Communication satellite verification system and method based on general virtual test environment

Abstract

The invention provides a communication satellite verification system based on a general virtual test environment. The communication satellite verification system comprises a service subsystem and virtual test equipment, the service subsystem comprises a power supply and distribution subsystem ground device, a measurement and control and comprehensive electronic subsystem ground device, a thermistor equivalent device, a general control device with an MTP server and the like, and the general control device is responsible for telemetering data processing and remote control instruction scheduling; and the virtual test equipment is connected with the service subsystem, is used for simulating a satellite-borne software operation environment and a satellite-borne load to form a closed-loop test, comprises a plurality of simulation modules such as orbit and attitude dynamics, and respectively realizes orbit attitude parameter calculation, software code operation simulation and circuit box function simulation so as to test a satellite or a verification platform. The invention further provides a satellite-borne software verification method. Therefore, communication satellite verification can be carried out under the virtual condition, the test comprehensiveness can be ensured, and the test cost can be reduced.

Description

Technical Field

[0001] This invention relates to the field of satellite testing technology, and in particular to a communication satellite verification system and method based on a general virtual testing environment. Background Technology

[0002] The satellite management software, autonomous mission software, and orbital attitude control software of high-orbit communication satellites are the core software for satellite control. They need to be fully verified during the satellite integrated testing phase. However, due to the lack of a real flight environment, problems with the onboard software may not be fully exposed during the ground testing phase, which may pose hidden dangers to the satellite's on-orbit operation.

[0003] However, due to limitations in ground testing conditions, it is difficult to fully reproduce the actual flight environment of a satellite in orbit (such as space orbital characteristics, relative motion relationships between celestial bodies, and space environment parameters). This means that the onboard software may not be able to fully expose potential problems related to real operating conditions during the ground testing phase. If these undiscovered problems are introduced into the in-orbit operation phase, they may cause satellite attitude control failure, mission execution anomalies, or even complete satellite failure, posing serious hidden dangers to the satellite's in-orbit operation.

[0004] While existing technologies can conduct onboard software testing through partial hardware simulation or simplified simulation, they suffer from problems such as strong test environment specialization, weak scalability, and incomplete coverage of simulation scenarios. Furthermore, the reusability of test cases and simulation models is low, resulting in high testing costs and low efficiency, making it difficult to meet the system-level verification requirements of complex onboard software for high-orbit communication satellites.

[0005] Therefore, building a universal, efficient, and scalable virtual testing environment to fully verify satellite management software, autonomous mission software, and orbital attitude control software, and to expose and correct software problems in advance, is of great significance for improving the reliability of onboard software and ensuring the stable operation of satellites in orbit. Summary of the Invention

[0006] The purpose of this invention is to provide a communication satellite verification system and method based on a general virtual testing environment, which can be applied to the software function verification of high-orbit communication satellites in a virtual testing environment, effectively reducing testing costs.

[0007] To achieve the aforementioned technical effects, on the one hand, this invention provides a communication satellite verification system based on a general virtual testing environment, characterized in that it includes a service subsystem and virtual testing equipment, wherein:

[0008] The service subsystem includes ground equipment for the power supply and distribution subsystem, ground equipment for the telemetry, control and integrated electronic subsystem, and thermistor equivalent equipment for assisting in the testing of the satellite or verification platform.

[0009] The virtual testing equipment is connected to the service subsystem and is used to simulate the physical environment and onboard load of the onboard software. It establishes a closed loop for onboard software logic testing by outputting feedback signals. The virtual testing equipment includes an orbit and attitude dynamics simulation module, an attitude and orbit control unit simulation module, a control drive circuit box simulation module, a sensor simulation module, an actuator simulation module, a test interface module, a fault simulation module, and a 1553B bus interface module. The orbit and attitude dynamics simulation module is used to calculate orbit and attitude parameters through dynamic model simulation. The attitude and orbit control unit simulation module is used to load and run the compiled code of the attitude and orbit control unit system software, simulating its bus. Communication behavior; the control drive circuit box simulation module is used to simulate the telemetry status parameters of the control drive circuit box and to simulate the data exchange function, drive control function and communication function of the control drive circuit box; the sensor simulation module is used to simulate the state response of each sensor; the actuator simulation module is used to simulate the telemetry results of the on-board equipment based on the remote control command feedback; the test interface module is used to receive and process the command information of the central control equipment; the fault simulation module is used to simulate control-type faults and inject fault signals into the control-type single machine by linking with the orbit and attitude dynamics simulation module; the 1553B bus interface module is used to simulate the 1553B bus software control logic.

[0010] The service subsystem also includes a central control device, which is equipped with an MTP server, a database, and supporting management software. This device is used to process the distribution, display, interpretation, and storage of telemetry data, schedule the sending of uplink remote control commands, manage the test process and test equipment, and automate the test items.

