Universal test platform for GNC system of multi-cabin spacecraft

Abstract

The invention provides a universal test platform for a GNC (Global Navigation Control) system of a multi-cabin spacecraft, which relates to spacecraft GNC data processing and comprises an application software module suitable for the multi-cabin spacecraft, a dynamics software module, a component interface simulation module, an injection management module and an operation monitoring module, wherein the application software module is used for carrying out universal modification on satellite application software so as to enable the satellite application software to carry out data communication with other modules; the dynamics software module is used for updating state information according to the control instruction; the component interface simulation module is used for performing data communication between the application software module and the dynamics software module; the injection management module is used for controlling the general test platform to complete a simulation test according to the test instruction; the operation monitoring module is used for monitoring telemetry data output by the application software module and the dynamics software module. According to the scheme, the problems of long time consumption and low efficiency of simulation verification of the multi-cabin spacecraft by a traditional hardware platform can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft GNC data processing, in particular to a universal test platform for a multi-cabin spacecraft GNC system. BACKGROUND

[0002] GNC is the abbreviation of Guidance, Navigation and Control, which represents a flight system. Unlike traditional spacecraft models, large-scale on-orbit assembly spacecraft has multiple cabins, complex configuration, great control difficulty, complex redundancy and reconstruction strategy, so the design and test verification of the multi-cabin GNC subsystem of a large spacecraft need to be carried out in parallel.

[0003] In the related art, the commonly used single-cabin system test equipment cannot support concurrent test verification of multiple configurations, and it is also difficult to realize rate acceleration test verification, which greatly reduces the efficiency of software development and verification for a multi-cabin spacecraft.

[0004] Therefore, there is an urgent need for a universal test platform for a multi-cabin spacecraft GNC system to solve the above technical problems. SUMMARY

[0005] The embodiment of the present application provides a universal test platform for a multi-cabin spacecraft GNC system, which can solve the problems of long simulation and verification time and low efficiency of a traditional hardware platform for a multi-cabin spacecraft.

[0006] In a first aspect, the embodiment of the present application provides a universal test platform for a multi-cabin spacecraft GNC system, which comprises an application software module suitable for a multi-cabin spacecraft, a dynamics software module, a component interface simulation module, an injection management module and a running monitoring module, wherein:

[0007] The application software module is determined according to the on-board application software of the measured multi-cabin spacecraft, and the application software module is used for generalizing modification of the input and output interfaces of the on-board application software, so that the on-board application software communicates data with the remaining modules of the universal test platform;

[0008] The dynamics software module is provided with a dynamics software standard interface and a configuration parameter integrated management sub-module, and the dynamics software module is used for updating the current multi-cabin spacecraft actuator state according to the control instruction given by the application software module, so as to update the dynamics state of the current multi-cabin spacecraft, update the state of the ground simulation sensor according to the updated dynamics state, and transmit the updated state information to the application software module through the component interface simulation module; wherein the state information includes running information such as attitude, position and speed of the spacecraft and combined configuration information;

[0009] The component interface simulation module is packaged with a plurality of general component simulation interface functions, and is used for data communication between the application software module and the dynamics software module.

[0010] The injection management module is in communication connection with the application software module, the dynamics software module and the component interface simulation module respectively, and is used for controlling the general test platform to complete simulation test according to test instructions.

[0011] The operation monitoring module is used for monitoring telemetry data output by the application software module and the dynamics software module, and is used for switching the configuration of the multi-cabin spacecraft according to control instructions.

[0012] The embodiment of the application provides a general test platform of a multi-cabin spacecraft GNC system, which integrates on-board computers and ground dynamics software, supports direct embedded verification of on-board application software, and realizes synchronous updating and parallel verification on a system test semi-physical simulation platform and a rapid simulation platform. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0014] Figure 1 Fig. 1 is a schematic diagram of a general test platform of a multi-cabin spacecraft GNC system provided by an embodiment of the present application;

[0015] Figure 2 Fig. 4 is an initialization scene flow design diagram provided by an embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments but not all of the present application, and based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0017] As described above, the existing hardware and software platforms generally only simulate single-cabin configuration testing of a spacecraft, and this method cannot support concurrent testing and verification of multiple configurations, and it is also difficult to realize multiple-cabin spacecraft ratio acceleration testing and verification.

