Spacecraft multi-user navigation function closed-loop test system and method
By using a cloud-based, highly dynamic, multi-user GNSS simulation source, high-precision and comprehensive verification of multi-user spacecraft navigation functions was achieved, solving the challenges of multi-user navigation testing. It supports simultaneous testing of multiple spacecraft, provides highly reliable test results, and is applicable to different types of navigation receivers.
Patent Information
- Application Number
- CN202511246791.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-02
- Publication Date
- 2025-12-05
AI Technical Summary
Existing technologies cannot simultaneously and accurately verify the navigation functions of multi-user spacecraft, especially for spacecraft with more than two users under test, where simultaneous testing by multiple users is not possible, and testing the navigation signals of complex spacecraft is difficult.
A cloud-based, highly dynamic, multi-user GNSS simulation source is used to generate time-synchronized multi-channel navigation simulation test signals. Closed-loop testing of multi-user navigation functions is achieved through the multi-user GNSS simulation source, target aircraft receiver, aircraft receiver, orbit files, ground testing equipment, and integrated test and analysis software.
It achieves high-precision and comprehensive verification of multi-user spacecraft navigation functions, supports simultaneous testing of multiple spacecraft and multiple users, has high reliability of test results, is applicable to positioning tests of different navigation receiver types, has a highly versatile test architecture, and is easy to port to software.
Smart Images
Figure CN121067913A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of spacecraft system level test, in particular to a spacecraft multi-user navigation function closed-loop test system and method. BACKGROUND
[0002] At present, the spacecraft platform needs to complete independent flight tasks, rendezvous and docking tasks and on-orbit orbit control tasks. Except that the on-orbit orbit control task can not need the navigation positioning subsystem to participate continuously and in real time, the rest of the tasks need the navigation positioning subsystem to participate directly and in real time. In the independent flight task, the navigation positioning subsystem needs to complete high-precision real-time positioning and provide the results to the spacecraft; in the rendezvous and docking task, in addition to being able to independently complete absolute positioning, as a tracking device, it can receive the original measurement data of the target device, complete relative difference calculation, and provide the relative measurement results to the attitude and orbit control subsystem for use to complete the rendezvous and docking task together.
[0003] According to the task requirements of the spacecraft, to verify the correctness and effectiveness of the design of the navigation equipment of the spacecraft platform, on the basis of software testing and single machine testing, comprehensive system level testing needs to be carried out on the navigation equipment of the spacecraft platform. The main problems existing in the current comprehensive testing of the navigation positioning subsystem of the spacecraft are as follows: ① The spacecraft often needs to be equipped with multiple navigation receiving antennas, which are installed in different quadrants and positions, so as to realize navigation satellite signal reception in different attitudes, and therefore has the testing requirement of multiple different navigation signal inputs; the spacecraft planning task is different, and for the complex spacecraft with rendezvous and docking tasks, it needs to meet the testing requirement of relative positioning during rendezvous and docking, and the spacecraft and the target spacecraft need navigation test signals at the same time, which has the characteristic of multiple users to be tested; ② The complex spacecraft often needs to perform navigation positioning function autonomously, and has the function of orbit position prediction, that is, in the non-positioning state, it has the function of continuously outputting positioning data and second pulse, so the test equipment needs to meet the prediction function testing requirement; ③ At present, the high dynamic GNSS simulation source as the necessary equipment for comprehensive testing of the spacecraft is generally configured for single user or double user, and for spacecrafts with more than 2 users to be tested, the navigation simulation signal is connected to the users to be tested in turn during testing, but multiple users cannot be tested at the same time, so the multi-user navigation function of the spacecraft cannot be accurately and comprehensively verified at the same time; ④ The navigation subsystem of the spacecraft is complex, and the number of test signals is the number of antennas of the spacecraft and the number of test signals configured for the cooperative spacecraft, in addition, the spacecraft participating in the test cooperatively may be distributed in different areas, which brings great difficulty to the comprehensive test. SUMMARY
[0004] Therefore, the application provides a spacecraft multi-user navigation function closed-loop test system and method, which can realize high-precision comprehensive verification of the navigation function of a spacecraft system, and takes into account the characteristics of multiple users and high precision requirements.