[0011] Optionally, the orbit and attitude dynamics simulation module is specifically used to simulate the attitude and orbital changes of the satellite in each flight phase, as well as the relative positional relationship between the satellite and the Sun, Earth, Moon, and stars, and output the corresponding dynamic parameters;

[0012] The attitude and orbit control unit simulation module is specifically used to load the code compiled by the system software and application software of the attitude and orbit control unit, simulate its telemetry status parameters, telemetry packet format and control logic, as well as data exchange with other on-board units;

[0013] The control drive circuit box simulation module is specifically used to simulate the telemetry status parameters of the control drive circuit box, simulate its interaction with the propulsion system's drive control, and simulate its communication function with the attitude and track control unit.

[0014] Optionally, the ground equipment of the power supply and distribution subsystem is used to provide power to the entire satellite and to simulate micro-switch signals for solar panels and detonation signals for pyrotechnic devices;

[0015] The ground equipment of the telemetry, control and integrated electronic subsystem is used to realize the modulation, demodulation and isolation matching of satellite-to-ground telemetry and remote control signals;

[0016] The thermistor equivalent device is equipped with multiple independent programmable resistor channels, which can simulate the on-orbit temperature of different parts of the satellite by setting different resistance values.

[0017] Optionally, the 1553B bus interface module can simulate the 1553B bus software control logic and interface characteristics of the attitude and track control unit by calling the driver program of the 1553B bus board, thereby realizing the bus communication function with the lower-level computer of the integrated electronic system.

[0018] Optionally, the actuator simulation module is specifically used to simulate the satellite's reaction wheel, chemical thruster, solar panel drive mechanism, and electric propulsion system. It receives direct or indirect remote control commands through a built-in physical characteristic mathematical model, and calculates and outputs the corresponding digital telemetry and analog telemetry.

[0019] Optional, also includes:

[0020] The test computer runs automated testing software and a remote control front-end interface, and is used to send test scenario configuration instructions to the central control device, and to display the simulation data and verification report of the virtual test device in real time.

[0021] Optionally, the MTP server (Test Process Management Server) is used to execute test process scheduling; the database is used to store test case library and verification data; and the scheduling software is used to coordinate the timing synchronization between the virtual test device and the service subsystem.

[0022] Optionally, the onboard software includes space service management software, autonomous mission software, and orbital attitude control software.

[0023] On the other hand, the present invention also provides a spaceborne software verification method based on the above system, comprising:

[0024] Constructing a virtual testing environment: Loading the orbital attitude dynamics model, sensor and actuator mathematical models into the virtual testing equipment;

[0025] Configure physical excitation: Set the initial values ​​of power control signals and thermal state simulation signals through the service subsystem;

[0026] Perform closed-loop verification: send control commands to the onboard software; generate sensor / actuator feedback signals through the virtual test equipment; receive software output responses and drive simulation model updates;

[0027] Dynamic monitoring: Real-time comparison of the onboard software's response with expected values, and recording of deviation data;

[0028] Generate a validation report: Output coverage analysis and effectiveness assessment of fault handling.

[0029] Optionally, the closed-loop verification includes fault injection testing:

[0030] Select the fault type and injection location to trigger sensor signal drift or actuator failure;

[0031] Monitoring the fault detection and response sequence of onboard software;

[0032] Assess the appropriateness of the response plan.

[0033] The communication satellite verification system and method based on a general virtual testing environment described in this invention can verify the correctness of satellite software design logic by simulating various input and output conditions. Using this testing system, testers can build a satellite verification system in a virtual testing environment. The virtual environment can simulate the onboard loads controlled by the satellite software and provide feedback signals, forming a closed loop for onboard software logic testing. This allows for the testing of the satellite's mission management software, autonomous mission software, and orbital attitude control software. It enables the discovery of errors in satellite software design and implementation under non-realistic testing conditions, playing a crucial role in improving the reliability of onboard software. Attached Figure Description

[0034] Figure 1 This is a structural block diagram of a communication satellite verification system based on a general virtual testing environment provided in an embodiment of the present invention;

[0035] Figure 2 A connection diagram of a communication satellite verification system based on a general virtual testing environment provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the internal module structure of the virtual test equipment of a communication satellite verification system based on a general virtual test environment, provided in an embodiment of the present invention.

[0037] Figure 4 This is a schematic diagram of the software infrastructure of the virtual testing device of a communication satellite verification system based on a general virtual testing environment, provided in an embodiment of the present invention.