[0018] Based on this, the concept of the present application is to realize parallel testing of multiple cabin sections by hardware platforms and simulation platforms through the generalization of software modules and the parameter integration design idea.

[0019] The specific implementation of the above concept will be described below.

[0020] Please refer to Figure 1 The embodiments of the present application provide a universal testing platform for a multiple-cabin spacecraft GNC system, and the platform comprises:

[0021] The application software module, the dynamics software module, the component interface simulation module, the injection management module and the operation monitoring module are suitable for a multiple-cabin spacecraft, and wherein:

[0022] The application software module is determined according to on-board application software of a measured multiple-cabin spacecraft, and the application software module is used for universal modification of input and output interfaces of the on-board application software, so that the on-board application software communicates data with the remaining modules of the universal testing platform;

[0023] The dynamics software module is provided with a dynamics software standard interface and a configuration parameter integration management sub-module, and the dynamics software module is used for updating a current multiple-cabin spacecraft actuator state according to a control instruction given by the application software module, updating a dynamics state of the current multiple-cabin spacecraft, updating a state of a ground simulation sensor according to the updated dynamics state, and transmitting the updated state information to the application software module through the component interface simulation module; wherein the state information comprises operation information and combined configuration information;

[0024] The component interface simulation module is encapsulated with a plurality of universal component simulation docking functions, and the component interface simulation module is used for data communication between the application software module and the dynamics software module;

[0025] The injection management module is connected with the application software module, the dynamics software module and the component interface simulation module respectively, and is used for controlling the universal test platform to complete simulation test according to test instructions under different working conditions.

[0026] The operation monitoring module is used for monitoring telemetry data output by the application software module and the dynamics software module, and switching the configuration of the multi-cabin spacecraft according to the control instructions.

[0027] In the embodiment of the application, the on-board computer and the ground dynamics software are integrated to support direct embedded verification of the on-board application software, and the verification can be simultaneously updated and carried out on the system test semi-physical simulation platform and the rapid simulation platform. On the other hand, the integrated management of the assembly configuration parameters is realized to achieve free switching and concurrent test verification of multiple configurations. Meanwhile, the universal test platform is used to carry out a multi-level fault universal injection method to ensure complete verification of various fault modes. The method shortens the total development cycle of the multi-cabin software test platform and solves the problem of long simulation verification time and low efficiency of the traditional hardware platform.

[0028] The following describes Figure 1 Each module shown.

[0029] First, the application software module is designed.

[0030] In the prior art, the on-board control computer and the test equipment are used to carry out semi-physical simulation on the hardware simulation platform, and the on-board application software algorithm used is consistent with the actual on-orbit use. However, the universal test platform provided in the embodiment of the application jointly runs the on-board application software and the dynamics software on the ground test machine, which requires additional processing of the input and output interfaces of the application software module before the communication between the platform modules can be realized. The interface design in this part is consistent with the universal design in the application software module, and the universal modification process is carried out.

[0031] In the embodiment of the application, the application software module comprises an interface input and output logic submodule, a sensor acquisition and information processing submodule, an actuator instruction and information processing submodule, and an effectiveness interpretation and fault diagnosis submodule, wherein: the application software module is a multi-layer architecture, each layer is independently encapsulated and communicates with other layers using a standard interface; the interface input and output logic submodule, the sensor acquisition and information processing submodule, and the actuator instruction and information processing submodule are all set to a maximum interface envelope to make the internal and external interfaces universal, and the parameters and parameter calling time of the corresponding submodule are configured according to the functional requirements of each cabin section; the effectiveness interpretation and fault diagnosis submodule is used to judge the communication state, the self-checking state, the effectiveness of the wild value and the theoretical value range, and to perform fault diagnosis on the combination of different configurations and different cabin sections according to the preset fault diagnosis principle; wherein, the faults include component-level faults and system-level faults, the component-level faults are judged according to the measurement data of multiple components or in combination with consistency checking, and the system-level faults are judged according to the control performance.

[0032] Specifically, the architecture of the application software module adopts unified design, the configuration in the application software can meet the fusion use requirements of the multi-cabin spacecraft in orbit, the modularization, generalization and standardization design is adopted, the multi-cabin platform software architecture is designed into a multi-layer architecture of "general, core and application", each layer is independently encapsulated, the standard interface is used for interlayer communication, and the functional components in the layer are selected and replaced by the mission characteristics of each cabin spacecraft, thereby improving the maintainability, adaptability and expansibility of the software, minimizing the development cost, and improving the quality and efficiency.