[0005] To achieve the above object, the technical scheme of the application is as follows:
[0006] A spacecraft multi-user navigation function closed-loop test system comprises a multi-user GNSS simulation source, at least one target spacecraft receiver, at least one spacecraft receiver, a target spacecraft orbit file, a spacecraft orbit file, a ground detection device and comprehensive test analysis software.
[0007] The multi-user GNSS simulation source is configured to generate time-synchronized multi-channel navigation simulation test signals corresponding to multiple users according to an input orbit file.
[0008] The target spacecraft receiver is configured to receive the corresponding simulation signals generated by the GNSS simulation source, complete positioning calculation and output positioning and observation information.
[0009] The spacecraft receiver, as a navigation receiver on a spacecraft under test, is configured to receive the corresponding simulation signals generated by the GNSS simulation source and / or information output by other receivers, complete absolute positioning and / or relative positioning calculation and output navigation information.
[0010] The target spacecraft orbit file and the spacecraft orbit file are configured to provide trajectory and attitude information of a target spacecraft and a body spacecraft.
[0011] The ground detection device is configured to control a test process and acquire spacecraft telemetry data in real time.
[0012] The comprehensive test analysis software is configured to receive and compare theoretical data output by the GNSS simulation source and test data forwarded by the ground detection device in real time, and complete test interpretation.
[0013] The multi-user GNSS simulation source comprises system control software, simulation control software, simulator embedded software, a digital-to-analog converter and an upconverter.
[0014] The system control software is configured to communicate with the simulation control software, issue scene files and control parameters, and receive and display simulation states and data.
[0015] The simulation control software is configured to forward and convert protocols between the system control software and the simulator embedded software, and store data.
[0016] The simulator embedded software is used for receiving control parameters, configuring hardware and controlling generation of navigation digital intermediate frequency signals.
[0017] The digital-to-analog converter and the upconverter are used for converting the digital intermediate frequency signals into radio frequency analog signals.
[0018] The multi-user GNSS simulation source supports obtaining user trajectory information through file input or trajectory real-time injection, and can perform trajectory adaptive interpolation operation to generate trajectory data consistent with the hardware simulation step.
[0019] The system supports configuring a plurality of spacecraft trajectory input quantities and a plurality of measured users, and can configure the correspondence between the input trajectory and the measured user.
[0020] The multi-user GNSS simulation source can complete the correlation simulation of signals of a plurality of user antennas on the same spacecraft according to the relative coordinate parameters of the antenna position and the spacecraft center of mass on the input spacecraft.
[0021] The application also provides a spacecraft multi-user navigation function closed-loop test method based on the system.
[0022] Step S1: starting the multi-user GNSS simulation source, running the system control software and the simulation control software and establishing network connection;
[0023] Step S2: configuring the spacecraft trajectory input quantity, the measured user quantity, the correspondence between the input trajectory and the measured user, and setting the antenna position parameter on the spacecraft through the system control software;
[0024] Step S3: configuring the simulation source scene file and the signal parameters of each user channel through the system control software;
[0025] Step S4: the simulation control software receives the instructions and parameters of the system control software, performs format conversion, and then forwards to the simulator embedded software, and forwards the data reported by the embedded software;
[0026] Step S5: the simulator embedded software configures the hardware user channel according to the received parameters, and completes initialization;
[0027] Step S6: the simulator embedded software generates navigation digital intermediate frequency signals, and outputs a plurality of navigation simulation test signals after digital-to-analog conversion and upconversion;
[0028] Step S7: the target aircraft receiver and the aircraft receiver receive the corresponding simulation signals, perform positioning calculation, and output navigation information;
[0029] Step S8: the ground detection equipment controls a test sequence, acquires spacecraft telemetry data and forwards;
[0030] Step S9: the comprehensive test analysis software receives theoretical data of the GNSS simulation source and test data forwarded by the ground detection equipment, performs real-time comparison and interpretation, and completes closed-loop testing.