[0038] Figure 5 The flowchart illustrates the steps of the onboard software verification method provided in another embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] It should be noted that references to "an embodiment," "embodiment," "example embodiment," etc., in this specification refer to the described embodiment including specific features, structures, or characteristics, but not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0041] The communication satellite verification system based on a general virtual testing environment provided by this invention can verify key onboard software in advance under virtual conditions by applying the verification system based on a general virtual testing environment; it can simulate various satellite test scenarios through simulation technology to ensure the comprehensiveness of the test; the test cases and simulation models have high reusability, effectively reducing the test cost.

[0042] The design and implementation of system-level integrated testing in a satellite general virtual test environment is a complex but efficient process. Testers make full use of the simulation capabilities and automated testing tools of the virtual test environment to build a virtual test environment that meets the testing requirements, thereby achieving comprehensive and efficient testing and verification of the system under test and providing effective ground testing and verification support for the stable operation of the satellite in orbit.

[0043] The specific principles of the communication satellite verification system based on a general virtual testing environment of this application will be described below with reference to specific embodiments.

[0044] See Figures 1-3 An embodiment of the present invention provides a communication satellite verification system 100 based on a general virtual testing environment, comprising a service subsystem 10 and a virtual testing device 20, wherein:

[0045] The service subsystem 10 includes ground equipment 101 for the power supply and distribution subsystem, ground equipment 102 for the telemetry, telemetry and control and integrated electronic subsystem, and thermistor equivalent equipment 103 for assisting in the testing of the satellite or verification platform. The service subsystem 10 also includes a central control device 104, which is equipped with an MTP server, a database and supporting management software for processing the distribution, display, interpretation and storage of telemetry data, scheduling the transmission of uplink remote control commands, managing the test process and test equipment, and automating the test items.

[0046] The system 100 provided in this embodiment needs to be used in conjunction with the service subsystem 20 to assist in completing the testing of the satellite under test and the verification platform, wherein:

[0047] The central control unit 104 serves as the management and control center of the ground testing system, responsible for processing, distributing, displaying, interpreting, and storing telemetry data during satellite testing; scheduling the transmission of uplink remote control commands; storing and applying test data; managing the test process; automating the execution of test projects; and managing test equipment. The MTP server is used to execute test process scheduling; the database is used to store the test case library and verification data; and the scheduling software is used to coordinate the timing synchronization between the virtual test equipment and the service subsystem.

[0048] The power supply equipment in the ground equipment 101 of the power supply and distribution subsystem is used to supply power to the entire satellite (or verification platform). During the satellite's satellite management software and autonomous mission software testing, it is also necessary to use solar panel deployment microswitches, package unlocking signals, and pyrotechnic signals to simulate signals. That is, the ground equipment 101 of the power supply and distribution subsystem is used to provide power to the entire satellite and to simulate solar panel microswitches and pyrotechnic detonation signals.

[0049] During satellite autonomous flight testing, the telemetry, tracking, and command (TT&C) and integrated electronic subsystem must ensure the correctness, effectiveness, and reliability of uplink and downlink signal transmission. The ground equipment 102 of the TT&C and integrated electronic subsystem comprehensively processes telemetry and remote control signals, primarily realizing functions such as receiving and demodulating downlink telemetry signals, modulating and outputting uplink remote control signals, and matching, isolating, and controlling signals between the satellite and ground. In other words, the ground equipment 102 of the TT&C and integrated electronic subsystem is used to achieve modulation, demodulation, isolation, and matching of satellite-to-ground telemetry and remote control signals.

[0050] The thermistor equivalent device 103 can be configured with multiple thermistor resistance values ​​to simulate the temperature of different parts of the satellite. Each thermistor can be set independently, with resistance values ​​set according to the characteristics of on-orbit operating conditions to simulate different on-orbit temperatures, thereby replacing the actual thermistors on the satellite and simulating the temperature of on-orbit components.

[0051] The virtual test device 20 is connected to the service subsystem 10 and is used to simulate the physical environment and onboard load of the onboard software. It forms a closed loop for the onboard software logic test by outputting feedback signals. The virtual test device 20 includes an orbit and attitude dynamics simulation module 201, an attitude and orbit control unit simulation module 202, a control drive circuit box simulation module 203, a sensor simulation module 204, an actuator simulation module 205, a test interface module 206, a fault simulation module 207, and a 1553B bus interface module 208. The orbit and attitude dynamics simulation module 201 is used to calculate orbit and attitude parameters through dynamic model simulation, and the attitude and orbit control unit simulation module 202 is used to load and run the attitude and orbit control unit system software. The system compiles code to simulate its bus communication behavior; the control drive circuit box simulation module 203 is used to simulate the telemetry status parameters of the control drive circuit box and to simulate the data exchange function, drive control function and communication function of the control drive circuit box; the sensor simulation module 204 is used to simulate the state response of each sensor; the actuator simulation module 205 is used to simulate the telemetry results of the on-board equipment based on the remote control command feedback; the test interface module 206 is used to receive and process the command information of the central control equipment; the fault simulation module 207 is used to simulate control-type faults and inject fault signals into the control-type single machine by linking with the orbit and attitude dynamics simulation module; the 1553B bus interface module 208 is used to simulate the 1553B bus software control logic.