[0033] Further, on the basis of the interface input and output logic, the sensor acquisition and information processing, and the actuator instruction and information processing function submodules realized by the traditional single-cabin spacecraft, the "general" function in the platform software architecture design of the application software of the multi-cabin spacecraft needs to use the maximum interface envelope to realize the internal and external interface universalization; secondly, the configuration parameters are designed according to the requirements of each cabin section, such as using the methods of compiling parameters, parameter lists, parameter files, etc., to identify the environment and system requirements on which the parameters depend; finally, the time of using the configuration parameters is designed, and the time of realizing variability of different configuration files or parameters is determined, such as before compiling or before running.

[0034] Further, for the validity interpretation and fault diagnosis sub-modules, the following steps can be used for general design: common data validity judgment includes communication state, self-checking state, wild value, and theoretical value range judgment; fault diagnosis is divided into component level (judging component fault state through multiple component measurement data or combined consistency check) and system level (judging system level fault according to control performance and ensuring control system safety through fault handling). The fault diagnosis and handling modules in the single cabin flight and combination body flight stage are uniformly designed, the component level fault diagnosis principles are consistent in each cabin, and the installation matrix of each sensor and actuator in the combination body coordinate system needs to be distinguished in different configurations. After the configuration switching, the installation matrix and other parameters need to be initialized and set.

[0035] In summary, the generalization of the application software module mainly solves the modification of variable types required for the code conversion of the application software to the software test platform, the standardization of hardware code shielding, that is, the modification standardization of the application software transplanted to the software platform and the standardization of the export of the global variables required by the input / output application software. The modification standardization of the application software transplanted to the general simulation platform can be realized by comparing the differences between the on-board software hardware running environment and the software test platform running environment, summarizing the standard steps, and formulating the modification process of generalization.

[0036] Then, the dynamics software module in the general test platform is standardized.

[0037] In the embodiment of the application, the dynamics software module is provided with a multi-cabin spacecraft attitude and orbit dynamics characteristic model, an environment model, a multi-cabin sensitive sensor simulation model, and a multi-cabin actuator simulation model. According to the initial state or the current dynamics state, the next time new state is calculated by numerically solving the dynamics equation set, including the multi-cabin spacecraft attitude, position, and velocity state, the sensitive sensor state information, the actuator state information, the multi-cabin spacecraft body characteristics, and other state characteristics.

[0038] The dynamics software module can also simulate the dynamics state after the actuator action according to the control instruction received from the control computer (hardware simulation platform) or the application software module, update the position, velocity, sensitive sensor, actuator, and other information of the multi-cabin spacecraft in the ground dynamics, and pass the sensitive sensor and actuator information to the control computer (hardware simulation platform) or the application software module. The dynamics software updates the configuration parameter information according to the multi-cabin injection management software interaction interface setting configuration parameter integrated module initial state or online, and realizes the mode switching of each configuration of the multi-cabin.

[0039] In order to realize the above functions, the interface of the dynamics software module needs to be standardized. That is, the standardization problems of control input interface, excitation output interface, dynamics initialization, and dynamics running need to be solved.

[0040] The standard version of the control input interface and the excitation output interface can be achieved by defining a universal dynamics interface file, which is equipped with array objects that cover all configuration requirements of complex spacecraft, thereby covering the input / output requirements of multiple cabins; the standardization of dynamics initialization and dynamics operation is achieved by establishing standardized functions.

[0041] Specifically, the dynamics interface file includes a standardized input structure, which is defined based on the control instructions received by each actuator of the universal test platform, and a standardized output structure, which is defined based on the calculated state information of the multi-cabin spacecraft.

[0042] In other words, the standardized input structure is defined based on the specific command characteristics received by the specific actuator, including content such as the power-on duration of each thruster, the angular velocity command of the control torque gyro, the frame angular position, the rotor speed, and the sailboard command word. The standardized output structure defines content such as the simulation cycle, the simulation time system, the multi-cabin mode operation status, orbital position information, attitude information, velocity information, the central gravity field model, the solar model, the earth model, the aerodynamic model, mode control status information, the center of mass, mass, inertia, and external system simulator data.

