the relay star and the target spacecraft is also constantly changing, and the distance variation can reach tens of thousands of kilometers, so , in order to ensure the accuracy of the calculation of the second communication delay between the relay satellite and the target spacecraft, this embodiment can be based on the orbital characteristics of the relay satellite and the target spacecraft, according to the ground measurement method from the relay satellite to the target spacecraft The real-time calculation distance of the station is used to calculate the second communication delay, and the second distance between the relay star and the target spacecraft can be obtained, that is, the space communication distance delay between the relay star and the target spacecraft can be obtained. Represented by D2, and then the quotient between the second distance and the speed of light is used to determine the second communication delay, for example, the second communication delay T23=D2/V 光速.
[0059] As an optional implementation manner, obtaining the forwarding delay of the relay star forwarding the third instruction includes: obtaining the forwarding code length of the relay star; obtaining the forwarding code rate of the relay star; combining the forwarding code length and the forwarding code rate The quotient between is determined as the forwarding delay.
[0060] In this embodiment, the forwarding delay of the relay star forwarding the third instruction can be calculated according to the communication characteristics of the relay star, the forwarding code length of the relay star can be obtained first, and the forwarding code can be calculated according to the relay star command processing principle The length of the forwarding code is also the length of the relay star’s forwarding command code, that is, it can be represented by L2; to obtain the forwarding code rate of the relay star, the forwarding code rate of the relay star is also the relay star’s forwarding command code The rate can be represented by V2; after obtaining the forwarding code length of the relay star and the forwarding code rate of the relay star, the quotient between the forwarding code length and the forwarding code rate can be obtained, and the quotient can be determined as the relay star Forwarding delay of forwarding the third instruction, for example, forwarding delay T22=L2/V2.
[0061] Therefore, T2=T21+(L2/V2)+(D2/V 光速 ), wherein, the third processing delay for the T21 relay satellite to process the second command can be obtained by conducting a special test on the ground, and the average value of the test data is taken as the third processing delay. Generally, the third processing delay does not change much before and after the relay satellite is launched, so the variation error can be ignored.
[0062] Therefore, the calculation method of the command forwarding delay based on the relay star in this embodiment is the first delay plus the second delay, and T is based on the command forwarding delay of the relay star (referred to as T command forwarding delay). The calculation formula is T=T11+T12+T13+(L1/V1)+(D1/V 光速 )+T21+(L2/V2)+(D2/V 光速 ), so that the time delay from the ground control center to the target spacecraft via the relay satellite can be accurately calculated.
[0063] As an optional implementation, after accumulating the first time delay and the second time delay to obtain the target time delay for the ground control center to send the target command to the target spacecraft, the method further includes: based on the target time delay Send the target command to the target spacecraft according to the scheduled time.
[0064] In this embodiment, the ground control center needs to send the target command to the target spacecraft according to the predetermined time, and after accumulating the first period of delay and the second period of time delay, the ground control center sends the target command to the target spacecraft. After the target delay, the sending time of the target command from the ground control center can be determined based on the target delay and the scheduled time, and then the target command can be sent in advance according to the sending time, so that the target command can be sent to the target spacecraft according to the scheduled time, thereby improving The accuracy of the target command sent by the ground control center is improved, and the control accuracy of the target spacecraft is improved.
[0065] In this embodiment,) calculates the time delay of relay star forwarding command in a segmented manner, the calculation method is more detailed, and can adapt to the communication characteristics of different measurement and control equipment used for command sending; according to the relay star and target spacecraft Orbit characteristics can be used to calculate the space communication distance between the ground station and the lunar relay satellite in real time, and the space communication distance between the lunar relay satellite and the target aircraft, making the space distance communication delay calculation more accurate; The time delay sent by the station and the time delay transmitted by the lunar relay satellite can be respectively according to the length of the original command code sent by the ground station and the length of the command code after the analysis and processing of the relay star, as well as the respective codes of the ground station and the lunar relay star. The rate calculation calculates the command transmission delay of the ground station and the relay satellite forwarding delay, so that it can adapt to the processing methods of different types of measurement and control equipment, making the calculation of the transmission delay of different types of commands and command codes of different lengths more accurate, and solves the problem of The technical problem of low determination accuracy of the command sending delay of the spacecraft is solved, and then the technical effect of improving the determination accuracy of the command sending delay of the spacecraft is achieved.