[0052] This embodiment tests onboard software including spacecraft management software, autonomous mission software, and orbital attitude control software.

[0053] Virtual test equipment 20 is the core device of a communication satellite verification system 100 based on a general virtual test environment. It includes various simulation modules, such as... Figure 3 As shown.

[0054] The digital system software of the satellite management and attitude and orbit control digital simulation system runs on a PC. It performs digital simulation of the entire attitude and orbit control system and satellite management system. It uses a PCI-based 1553B bus board 209 to perform semi-physical simulation of the 1553B bus interface of the satellite management and telemetry control unit and attitude and orbit control unit, so as to realize communication with other 1553B bus terminals and host computers.

[0055] The control commands and status information of the satellite management and attitude control digital simulation system are transmitted to external systems via Ethernet communication. Users set the status of the simulation system according to the communication protocol, and at the same time receive and parse various information sent by the simulation system.

[0056] The specific functions of each module in the virtual testing device of this embodiment are as follows:

[0057] The Orbit and Attitude Dynamics Simulation Module 201 can be used to simulate satellite attitude and orbit changes, as well as the interrelationships between the satellite, the Sun, Earth, Moon, and other celestial bodies during different flight mission phases. It can perform simulation calculations of satellite orbit and attitude dynamics under various setting modes and conditions after the apex, reflecting the satellite's true orbit and attitude dynamics. Specifically, the Orbit and Attitude Dynamics Simulation Module 201 is used to simulate the satellite's attitude and orbit changes during each flight phase, as well as the satellite's relative positional relationships with the Sun, Earth, Moon, and other celestial bodies, and outputs the corresponding dynamic parameters.

[0058] The attitude and orbit control unit simulation module 202 is used to load the jointly compiled code of the attitude and orbit control unit's system software and application software, simulate its telemetry status parameters, telemetry packet format, and control logic, as well as data exchange with other onboard units. Specifically, the attitude and orbit control unit simulation module 202 simulates the software operating environment of the attitude and orbit control unit based on virtual test equipment software, directly loads and runs the jointly compiled software code of the attitude and orbit control unit's system software and application software; simulates the telemetry status parameters and telemetry packet format of the attitude and orbit control unit; simulates the system state changes of the control subsystem's remote control commands; realizes the data exchange function between the attitude and orbit control unit and other onboard units of the control system; and simulates the attitude and orbit control logic of the satellite implemented by the attitude and orbit control unit.

[0059] The control drive circuit box simulation module 203 is used to simulate the telemetry status parameters of the control drive circuit box, simulate its interaction with the propulsion system's drive control, and simulate its communication functions with the attitude and orbit control unit. Specifically, the control drive circuit box simulation module 203 simulates all the telemetry status parameters of the control drive circuit box; simulates the data exchange functions between the control drive circuit box and other on-board units of the control system; simulates the control drive circuit box's drive and control functions for the propulsion system; and simulates the communication functions between the control drive circuit box and the attitude and orbit control unit.

[0060] The sensor simulation module 204 is used to simulate the telemetry status parameters of various sensors, receive and process commands, and simulate the outputs of various sensors.

[0061] The actuator simulation module 205 simulates the satellite's reaction wheel, chemical thruster, solar panel drive mechanism, and electric propulsion system. It receives direct or indirect remote control commands through built-in physical characteristic mathematical models, calculates and outputs corresponding digital and analog telemetry data. In other words, the actuator simulation module 205 simulates the satellite's reaction wheel, chemical thruster, solar panel drive mechanism, and electric propulsion system. The mathematical models of each component receive direct and indirect remote control commands, model them according to their physical characteristics, and output digital and analog telemetry data.

[0062] The telemetry and control interface module 206 is used to receive dynamic control commands sent by the central control system, and send the parsed commands to the orbit and attitude dynamics simulation module 201 and the fault simulation module 207; it also receives satellite service management and telemetry and control unit discrete commands sent by the central control equipment 104 and processes the commands.

[0063] The fault simulation module 207 is used to simulate control-related faults such as sensor faults and actuator faults. Combined with the dynamics simulation module, it can realize fault injection of related signals of control attitude sensors and actuators, adapt to the satellite-to-ground interface, and provide fault injection signals to satellite control units.

[0064] The 1553B bus interface module 208, by calling the driver program of the 1553B bus board 209, simulates the 1553B bus software control logic and interface characteristics of the attitude and track control unit, thereby realizing bus communication with the lower-level computer of the integrated electronic system. The 1553B bus interface module 208 can simulate the 1553B bus interface characteristics of the attitude and track control unit to achieve bus communication with the lower-level computer of the integrated electronic system.