[0043] Furthermore, the standardized functions include a dynamics initialization standard function and a dynamics operation standard function. The dynamics initialization standard function is determined based on the initialization scenario, module initialization state, and spacecraft initial operation mode; the dynamics operation standard function is determined based on the operating parameters of multi-module spacecraft data exchange.

[0044] That is to say, if Figure 2 As shown, the standard dynamics initialization function first selects the dynamics initialization scenario, hardware platform, or simulation platform based on the test scenario's operating mode. Next, it selects the initial cabin state, either multi-cabin or single-cabin (selecting specific cabin information). Finally, it initializes the spacecraft's initial operating mode. After initialization, different initialization functions are generated. The data exchange required by the standard dynamics operation function includes information such as the spacecraft initialization mode, operating mode, actuator command input, dynamics output parameters, sensor output data, parameter injection interface (orbit, attitude, open-loop component data injection), and dynamics simulation duration.

[0045] It is worth noting that, considering the different operating environments of the traditional hardware platform and the universal test platform of this embodiment, the above definition process needs to be defined separately according to the characteristics of each operating system.

[0046] Since the embodiment is applied to the test scene of multi-cabin spacecraft, there are many multi-cabin spacecrafts and configurations, and it is difficult to realize the integrated application of multi-cabin by using the traditional method of defining configuration parameters one by one, and a large amount of redundant code related to configuration switching is caused, in order to solve the requirement of converting configuration parameters from single-cabin mode to support multi-cabin test, the embodiment also designs a configuration parameter integrated management submodule in the dynamics software module to manage the configuration, and the submodule can be quickly expanded according to the future on-orbit assembly task requirement of complex spacecraft.

[0047] In the embodiment of the application, the configuration parameter integrated management submodule is specifically configured to perform the following operations when performing configuration parameter conversion: processing the combined state of the spacecraft according to a preset configuration parameter conversion algorithm, outputting the configuration parameters of each cabin section of the spacecraft; processing all configuration parameters using a multi-dimensional array to obtain a parameter binding table for storage and calling; and indexing and accessing the parameter binding table according to the application scene number, the current cabin section number, the current configuration number and the current mode sub-configuration number, to simulate the test of the multi-cabin spacecraft.

[0048] Specifically, considering the multi-cabin spacecraft, the position and attitude of each cabin relative to the single-cabin / combination geometric coordinate system can be converted under any single-cabin / combination configuration, therefore, based on the combined state of the multi-cabin spacecraft and the typical configuration of the visiting spacecraft docking state, a configuration parameter conversion automatic generation module is designed to realize the automatic conversion processing of the configuration parameters in single-cabin and combination modes, and to optimize the dynamics initialization parameter calling module. In the development stage, the parameters such as system centroid, inertia, sensor and actuator change frequently with the upgrade of the measured software version, and the integrated management of configuration parameters can greatly reduce the parameter change time and labor cost.

[0049] In the embodiment of the application, the configuration parameter conversion automatic generation module is designed by the following steps:

[0050] S1, the define definition method is used to initialize and set the "current aircraft application scene" and the "current aircraft cabin section number". Considering that the application scene is related to the type of platform used during the test, when using a hard simulation platform for testing, the cabin section needs to be bound with the currently used hardware platform, and the test process does not support modification, only code change is allowed; when using a fast simulation platform for testing, the cabin section supports initialization input modification.

[0051] S2, using #IF conditional compilation method, using "current aircraft application scenario", "current aircraft cabin section number" to initialize the selection of parameters. The values of each cabin section number and configuration number in the fast simulation platform scenario and system test scenario are consistent with the numbers written in the application software. In addition, the parameter table names of various sensors / actuators remain the same under different application scenarios / aircraft, to facilitate the main program to call the parameter table, and different cabins are set as different files to facilitate calling.

[0052] S3, the parameter table of each application scenario / aircraft scenario uses "cabin main configuration" to index the installation matrix and other parameters of the sensor / actuator; for the body characteristics (mass / inertia / center of mass), "cabin sub-mode" indexes the different characteristics of the aircraft in different stages.