[0031] In step S6, the simulator embedded software obtains user trajectory information through file input or real-time injection of trajectories, generates trajectory data consistent with the hardware simulation step size after adaptive interpolation operation of the trajectories, and then controls the generation of corresponding navigation signals.
[0032] The method simultaneously supports testing and verification of absolute positioning, relative positioning and orbit prediction functions.
[0033] In step S9, the real-time comparison and interpretation includes comparing the theoretical absolute positioning data of the spacecraft, the theoretical data of the target spacecraft, and the absolute positioning data and relative positioning data output by the spacecraft receiver.
[0034] The multi-user GNSS simulation source is based on a cloud architecture, supports input of multiple user trajectories through local or network input methods, and generates multiple spacecraft orbit data in real time.
[0035] Advantages:
[0036] 1. The system of the present application adopts precise testing of a high-dynamic multi-user GNSS simulation source based on a cloud architecture to meet the testing needs of multiple users of the spacecraft to be tested, supports simultaneous correlation testing of multiple spacecraft and multiple users, realizes function testing such as absolute positioning, relative positioning and trajectory prediction, has flexible system architecture, a large number of user channels, supports complex spacecraft multi-user needs, can realize high-precision comprehensive verification of the navigation function of the spacecraft system, takes into account the characteristics of multiple users to be tested and high precision requirements, and the spacecraft closed-loop testing based on the high-dynamic multi-user GNSS simulation source of the cloud architecture becomes an effective solution.
[0037] 2. In the system of the present application, in view of the complex design of the spacecraft navigation terminal and the antenna, the spacecraft trajectory injection and correlation simulation of multiple user antennas on the same spacecraft are adopted, which can comprehensively simulate the working conditions of the spacecraft receiving navigation signals in orbit, changes the traditional rough testing mode, and the test results have high reliability.
[0038] 3. In the system of the present application, in view of the cooperative testing needs of the spacecraft, multiple user trajectories are input to the GNSS simulation source through local or network input methods, the GNSS simulation source generates multiple spacecraft orbit data in real time according to fixed format point files, simulates all signals of the users to be tested in real time, and transmits the real-time simulation data to the comprehensive test analysis software for closed-loop test analysis.
[0039] 4. The spacecraft multi-user navigation function closed-loop test method in the system of the application is based on a multi-user GNSS simulation source of cloud architecture, the GNSS simulation source generates time-synchronized multiple user measured signals, and simultaneously transmits simulation data to the comprehensive test analysis software, the measured signals are connected to all measured users of the spacecraft system, the measured users output navigation information to the ground detection equipment after positioning, and the ground detection equipment transmits data to the comprehensive test analysis software. The comprehensive test analysis software compares the data output by the ground detection equipment and the GNSS simulation source in real time, thereby realizing closed-loop test of absolute positioning and relative positioning of the spacecraft, being suitable for test interpretation requirements of different spacecraft navigation receiver positioning types (absolute positioning, relative positioning), having strong universality of the test architecture, and the software being easy to realize software transplantation through a network connection mode.
[0040] 5. The precise test method of the high-dynamic multi-user GNSS simulation source based on cloud architecture in the method of the application supports simultaneous correlation test of multiple spacecraft multi-users, realizes function test such as absolute positioning, relative positioning and trajectory prediction, adopts spacecraft trajectory injection and correlation simulation technology of multiple user antennas on the same spacecraft, solves test problems caused by complex design of the spacecraft navigation terminal and the antenna, and can comprehensively simulate in-orbit receiving navigation signal working conditions of the spacecraft.