[0065] The basic software architecture of the virtual testing device 20 is as follows: Figure 4 As shown, the runtime kernel controls the operation of the entire virtual test environment, including scheduling the operation of various simulation models and controlling discrete events such as clocks or interrupts.

[0066] The testing system based on a general virtual testing environment defines standard interfaces and various simulation models. These models receive scheduling from the runtime kernel through these standard interfaces, facilitating data exchange between models. Under the unified scheduling of the runtime kernel, these simulation models constitute a virtual target system, allowing the tested onboard software to run on this system without any modifications.

[0067] The software of the virtual testing device 20 is configured with a virtual testing interface in the human-machine interface layer to complete tasks such as software debugging and interface display. The human-machine interface layer is also configured with a coverage analysis tool to analyze test coverage and a target code parsing library to parse the target files of the compiled software under test.

[0068] Furthermore, it also includes a test computer 40, which runs automated test software and a remote control front-end interface, and is used to send test scenario configuration instructions to the central control device 104, and to display the simulation data and verification report of the virtual test device 20 in real time.

[0069] The communication satellite testing system 100 based on a general virtual testing environment in this embodiment can quickly build a highly automated, rich, and highly available virtual testing environment for embedded software, effectively ensuring the sufficiency of the testing of the software under test.

[0070] The system 100 can verify the correctness of satellite software design logic and analyze the impact of satellite failures by simulating various input and output conditions; and verify the correctness of the analysis of satellite failure mechanisms and handling measures during research and development and on-orbit testing, thereby improving the satellite's ability to simulate and verify failures during the ground testing phase.

[0071] Because virtual testing systems have strong system-level simulation capabilities, and the software of virtual testing environments is characterized by high performance and high scalability, integrated testers can use testing systems based on general virtual testing environments to quickly build a specific virtual software testing environment on an ordinary computer, and conduct embedded software development and testing without the target hardware.

[0072] In a specific application example, the specific implementation steps for onboard software verification using a communication satellite verification system 100 based on a general virtual testing environment are as follows:

[0073] 1. Design tests based on the content to be tested.

[0074] Based on the satellite's onboard software requirements and functions, software test cases are designed. The software functions defined in the onboard software requirements document are analyzed and designed item by item, and test cases are designed in layers. First, each small function is covered, then cross-coupled functions are covered, and finally, the actual on-orbit operation conditions of the satellite are simulated to design on-orbit test cases. The test cases cover all branches of the input and output of each function.

[0075] 2. Preparation of ground testing equipment for the communication satellite verification system.

[0076] Turn on the relevant ground testing equipment according to the items to be tested, including the central control equipment, power supply and distribution subsystem ground equipment, measurement and control and integrated electronic subsystem ground equipment, thermistor equivalent equipment, test computer, and communication satellite verification system, and confirm that the configuration of each ground equipment is correct, that it is working properly, and that the system connection and communication are normal.

[0077] 3. Power on the satellite and set its status.

[0078] After confirming that the satellite is powered on and the telemetry and remote control channels are functioning normally, the satellite comprehensive test was conducted according to the test outline requirements and the test procedure steps. The software functions were tested item by item, and the corresponding load of the onboard software was simulated based on the input conditions of the software under test in the test system.

[0079] 4. Conduct functional tests of the orbital attitude control software using a virtual testing system.

[0080] The orbital attitude control software primarily handles orbit and attitude control tasks throughout its entire lifecycle, requiring capabilities such as chemical propulsion orbit changes, electric propulsion orbit changes, position holding, position drift, and end-of-life deorbiting. To achieve autonomous orbit changes, the satellite should also possess autonomous orbit determination and orbit extrapolation capabilities. Simultaneously, the attitude and orbit control module must meet the satellite's attitude pointing control requirements, maintaining the satellite's attitude within the required pointing accuracy range and ensuring that the satellite's angular velocity remains within safe limits throughout its on-orbit journey.

[0081] Full lifecycle software functional testing of orbital attitude control software was conducted on a communication satellite verification system based on a general virtual testing environment, covering the active phase, transfer orbit, Hall electric propulsion orbit change, ion electric propulsion orbit change, station-keeping, and deorbiting. Software testing of logical functions was performed on a purely digital software testing system; testing of functions, performance, and compatibility with other components was conducted on a semi-digital, semi-physical testing system.

[0082] 5. Conduct functional testing of the space management software using a virtual testing system.

[0083] High-orbit communication satellites utilize satellite management and telemetry, tracking, and command (TT&C) unit application software as the core for system-level mission management, forming a radial topology with subsystem-level and unit-level software. The satellite management module primarily performs functions such as thermal control management, energy management, and TT&C management for the entire satellite. Based on flight phase identifiers, overall satellite timing information, and mission enablement information sent by the autonomous mission management module, the satellite management module executes specific satellite management tasks and feeds back the execution status and results to the autonomous management module.