[0053] S4, for the test scenario of the current aircraft cabin under different configurations, the "current spacecraft dynamics mode" is set to call and process, and the "current spacecraft dynamics mode" indexes the parameters of the dynamic sensor / actuator according to the docking interface, berthing point and other characteristic positions of the multi-cabin spacecraft, and arranges them into index numbers of each cabin parameter setting table. All are filled with their own single cabin physical characteristics. The meaning list of "current spacecraft dynamics mode" in each cabin table is as follows:

[0054] Test cabin I (current aircraft cabin section number 1):

[0055] 0: single cabin parameter 1: docking interface 1 parameter 2: parameter corresponding to berthing port 1

[0056] Test cabin II (current aircraft cabin section number 2):

[0057] 0: single cabin parameter 1: docking interface 1 parameter 2: parameter corresponding to berthing port 2

[0058] Nth cabin (current aircraft cabin section number N):

[0059] 0: single cabin parameter 1: docking interface X parameter 2: parameter corresponding to berthing port X

[0060] Visitor aircraft 1:

[0061] 0: single cabin parameter 1: docking interface 1 parameter 2: docking interface 2 parameter…

[0062] S5, before the test, determine the application scenario (fast simulation platform or hardware platform) used and set, then through the interface in the dynamics injection software, input "aircraft cabin section number", "cabin section main configuration", "cabin section sub mode", then the corresponding "current aircraft cabin section number", "cabin section main configuration", "current aircraft sub mode" in dynamics are updated, and the dynamics software extracts the installation position and other small table information under the corresponding configuration after judging the "current spacecraft dynamics mode" according to the "cabin section main configuration", realizing the switching of the configuration and mode of the multi cabin section.

[0063] After the configuration parameter conversion automatic generation module is obtained through the above process, according to the output result of the configuration parameter automatic generation module, each parameter including cabin mass inertia characteristics, sensor installation, actuator installation and output characteristics, and sail plate flexibility is uniformly processed, stored and called in a multi-dimensional array manner, and a parameter binding table is generated.

[0064] Then, the application scenario number, the current cabin section number, the current configuration number and the current mode sub configuration number are used to index access the multi cabin spacecraft dynamics parameters in each stage. In different application scenarios / aircraft, the binding parameter table names of various sensors / actuators remain the same, which facilitates the call of the parameter table by the dynamics main program; the binding parameter table in each application scenario / aircraft scenario is designed, which indexes the parameters of the sensors / actuators by the main configuration, and indexes the different characteristics of the aircraft in different stages by the mode sub configuration.

[0065] Next, the component interface simulation module in the general test platform is designed.

[0066] The component interface simulation module can also be called a general simulation module of the multi cabin sensor / actuator. In orbit flight, the on-board multi cabin control computer collects the state information of the on-board multi cabin sensor and the on-board multi cabin actuator through the control bus, calculates the multi cabin spacecraft position, attitude, speed and other information according to the collected state, and gives the corresponding control command, and the on-board multi cabin actuator controls the change of the attitude, position and speed of the multi cabin spacecraft according to the control command. In this embodiment, the component interface simulation module is mainly used to simulate the communication connection between the multi cabin dynamics sensor / actuator and the on-board control computer, that is, the data communication between the above-mentioned application software module and the dynamics software module, and to simulate the redundancy layer, communication layer and protocol layer, and to set and simulate corresponding faults.

[0067] The module can be suitable for an intermediate docking platform of a hardware test platform, and can use dynamic operation, component excitation and information collection functions according to the fusion and sharing of control resources between cabin sections, use equivalent functions of external system interfaces (or through matching between subsystems), and use equivalent devices of other models of cabin sections. The module can also be suitable for a general test platform of the embodiment, and can solve the connection problems between the standardized dynamic interface and the universalized application software interface by encapsulating a plurality of general component simulation docking functions, and solve the problems of the output channel implementation of the application software panel, the control moment gyro, the engine control command to dynamics and the excitation channel implementation of the sensor measurement obtained by the attitude calculation of dynamics to the application software.

[0068] In the embodiment of the application, the general component simulation docking function contains a plurality of types, which are listed as follows: an inertial measurement unit excitation function, a sun sensor excitation function, a star sensor excitation function, an infrared sensor excitation function and a GPS excitation function. The inertial measurement unit excitation function is used to accumulate the angular rate and acceleration output by the dynamic inertial measurement unit, and equivalent conversion is performed to obtain the change amount in a single control period. The star sensor excitation function is used to convert, pack and frame the star sensor original data output by the dynamic software according to the excitation requirements of the star sensor, to obtain the transmission data required for excitation. The infrared sensor excitation function is used to perform unit conversion on the chord width and ground entry angle data. The GPS excitation function is used to convert and pack the UTC and GPS position / speed data output by the dynamics according to the GPS excitation requirements, to obtain the transmission data required for excitation, and send the data to the on-board interface device.