Example Embodiment
[0066] Example 2
[0067] The technical solutions of the embodiments of the present invention are illustrated below in combination with preferred implementation modes.
[0068] In this embodiment, since the communication characteristics of the sending equipment of the ground survey station are different from those of the forwarding equipment of the lunar relay satellite: the processing mechanism and delay of the two are different, and the sending code rate is also different. Among them, the ground control center The content of the instruction code sent to the lunar relay satellite by the ground station is different from the instruction code transmitted by the lunar relay satellite to the target spacecraft, and the length of the instruction code is also different. Therefore, this embodiment adopts a "two-stage" method to calculate the time delay for the ground control center to transmit to the target spacecraft via the relay satellite. The above-mentioned "two-stage method" refers to the time delay when the ground survey station sends the command to the relay satellite as the first delay; the delay when the relay star processes and forwards the command to the target spacecraft is the second delay. The above two delays are calculated separately and accumulated as the final delay calculation result.
[0069] When the command is sent to the lunar relay satellite through the ground control center through the ground station equipment, the ground control center sends the command to the ground station, and the ground station equipment parses and processes the command and sends the command code to the moon. Relay star. Therefore, the first section of delay in this embodiment is divided as follows: center processing delay, center to ground station delay, station equipment processing delay, station sending delay and earth-satellite space communication distance delay.
[0070] After receiving the instruction, the lunar relay star can cache and parse the outer format of the instruction code, and forward the effective instruction to the target spacecraft. Therefore, the second stage of delay in this embodiment can be divided as follows: the processing delay of the lunar relay satellite, the forwarding delay of the lunar relay satellite, and the space communication distance delay between star devices (the lunar relay satellite and the spacecraft).
[0071] It should be noted that before the launch of the lunar relay satellite, special tests were carried out on the ground for center-to-center processing delay, center-to-station delay, station equipment processing delay, and lunar relay satellite processing delay to obtain test data. , take the mean value of the test data as the time delay value for calculation. Under normal circumstances, these delay test results do not change much before and after the launch of the lunar relay satellite, and the change error can be ignored.
[0072] The lunar relay star is flying in its orbit, and the target spacecraft is flying in its own orbit. The distance from the ground station to the lunar relay star is constantly changing, and the distance between the lunar relay star and the target spacecraft is also changing. Therefore, in order to ensure the accurate calculation of the communication delay of the space distance, based on the orbit characteristics of the lunar relay satellite and the target spacecraft, the real-time calculation distance from the ground station to the lunar relay satellite, the distance from the lunar relay satellite to the The real-time calculation distance of the target spacecraft dynamically calculates the space communication distance delay, optionally, T15 地星空间通信距离时延 and T23 星器空间通信距离时延 The calculation formulas are:
[0073] T15 地星空间通信距离时延 =D1 地星空间通信距离 /V 光速 (1)
[0074] T23 星器空间通信距离时延 =D2 星器空间通信距离 /V 光速 (2)
[0075] According to the communication characteristics of the ground station equipment and the lunar relay satellite, this embodiment can calculate the transmission delay of the ground station equipment and the forwarding delay of the lunar relay satellite, respectively, as defined below:
[0076] This embodiment can define the length of the original instruction code sent by the ground station equipment as L1 测站设备发送码长 , define the rate at which the station equipment sends the original instruction code as V1 测站设备码速率;Define the length of the lunar relay star forwarding command code as L2 月球中继星转发码长 , defining the rate at which the lunar relay star transmits the instruction code as V2 月球中继星转发码速率. Optionally, the T14 of this embodiment 地面测站设备的发出时延 and T22 月球中继星的转发时延 The calculation formula is:
[0077] T14 测站发出时延 =L1 测站设备发送码长 /V1 测站设备码速率 (3)
[0078] T22 月球中继星转发时延 =L2 月球中继星转发码长 /V2 月球中继星转发码速率 (4)
[0079] To sum up, the calculation method of the command forwarding delay based on the lunar relay star is the first delay plus the second delay. Optionally, T 指令转发时延 The calculation formula is:
[0080] T 指令转发时延 = T11 中心处理时延 +T12 中心到测站时延 +T13 测站设备处理时延
[0081] +(L1 测站设备发送码长 /V1 测站设备码速率 )+(D1 地星空间通信距离 /V 光速 )
[0082] +T21 月球中继星处理时延 +(L2 月球中继星转发码长 /V2 月球中继星转发码速率 )
[0083] +(D2 星器空间通信距离 /V 光速 ) (5)
[0084] figure 2 is a schematic diagram of an instruction forwarding delay calculation device based on a lunar relay satellite according to an embodiment of the present invention. like figure 2 As shown, this embodiment is divided into two sections according to the front and back of the lunar relay star forwarding instructions, respectively calculate the first section of time delay and the second section of time delay, and then add the time delays of the two stages, thus based on the moon The instruction forwarding delay calculating means of the relay star may include: a first stage delay calculating means 201 , a second stage delay calculating means 202 and an instruction forwarding delay adding means 203 .
[0085] The device for calculating the command forwarding delay of the lunar relay star in this embodiment can be used to execute the method for calculating the command forwarding delay of the lunar relay star in the embodiment of the present invention, and the method may include the following steps:
[0086] Step 1, calculate T14 测站发出时延. Calculate the original command code length L1 sent by the station equipment according to the format and content of different commands 测站设备发送码长 , to obtain the code rate V1 of the command sent by the station equipment 测站设备码速率 , the L1 测站设备发送码长 and V1 测站设备码速率 Do the division operation to get the time delay of the station sending the original instruction code, for example, the formula (3).
[0087] Step 2, calculate T15 地星空间通信距离时延. Real-time calculation of the earth-satellite space communication distance D1 according to the orbital characteristics of the lunar relay satellite 地星空间通信距离时延 , as an input parameter, the D1 地星空间通信距离时延 and V 光速Do the division operation to get the time delay of the space communication distance from the station equipment to send the command to the lunar relay satellite, for example, the formula (1).
[0088] Step 3, calculate T1 第一段时延. The first delay calculation device 201 calculates the delay of the command sent by the ground control center to the lunar relay satellite, and obtains T11 中心处理时延 , T12 中心到测站时延 , T13 测站设备处理时延 , T14 测站发出时延 and T15 地星空间通信距离时延 and so on for summing operation to get T1 第一段时延 , for example, T1 第一段时延 = T11 中心处理时延 +T12 中心到测站时延 +T13 测站设备处理时延 +T14 测站发出时延 +T15 地星空间通信距离时延.
[0089] Step 4, calculate T22 月球中继星转发时延. Calculate the forwarded L2 according to the processing principle of the lunar relay star command 月球中继星转发码长 , get V2 月球中继星转发码速率 , the L2 月球中继星转发码 and V2 月球中继星转发码速率 Do the division operation to get T22 月球中继星转发时延 , for example, formula (4).
[0090] Step five, calculate T23 星器空间通信距离时延. Real-time calculation of starship space communication distance D2 according to orbital characteristics of lunar relay star and target spacecraft 星器空间通信距离 , as an input parameter, the D2 星器空间通信距离 and V 光速 Do the division operation to get T23 星器空间通信距离时延 , for example, formula (2).
[0091] Step 6, calculate T2 第二段时延. The second stage time delay calculation device 202 calculates the time delay for sending instructions from the lunar relay star to the target spacecraft, and calculates T21 月球中继星处理时延 , T22 月球中继星转发时延 and T23 星器空间通信距离时延 and so on to perform the sum operation to obtain T2 第二段时延 , for example, T2 第二段时延 =T21 月球中继星处理时延 +T22 月球中继星转发时延 +T23 星器空间 通 signal distance 延.