[0041] 6. In the method of the application, multiple user trajectories are input to the GNSS simulation source through a local or network input mode, the GNSS simulation source generates multiple spacecraft orbit data in real time according to a fixed format point file, and real-time simulation data of all measured users are transmitted to the comprehensive test analysis software for closed-loop precise test analysis. BRIEF DESCRIPTION OF DRAWINGS
[0042] Figure 1 FIG. 1 is a structural schematic diagram of the high-dynamic multi-user GNSS simulation source of the application.
[0043] Figure 2 FIG. 2 is a closed-loop test architecture schematic diagram of the multi-user spacecraft system based on the GNSS simulation source of the application. DETAILED DESCRIPTION
[0044] The application will be described in detail below with reference to the accompanying drawings and embodiments.
[0045] The application provides a spacecraft multi-user navigation function closed-loop test system, which comprises a high-dynamic multi-user GNSS simulation source, a target spacecraft receiver, a spacecraft receiver, a target spacecraft orbit file, a spacecraft orbit file, a ground detection equipment and a comprehensive test analysis software.
[0046] The high-dynamic multi-user GNSS simulation source structure is as shown in FIG. 1. Figure 1As shown, including system control software, simulation control software, simulator embedded software, DA and up converter. The system control software is mainly used for communication with the high-performance simulator simulation control software, and needs to issue scene files and control parameters to the simulation control software, etc., while needs to obtain simulation state, observation data and user position from the simulation control software, and make interface display of the corresponding data; The simulation control software acts as an intermediary between the system control software and the simulator embedded software, can receive control instructions, simulation parameters, configuration parameters and trajectory inertial navigation parameters of the system control software, convert them into standard format data required by the system control software and forward them to the corresponding simulator embedded software module, and forward the data reported by the simulator embedded software to the system control software according to the protocol, and store the data; The simulator embedded software receives the control parameters forwarded by the simulation control software, configures the simulator hardware and controls the hardware waveform manager to generate the corresponding navigation frequency point digital intermediate frequency signal, which is converted by the DA and then frequency converted to the required frequency point by the unified up converter; At the same time, the GNSS simulation source can obtain user trajectory information through file input or real-time injection of trajectory, generate trajectory data consistent with the simulation time of the hardware simulation source after trajectory adaptive interpolation operation, and then control the hardware waveform manager to generate the corresponding navigation frequency point digital intermediate frequency signal, which is converted by the DA and the unified up converter to generate the simulation signal required by the user test.
[0047] The target aircraft receiver is used for relative positioning function test, and simulates the receiver of the navigation subsystem function on the target aircraft; The aircraft receiver is the navigation receiver on the measured aircraft, and the number of receivers on different aircrafts may be different, the number of navigation antennas connected to each receiver is different, and the number of navigation antennas on the aircraft determines the number of measured navigation simulation input signals; The target aircraft orbit file is used to generate the trajectory and attitude information of the target aircraft in advance or in real time by the attitude orbit control subsystem, and the GNSS simulation source is used to generate the target aircraft trajectory data adaptive to the hardware simulation step; The aircraft orbit file is used to generate the trajectory and attitude information of the body aircraft in advance or in real time by the attitude orbit control subsystem, and the GNSS simulation source is used to generate the body aircraft trajectory data adaptive to the hardware simulation step; The ground detection equipment controls the spacecraft automatic test sequence, obtains spacecraft telemetry data in real time and forwards them to the comprehensive test analysis software; The comprehensive test analysis software automatically compares the aircraft theoretical data, the target aircraft theoretical data and the test data forwarded by the ground detection equipment in real time, and gives a conclusion.