[0069] Specifically, 1) the inertial measurement unit excitation function:

[0070] The angular rate and acceleration output by the dynamic inertial measurement unit are accumulated, and equivalent conversion is performed to obtain the change amount in a single control period. Interface conversion between dynamics and on-board software is performed according to the on-board software section mark, to ensure that the inertial measurement unit data in the dynamics correctly excite the on-board software.

[0071] 2) the sun sensor excitation function:

[0072] Interface conversion between dynamics and on-board software is performed according to the on-board software section mark, to ensure that the sun sensor in the dynamics correctly excites the on-board software. For example, the azimuth angle information of the 0-1 sun sensor in different directions is calculated according to the projection of the sun vector in the body system, the output value of the 0-1 sun sensor is obtained according to the value range of the included angle of different directions, and the on-board software is excited.

[0073] 3) the star sensor excitation function

[0074] According to the excitation requirement of the star sensor, the star sensor original data output by dynamics is converted, packed and framed to obtain transmission data required by excitation.

[0075] 4) Infrared sensor excitation function

[0076] The unit conversion of chord width and ground entry angle data is performed, and then, according to the software segment mark on the star, the interface conversion between dynamics and the star is performed to ensure that the infrared data in dynamics correctly excite the software on the star.

[0077] 5) GPS excitation function

[0078] According to the excitation requirement of the GPS, the UTC and GPS position / speed data output by dynamics are converted and packed to obtain transmission data required by excitation and sent to the interface device on the star.

[0079] The injection management module in the general test platform is designed as follows.

[0080] The injection management module is provided with a dynamics injection data submodule, a general fault injection submodule and an injection data and instruction submodule, which sequentially set the parameter states of the dynamics software module, the application software module and the component interface simulation module, and simultaneously perform multi-cabin and multi-mode flight simulation switching, generate instruction control of other products on the star or other simulation equipment on the ground through direct control of ground equipment or through the remote control receiving module of the on-board control computer, so as to realize simulation flight test, multi-level fault and disposal simulation test and other test conditions.

[0081] In the embodiment of the application, the general fault injection submodule is used for fault simulation injection to verify whether the fault diagnosis and processing strategy of the application software on the star meets the software requirement, and the simulation process includes: signal superposition on the state information output by the dynamics software module to simulate numerical type faults; adding an interface layer and a protocol layer to the component interface simulation module to simulate interface faults and protocol faults.

[0082] Specifically, the faults can be generally divided into three categories, one category is numerical type faults, such as zero drift, noise, constant value, jump of sensors and actuators, one category is interface type faults, such as communication interruption, data not updating and the like, and the other category is protocol type faults, such as self-checking state alarm, checksum error, data validity error and the like. The injection simulation function of the first category of faults can be simulated by superimposing signals on the output values of sensors / actuators in the dynamics model, and the second and third categories of faults are simulated by adding an interface layer and a protocol layer in the intermediate simulation docking platform to simulate interfaces.

[0083] Finally, the running monitoring module in the universal test platform is designed.

[0084] The running monitoring module is connected with the dynamics software module and the application software module through the multi-cabin display module, which can receive the telemetry information output by the application software on the satellite, decode and display the telemetry data according to the protocol, and also can decode and display the telemetry information calculated and output by the dynamics software module, and the display cycle is related to the calculation and operation cycle of the application software on the satellite and the ground dynamics, so that the data monitoring in the test process is realized.

[0085] In addition, unlike the traditional single-cabin dynamics injection, the multi-cabin integrated universal test platform needs to have the function of free switching of configurations. Therefore, the running monitoring module is designed to switch the platform dynamics module online, mainly including the following functions: orbit injection, time injection, attitude injection, and configuration switching injection.

[0086] In the embodiment of the application, the configuration switching includes the following steps: according to the parameter data in the parameter binding table, determining the main configuration number and the sub-configuration number that need to be switched, and transmitting the main configuration number and the sub-configuration number to the dynamics software module; wherein the main configuration number is used to determine the spacecraft structure, and the sub-configuration number is used to determine the different on-orbit stage characteristics of a specific configuration; the dynamics software queries and modifies the corresponding injection interface variable to enter the configuration switching program according to the number information; the main configuration number and the sub-configuration number are re-assigned by re-calling the initialization function, so as to update the cabin body characteristic information of the spacecraft.