[0084] Testers used a virtual testing system to analyze the impact of various satellite malfunctions through fault injection, verifying the correctness of the on-orbit fault mechanism analysis and handling measures. During thermal control management function testing, a thermistor equivalent was connected to the object under test, and corresponding resistance values ​​were set according to the heater circuit threshold to simulate different temperatures, thus replacing the actual onboard thermistor to complete the thermal control software logic test.

[0085] 6. Conduct functional testing of autonomous task management software using a virtual testing system.

[0086] The satellite autonomous mission management module is the mission management and scheduling center of the entire satellite software system. It collects information such as software operating status, hardware telemetry, and health status from other modules, and schedules and manages other software functional modules according to the mission stage the satellite is in.

[0087] During flight events, the microswitch combination states of the north solar panel deployment and the south solar panel deployment need to be simulated when the solar panels deploy; the pyrotechnic detonation event during flight events needs to be simulated using a pyrotechnic equivalent; and for events that require temperature measurement to determine whether the satellite is in normal condition, a thermistor equivalent is used to perform equivalence on the thermistor during ground testing.

[0088] The onboard autonomous flight software design of high-orbit communication satellites is complex. System testing requires testing and verification of the parameter binding, command format, software functions, and software interfaces of each software module; testing and verification of data information interaction between software modules and the consistency between software logic and on-orbit operating status; testing and verification of the rationality of handling special operating conditions (such as system reset, restart, power failure, abnormal component physical parameters, etc.); testing and verification of the correctness of attitude and orbit control under long-term propulsion orbit changes and electric propulsion orbit changes; and proposing on-orbit handling plans for various abnormal and fault conditions encountered by the satellite during on-orbit flight, verifying them in a virtual verification system first, and executing on-orbit operations after confirmation of correctness to ensure the correctness of on-orbit handling. Based on the actual execution results, the software determines the execution result of the entire satellite flight mission and completes the process transition control of the flight mission phase.

[0089] 7. Data Archiving and Analysis. Confirm the completion of the testing process, ensure all test data is authentic and valid, and archive it promptly. Record and interpret test results in real time, compare and analyze abnormal data promptly, and form a complete and accurate test data package to provide data support for satellite in-orbit operation.

[0090] 8. Status Recovery. After verification, the status of each satellite system is restored, the satellite is powered off, and the ground test equipment is shut down.

[0091] Figure 5 This invention illustrates another embodiment of a spaceborne software verification method, which is implemented based on the system 100 of the above embodiment and includes the following steps:

[0092] S101: Construct a virtual testing environment: Load the orbital attitude dynamics model, sensor and actuator mathematical model into the virtual testing equipment.

[0093] In an optional implementation, a preset dynamic equation can be imported through the orbit and attitude dynamics simulation module. This equation includes calculation models for satellite orbital parameters (semi-major axis, eccentricity, etc.), attitude angles (roll angle, pitch angle, yaw angle), and a gravitational field model for the relative motion of the Sun, Earth, Moon, and stars. This ensures that the model can simulate the satellite's orbit and attitude changes throughout its entire lifecycle, including the active phase, transfer orbit, and stationary phase. The sensor simulation module loads measurement models of various sensors (such as gyroscopes, star sensors, and solar sensors), including noise characteristics (zero drift, random noise), measurement range, and response delay parameters, simulating the sensors' perception output of satellite attitude and position. The actuator simulation module loads physical models of reaction wheels, chemical thrusters, solar panel drive mechanisms, etc., inputting parameters such as moment of inertia, thrust curves, and drive efficiency. This allows the model to output corresponding angular momentum, thrust, and position feedback based on input commands.

[0094] After the above model is loaded, a virtual simulation environment that interacts with the onboard software is formed through runtime kernel scheduling of the virtual testing equipment, and the model parameters can be adjusted in real time through the client.

[0095] S102: Configure Physical Excitation: Set the initial values ​​of power control signals and thermal state simulation signals through the service subsystem. In specific implementation, the power supply module of the ground equipment of the power supply and distribution subsystem sets the power supply voltage and current thresholds of the entire satellite or verification platform according to the requirements of the software under test. At the same time, the signal simulation module presets the solar panel deployment micro-switch signal and pyrotechnic signal to simulate the initial operating conditions of the onboard energy system. The thermistor equivalent device sets the initial resistance value through multiple independent channels, corresponding to the typical on-orbit temperature of different parts of the satellite (such as the cabin, solar panels, and propulsion module). The correspondence between resistance and temperature is set according to the characteristic curve of the actual thermistor on the satellite, thereby providing the initial temperature input to the thermal control module of the satellite management software.