[0092] Step seven, calculate T 指令转发时延. The instruction forwarding delay summing device 203 collects the calculation result T1 of the first delay calculation device 201 第一段时延 and the calculation result T2 of the second delay calculation device 202 第二段时延 , for T1 第一段时延 , T2 第二段时延 Carry out the sum operation to obtain the instruction forwarding delay T based on the lunar relay star 指令转发时延.
[0093] Among them, the parameters appearing above are expressed as follows: T11 中心处理时延 , that is, T11, used to represent the central processing delay; T12 中心到测站时延 , that is, T12, used to represent the center-to-station delay; T13 测站设备处理时延 , that is, T13, used to indicate the processing delay of the station equipment; T14 测站发出时延 , that is, T14, used to indicate the delay of sending out the station; T15 地星空间通信距离时延 , that is, T15, used to indicate the distance delay of the earth-satellite space communication; L1 测站设备发送码长 , that is, L1, used to represent the code length sent by the station equipment; V1 测站设备码速率 , that is, V1, used to represent the station equipment code rate; D1 地星空间通信距离 , that is, D1, used to represent the distance of the Earth-Star space communication; T21 月球中继星处理时延 , that is, T21, used to represent the processing delay of the lunar relay satellite; T22 月球中继星转发时延 , that is, T22, is used to represent the forwarding delay of the lunar relay satellite; T23 星器空间通信距离时延 , that is, T23, which is used to represent the starship space communication distance delay; L2 月球中继星转发码长 , that is, L2, used to represent the transponder code length of the lunar relay satellite; V2 月球中继星转发码速率 , that is, V2, used to represent the transcoding rate of the lunar relay satellite; D2 星器空间通信距离 , that is, D2, used to represent the starship space communication distance; T1 第一段时延 , that is, T1, used to represent the first delay; T2 第二段时延 , that is, T2, is used to represent the second delay.
[0094] In summary, the lunar relay star-based command forwarding delay calculation device of this embodiment is divided into two independent delay calculation devices, which are used to calculate the command transmission delay respectively, and at the same time according to the ground station and the lunar relay According to the orbital characteristics of the orbiting lunar relay satellite and the target spacecraft, the space communication distance is calculated in real time, and the space communication distance delay is dynamically calculated according to the real-time calculation results, thus realizing the realization of the lunar relay satellite. The accurate calculation of the time delay of each part of the forwarding command completes the calculation method and device for the time delay of command forwarding based on the lunar relay satellite. Among them, the time delay of transmitting commands by the lunar relay satellite is calculated in a segmented manner, and the calculation method is more detailed, which can adapt to the communication characteristics of different measurement and control equipment used for command transmission; according to the orbital characteristics of the lunar relay satellite and the target spacecraft, Using the real-time calculated ground station, the space communication distance from the lunar relay star to the target aircraft, the space distance communication time delay calculation is more accurate;) When calculating the ground station sending time delay and the moon relay star forwarding time delay, respectively according to The original command code length sent by the ground and the command code length after the analysis and processing of the lunar relay star are used to calculate the command sending delay, and the calculation is performed according to the respective code rates of the ground station and the lunar relay star, so that it can adapt to different types of measurement and control equipment. Processing method, the calculation of transmission delay of different types of instructions and instruction codes of different lengths is more accurate.
Example Embodiment
[0095] Example 3
[0096] The embodiment of the present invention also provides a device for determining the delay in sending commands of the spacecraft. It should be noted that the apparatus for determining a delay in sending a command of a spacecraft in this embodiment can be used to implement the method for determining a delay in sending a command of a spacecraft in an embodiment of the present invention.
[0097] image 3 It is a schematic diagram of an apparatus for determining a delay in sending commands of a spacecraft according to an embodiment of the present invention. like image 3 As shown, the device 30 for determining the command sending delay of the spacecraft may include: a first acquiring unit 31 , a second acquiring unit 32 and an accumulating unit 33 .