[0087] Specifically, the configuration number for realizing the configuration switching injection function includes a main configuration and a mode sub-configuration, the main configuration number is consistent with the configuration definition of the application software used on the satellite, including various single cabins and various combinations, and is used to determine the spacecraft structure, and the sub-configuration number is used to determine the different on-orbit stage characteristics of a specific single cabin / combination configuration (such as different mass / inertia characteristics before and after the sailboard is deployed, and after the fuel is consumed).

[0088] The main program of the dynamics software module is modified by querying the corresponding injection interface variable, enters the configuration switching program, calls the re-initialization function, re-assigns the main configuration and the mode sub-configuration, and updates the spacecraft cabin body characteristics (mass, inertia, center of mass), various sensors, various actuators, sailboard flexibility parameters, and aerodynamic parameters, without affecting the orbit, time, attitude, etc.

[0089] In summary, the universal test verification platform has the advantages of simulation test verification speed improvement, rapid and flexible problem positioning and analysis, and truly realizes the parallel development concept of "designing while testing", which can greatly reduce the development cost, shorten the development cycle, improve the system reliability, and provide software and hardware support platform and corresponding technical solutions for the development of the model, and has very important practical significance and popularization and application value for the development of multi-cabin section spacecraft attitude control system. The coverage ability of various configurations and working conditions provides a flexible and expandable software test platform for test personnel.

[0090] Further, the universal test verification platform has the advantages of universality and high efficiency, can adapt to single-cabin section, multi-cabin section and other types of control subsystem configuration, and can quickly realize cabin section expansion verification and test requirements when facing the new docking cabin section task demand of the spacecraft, and has wide application prospect. If the platform can be popularized to the market, it is expected to have strong market competitiveness due to its convenience, speed and efficiency.

[0091] It should be noted that in this paper, relational terms such as first and second are used merely to distinguish one entity or action from another, without necessarily requiring or implying that there is any such actual relationship or order between them. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or equipment including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or equipment. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or equipment including the element.

[0092] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A universal test platform for multi-compartment spacecraft GNC systems, characterized by: It includes application software modules, dynamics software modules, component interface simulation modules, injection management modules and operation monitoring modules suitable for multi-compartment spacecraft, including: The application software module is determined based on the onboard application software of the multi-compartment spacecraft being tested, and is used to universalize the input and output interfaces of the onboard application software so that the onboard application software can communicate data with other modules of the universal test platform; The dynamics software module is provided with a dynamics software standard interface and a configuration parameter integrated management submodule. The dynamics software module is used to update the current state of the multi-cabin spacecraft actuator according to the control instructions given by the application software module, so as to update the current dynamic state of the multi-cabin spacecraft, update the state of the ground simulation sensor according to the updated dynamic state, and transmit the updated state information to the application software module through the component interface simulation module; wherein the state information includes operation information and combined configuration information; The component interface simulation module encapsulates a plurality of general component simulation docking functions, and the component interface simulation module is used to enable data communication between the application software module and the dynamics software module; The injection management module is respectively in communication with the application software module, the dynamics software module and the component interface simulation module, and the injection management module is used to control the universal test platform to complete the simulation test according to the test instructions; The operation monitoring module is used to monitor the telemetry data output by the application software module and the dynamics software module, and to switch the configuration of the multi-cabin spacecraft according to the control instructions.

2. The platform according to claim 1, characterized in that The application software module includes an interface input and output logic submodule, a sensor acquisition and information processing submodule, an actuator instruction and information processing submodule, and a validity judgment and fault diagnosis submodule, wherein: The multi-compartment spacecraft application software module has a multi-layer architecture, each layer is independently packaged and the layers communicate using standard interfaces; The interface input and output logic submodule, the sensor acquisition and information processing submodule, and the actuator instruction and information processing submodule are all set to the maximum interface envelope to universalize the internal and external interfaces, and the parameters and parameter call timing of the corresponding submodules are configured according to the functional requirements of each compartment; The validity judgment and fault diagnosis submodule is used to judge the validity of the communication status, self-test status, wild value and theoretical value range, and perform fault diagnosis on combinations of different configurations and different compartments according to preset fault diagnosis principles; wherein, the faults include component-level faults and system-level faults. Component-level faults are judged based on the measurement data of multiple components or in combination with consistency testing. System-level faults are judged based on control performance.