[0096] S103: Perform closed-loop verification: Send control commands to the onboard software; generate sensor / actuator feedback signals through the virtual test equipment; receive software output responses and drive the simulation model to update.

[0097] Specifically, closed-loop verification includes sending control commands, generating feedback signals, and updating the model, among which:

[0098] Control command transmission: Send target commands (such as "orbit change command" of orbit attitude control software, "heater start command" of spacecraft management software, and "mission start command" of autonomous mission software) to the onboard software through the remote control front-end software of the client or the central control equipment.

[0099] Feedback signal generation: After receiving the instruction, the virtual test equipment generates a feedback signal through the corresponding module: If the instruction points to attitude control, the sensor simulation module simulates the star sensor to output the current attitude measurement value, and the actuator simulation module simulates the reaction wheel to output angular momentum telemetry; if the instruction involves thermal control management, the thermistor equivalent device adjusts the corresponding channel resistance value according to the heater instruction to simulate temperature change and feeds it back to the star management software.

[0100] Model update: After receiving the output response from the onboard software, the virtual test equipment updates the orbital parameters and attitude angles according to the control variables by the orbit and attitude dynamics simulation module. Other simulation modules (such as the control drive circuit box simulation module) update the telemetry status synchronously, forming a closed loop of the test.

[0101] The closed-loop verification includes fault injection testing: selecting the fault type and injection location, triggering sensor signal drift or actuator failure; monitoring the fault detection and handling response timing of the onboard software; and evaluating the correctness of the handling plan.

[0102] S104: Dynamic monitoring: Compare the response of the onboard software with the expected value in real time and record the deviation data.

[0103] S105: Generate a verification report: Output coverage analysis and effectiveness assessment of fault handling.

[0104] This invention relates to a communication satellite verification system and method based on a general virtual testing environment. This system can verify the correctness of satellite software design logic by simulating various input and output conditions. Using this testing system, satellite integrated testing personnel can build upon the general virtual testing environment of the communication satellite verification system by expanding test scripts, test case libraries, and simulation libraries of the objects under test. This allows for the creation of specialized virtual testing environments for software such as satellite management software, autonomous mission software, and orbital attitude control software. These testing environments are highly automated, offer rich testing methods, and significantly improve test coverage. System-level testing based on virtual testing environments helps to identify onboard software problems early, correct errors promptly, and complete software upgrades and iterations. This saves time in identifying, troubleshooting, and resolving problems during overall satellite integrated testing, effectively improving the efficiency of integrated testing.

[0105] Compared with the prior art, the present invention has the following beneficial effects:

[0106] (1) The present invention can build a virtual test system in a non-real test environment, independent of the reliance on satellite subsystems, stand-alone devices and other hardware equipment, to verify the correctness of software functions, the compatibility of interfaces between software, and the correctness of data transmission format and content. The virtual test system can avoid damage to the real load on the satellite during onboard software testing, and plays an important role in improving the reliability and security of satellite software testing.

[0107] (2) This invention verifies the correctness of satellite software design logic, analyzes the impact of satellite faults, and verifies the correctness of the analysis and handling measures for fault occurrence in satellites under development and in orbit, thereby improving the ability to simulate and verify satellite faults.

[0108] (3) Virtual environments possess characteristics such as high availability, high controllability, determinism, and ease of replication and use, providing an ideal testing environment for spaceborne software testing. Through plug-in technology, the modularity, reusability, and scalability of the testing system are improved, effectively supplementing satellite integrated testing. Testers can fully utilize the simulation capabilities and automated testing toolchain of virtual testing systems to construct virtual testing environments that meet testing requirements, achieving comprehensive and efficient testing and verification of the system under test.

[0109] (4) This invention can greatly improve the test coverage and can realize the comprehensive verification of satellite's satellite management software, autonomous mission software and orbit attitude control software. System-level testing based on virtual test environment helps to discover on-board software problems in advance. Through verification platform testing, errors can be corrected in time before the software is installed on the satellite, and software upgrades and iterations can be completed. This saves time for finding, investigating and solving problems in the overall satellite test and effectively improves the efficiency of the overall test.

[0110] (5) During the satellite's operation in orbit after launch, the virtual test system can accompany the satellite by acquiring real-time data and connecting to the satellite's ground-based identification or electrical components. In the event of an emergency in orbit, the system can simulate the working conditions in a timely manner, verify the correctness of the handling measures, and provide technical support and data support for the stable operation of the satellite in orbit.