[0098] The first obtaining unit 31 is configured to obtain the first period of time delay when the target instruction is sent to the relay satellite via the ground control center.
[0099] The second obtaining unit 32 is configured to obtain a second period of time delay during which the target instruction is processed by the relay star and forwarded to the target spacecraft.
[0100] The accumulating unit 33 is configured to accumulate the first period of time delay and the second period of time delay to obtain the target time delay for the ground control center to send the target instruction to the target spacecraft.
[0101] Optionally, the first acquiring unit 31 includes: a first acquiring module, configured to acquire a first processing delay for the ground control center to process the target instruction into the first instruction; a second acquiring module, configured to acquire the ground control center to process the first instruction The first sending delay when an instruction is sent to the ground station; the third acquisition module is used to obtain the second processing delay when the ground station processes the first instruction into a second instruction; the fourth acquisition module is used to obtain the ground The first sending delay of the second instruction issued by the station; the first communication delay between the ground station and the relay satellite; the first accumulation module, used for the first processing delay, the first sending delay, the second The second processing delay, the first sending delay and the first communication delay are accumulated to obtain the first segment of delay.
[0102] Optionally, the fourth acquisition module includes: a first acquisition submodule, used to acquire the first distance between the ground station and the relay satellite; a first determination submodule, used to calculate the quotient between the first distance and the speed of light , determined as the first communication delay.
[0103] Optionally, the fourth acquisition module includes: a second acquisition submodule, used to acquire the transmission code length of the ground station; a third acquisition submodule, used to obtain the transmission code rate of the ground station; the second determination submodule, It is used to determine the quotient between the sending code length and the sending code rate as the first sending delay.
[0104] Optionally, the second acquiring unit 32 includes: a fifth acquiring module, configured to acquire a third processing delay for the relay star to process the second instruction into a third instruction; a sixth acquiring module, configured to acquire the relay star forwarding The forwarding delay of the third instruction; the seventh acquisition module, used to obtain the second communication delay between the relay star and the target spacecraft; the second accumulation module, used for the third processing delay, forwarding delay and The second communication time delay is accumulated to obtain the second period of time delay.
[0105] Optionally, the seventh acquisition module includes: a fourth acquisition submodule, used to acquire the second distance between the relay star and the target spacecraft; a third determination submodule, used to calculate the distance between the second distance and the speed of light The quotient is determined as the second communication delay.
[0106] Optionally, the sixth acquiring module includes: the fifth acquiring submodule, used to acquire the forwarding code length of the relay star; the sixth acquiring submodule, used to acquire the forwarding code rate of the relaying star; the fourth determining submodule, It is used to determine the quotient between the forwarding code length and the forwarding code rate as the forwarding delay.
[0107] Optionally, the device further includes: a sending unit, configured to accumulate the first period of time delay and the second period of time delay, and after obtaining the target time delay for the ground control center to send the target command to the target spacecraft, based on the target time delay Send the target command to the target spacecraft according to the scheduled time.
[0108] Optionally, the relay satellite is a lunar relay satellite, and the target spacecraft is a lunar orbiting spacecraft.
[0109] In this embodiment, the first acquisition unit 31 acquires the first period of time delay when the target command is sent to the relay satellite via the ground control center; the second acquisition unit 32 acquires the target command, processes it through the relay star and forwards it to the target aerospace The second time delay of the spacecraft; through the accumulation unit 33, the first time delay and the second time delay are accumulated to obtain the target time delay for the ground control center to send the target command to the target spacecraft, thereby realizing the relay star forwarding The accurate determination of the time delay of each part of the target command avoids the time delay caused by only considering the distance between the ground and the spacecraft, but does not consider the distance between the ground and the relay satellite, and the distance between the relay satellite and the spacecraft. Delay, there is a technical problem of low determination accuracy of the spacecraft's command transmission delay, and then achieve the technical effect of improving the determination accuracy of the spacecraft's command transmission delay.
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