3. The platform according to claim 1, characterized in that The standard interface of the dynamics software includes a dynamics interface file and standardized software, wherein: The dynamics interface file is provided with array objects covering all configuration requirements of complex spacecraft to complete the standardization of the control input interface and excitation output interface of the universal test platform. The dynamics interface file includes a standardized input structure and a standardized output structure. The standardization software includes a kinetics initialization standard function and a kinetics running standard function.

4. The platform according to claim 3, characterized in that include: The standardized input structure is defined according to the control instructions received by each actuator of the universal test platform; The standardized output structure is defined based on the calculated multi-cabin spacecraft state information; The dynamics initialization standard function is determined according to the initialization scenario, the module initialization state, and the spacecraft initial operation mode; wherein the initialization scenario is determined according to the operation mode of the test scenario, and the initialization state and the initial operation mode are determined according to the module information; The dynamic operation standard function is determined according to the operation parameters of the multi-cabin spacecraft for data interaction.

5. The platform according to claim 1, characterized in that The configuration parameter integrated management submodule is used to convert the configuration parameters of the spacecraft from the single-cabin mode to the multi-cabin test mode. When performing the configuration parameter conversion, the configuration parameter integrated management submodule is specifically used to perform the following operations: Process the combined state of the spacecraft according to the preset configuration parameter conversion algorithm and output the configuration parameters of each compartment of the spacecraft; All configuration parameters are processed using a multidimensional array to obtain a parameter binding table for storage and calling; The parameter binding table is indexed and accessed according to the application scenario number, the current cabin number, the current configuration number and the current mode sub-configuration number to perform a simulation test on a multi-cabin spacecraft.

6. The platform according to claim 1, characterized in that The universal component simulation docking function is used to perform interface conversion between the dynamics software and the on-board software according to the on-board software segment mark, and the universal component simulation docking function includes an inertial measurement unit excitation function, a sun sensor excitation function, a star sensor excitation function, an infrared sensor excitation function and a GPS excitation function, wherein: The inertial measurement unit excitation function is used to accumulate the angular rate and acceleration output by the dynamic inertial measurement unit, and obtain the change in a single control cycle through equivalent conversion; The star sensor excitation function is used to convert, package and frame the star sensor raw data output by the dynamics software according to the excitation requirements of the star sensor to obtain the transmission data required for the excitation; The infrared sensor excitation function is used to convert the chord width and ground entry angle data into units; The GPS excitation function is used to convert and package the UTC and GPS position / velocity data output by the dynamics according to the GPS excitation requirements, obtain the transmission data required for the excitation, and send it to the on-board interface device.

7. The platform according to claim 1, characterized in that The injection management module is provided with a dynamic injection data submodule, a general fault injection submodule and an injection data and instruction submodule, which sequentially sets the parameter status and switches the multi-cabin multi-mode flight simulation for the dynamic software module, application software module and component interface simulation module, and controls the general test platform to perform simulation tests according to control instructions.

8. The platform according to claim 7, characterized in that The general fault injection submodule is used to perform fault simulation injection to verify whether the fault diagnosis and processing strategies of the on-board application software meet the software requirements. When performing fault simulation injection, the general fault injection submodule is specifically used to perform the following operations: Perform signal superposition on the status information output by the dynamics software module to simulate numerical type faults; An interface layer and a protocol layer are added to the component interface simulation module to simulate interface failures and protocol failures.

9. The platform according to claim 1, characterized in that The operation monitoring module is respectively connected to the dynamics software module and the application software module through the multi-cabin display module, and decodes and displays the telemetry data according to a preset protocol to monitor the data during the simulation test.

10. The platform according to claim 5, characterized in that When executing configuration switching of a multi-cabin spacecraft, the operation monitoring module is specifically configured to perform the following operations: Determining a main configuration number and a sub-configuration number requiring configuration switching based on the parameter data in the parameter binding table, and transmitting the main configuration number and the sub-configuration number to the dynamics software module; wherein the main configuration number is used to determine the spacecraft structure, and the sub-configuration number is used to determine different on-orbit phase characteristics of a specific configuration; The dynamics software queries and modifies the corresponding injected interface variables according to the number information to enter the configuration switching program; The main configuration number and the sub-configuration number are reassigned by re-calling the initialization function to update the cabin characteristic information of the spacecraft.

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