[0111] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0112] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A communication satellite verification system based on a general virtual testing environment, characterized in that, It includes a service subsystem and virtual testing equipment, among which: The service subsystem includes ground equipment for the power supply and distribution subsystem, ground equipment for the telemetry, control and integrated electronic subsystem, and thermistor equivalent equipment for assisting in the testing of the satellite or verification platform. The virtual testing equipment is connected to the service subsystem and is used to simulate the physical environment and onboard load of the onboard software. It establishes a closed loop for onboard software logic testing by outputting feedback signals. The virtual testing equipment includes an orbit and attitude dynamics simulation module, an attitude and orbit control unit simulation module, a control drive circuit box simulation module, a sensor simulation module, an actuator simulation module, a test interface module, a fault simulation module, and a 1553B bus interface module. The orbit and attitude dynamics simulation module is used to calculate orbit and attitude parameters through dynamic model simulation. The attitude and orbit control unit simulation module is used to load and run the compiled code of the attitude and orbit control unit system software, simulating its bus. Communication behavior; the control drive circuit box simulation module is used to simulate the telemetry status parameters of the control drive circuit box and to simulate the data exchange function, drive control function and communication function of the control drive circuit box; the sensor simulation module is used to simulate the state response of each sensor; the actuator simulation module is used to simulate the telemetry results of the on-board equipment based on the remote control command feedback; the test interface module is used to receive and process the command information of the central control equipment; the fault simulation module is used to simulate control-type faults and inject fault signals into the control-type single machine by linking with the orbit and attitude dynamics simulation module; the 1553B bus interface module is used to simulate the 1553B bus software control logic. The service subsystem also includes a central control device, which is equipped with an MTP server, a database, and supporting management software. This device is used to process the distribution, display, interpretation, and storage of telemetry data, schedule the sending of uplink remote control commands, manage the test process and test equipment, and automate the test items.

2. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The orbit and attitude dynamics simulation module is specifically used to simulate the attitude and orbit changes of the satellite in each flight phase, as well as the relative positional relationship between the satellite and the Sun, Earth, Moon, and other stars, and output the corresponding dynamic parameters. The attitude and orbit control unit simulation module is specifically used to load the code compiled by the system software and application software of the attitude and orbit control unit, simulate its telemetry status parameters, telemetry packet format and control logic, as well as data exchange with other on-board units; The control drive circuit box simulation module is specifically used to simulate the telemetry status parameters of the control drive circuit box, simulate its interaction with the propulsion system's drive control, and simulate its communication function with the attitude and track control unit.

3. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The ground equipment of the power supply and distribution subsystem is used to provide power to the entire satellite and to simulate micro-switch signals for solar panels and detonation signals for pyrotechnic devices. The ground equipment of the telemetry, control and integrated electronic subsystem is used to realize the modulation, demodulation and isolation matching of satellite-to-ground telemetry and remote control signals; The thermistor equivalent device is equipped with multiple independent programmable resistor channels, which can simulate the on-orbit temperature of different parts of the satellite by setting different resistance values.

4. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The 1553B bus interface module simulates the 1553B bus software control logic and interface characteristics of the attitude and track control unit by calling the driver program of the 1553B bus board, thereby realizing the bus communication function with the lower-level computer of the integrated electronic system.

5. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The actuator simulation module is specifically used to simulate the satellite's reaction wheel, chemical thruster, solar panel drive mechanism, and electric propulsion system. It receives direct or indirect remote control commands through a built-in physical characteristic mathematical model, and calculates and outputs the corresponding digital telemetry and analog telemetry.

6. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, It also includes: The test computer runs automated testing software and a remote control front-end interface, and is used to send test scenario configuration instructions to the central control device, and to display the simulation data and verification report of the virtual test device in real time.

7. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The MTP server is used to execute test process scheduling; the database is used to store test case library and verification data; the scheduling software is used to coordinate the timing synchronization between the virtual test equipment and the service subsystem.

8. The communication satellite verification system based on a general virtual testing environment according to claim 1, characterized in that, The onboard software includes space service management software, autonomous mission software, and orbital attitude control software.

9. A method for verifying onboard software of a communication satellite verification system based on a general virtual testing environment as described in any one of claims 1 to 8, characterized in that, include: Constructing a virtual testing environment: Loading the orbital attitude dynamics model, sensor and actuator mathematical models into the virtual testing equipment; Configure physical excitation: Set the initial values ​​of power control signals and thermal state simulation signals through the service subsystem; Perform closed-loop verification: send control commands to the onboard software; generate sensor / actuator feedback signals through the virtual test equipment; receive software output responses and drive simulation model updates; Dynamic monitoring: Real-time comparison of the onboard software's response with expected values, and recording of deviation data; Generate a validation report: Output coverage analysis and effectiveness assessment of fault handling.

10. The onboard software verification method according to claim 9, characterized in that, The closed-loop verification process includes fault injection testing: Select the fault type and injection location to trigger sensor signal drift or actuator failure; Monitoring the fault detection and response sequence of onboard software; Assess the appropriateness of the response plan.

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