[0048] Based on the spacecraft multi-user navigation function closed-loop test system of the application, the application also provides a spacecraft multi-user navigation function closed-loop test method, and the multi-user spacecraft system closed-loop test architecture based on the GNSS simulation source is as shown in Figure 2 The specific steps of the test method of the application include:
[0049] Step 1: Start the multi-user GNSS simulation source embedded hardware, open the system control software and simulation control software on the industrial computer, and the system software automatically connects to the network;
[0050] Step 2: Configure the number of spacecraft trajectory inputs n, the number of users to be measured m, and the correspondence between the input trajectory and the measured user through the system control software, such as the target spacecraft orbit file corresponding to user 1, the spacecraft orbit file corresponding to user 2, user 3 and user 4, and the relative coordinates of the user 2, user 3 and user 4 antennas on the spacecraft to the spacecraft center of mass;
[0051] Step 3: Configure the high dynamic multi-user GNSS simulation source scenario file, as well as the modulation parameters and signal power of each user channel simulation signal through the system control software, and issue the scenario file and control parameters to the simulation control software, etc.
[0052] Step 4: The high dynamic multi-user GNSS simulation control software serves as an intermediary between the system control software and the embedded software of the simulator, receives control instructions, simulation parameters, configuration parameters and trajectory inertial navigation parameters from the system control software, converts them into standard format data required by the system control software and forwards them to the corresponding simulator embedded software module, also forwards the data reported by the simulator embedded software to the system control software according to the protocol, and stores the data;
[0053] Step 5: The high dynamic multi-user GNSS simulator embedded software receives the control parameters forwarded by the simulation control software, configures the user channel of the simulator hardware, and completes the initialization configuration of the simulation signal user channel according to the spacecraft antenna parameter information;
[0054] Step 6: The high dynamic multi-user GNSS simulator embedded software controls the hardware waveform manager to generate corresponding navigation frequency digital intermediate frequency signals, or obtains user trajectory information through file input or trajectory real-time injection, performs trajectory adaptive interpolation operation to generate trajectory data consistent with the simulation step of the hardware simulation source, and then controls the hardware waveform manager to generate corresponding navigation frequency digital intermediate frequency signals, and then passes through DA and unified upconverter to generate the simulation signal required by the user test;
[0055] Step 7: The target spacecraft navigation receiver receives the high dynamic multi-user GNSS simulation navigation signal and completes the positioning solution, and outputs the positioning and observation information;
[0056] Step 8: After receiving the high dynamic multi-user GNSS simulation source simulation navigation signal, the aircraft navigation receiver 1 completes the positioning solution and outputs the absolute positioning information; the aircraft navigation receiver 2 receives the positioning and observation information input by the target aircraft navigation receiver, and at the same time receives the high dynamic multi-user GNSS simulation source simulation navigation signal to complete the positioning solution and output the absolute positioning information and the relative positioning information;
[0057] Step 9: The ground detection equipment controls the spacecraft automatic test sequence, and real-time acquires the spacecraft navigation receiver telemetry data and forwards it to the comprehensive test analysis software.
[0058] Step 10: The comprehensive test analysis software automatically compares and interprets the spacecraft theoretical data, the target spacecraft theoretical data and the test data forwarded by the ground detection equipment in real time.
[0059] To sum up, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A spacecraft multi-user navigation function closed loop test system, characterized by, The application relates to a multi-user GNSS simulation source, at least one target aircraft receiver, at least one aircraft receiver, a target aircraft orbit file, an aircraft orbit file, a ground detection device and comprehensive test analysis software. The multi-user GNSS simulation source is used for generating time-synchronized multi-channel navigation simulation test signals corresponding to multiple measured users according to input orbit files. The target aircraft receiver is used for receiving corresponding simulation signals generated by the GNSS simulation source, completing positioning calculation and outputting positioning and observation information. The aircraft receiver is used as a navigation receiver on a measured aircraft, is used for receiving corresponding simulation signals generated by the GNSS simulation source and / or information output by other receivers, completes absolute positioning and / or relative positioning calculation and outputs navigation information. The target aircraft orbit file and the aircraft orbit file are used for providing trajectory and attitude information of a target aircraft and a main aircraft. The ground detection device is used for controlling a test process and acquiring spacecraft telemetry data in real time. The comprehensive test analysis software is used for receiving and comparing theoretical data output by the GNSS simulation source with test data forwarded by the ground detection device in real time, and completing test interpretation. The multi-user GNSS simulation source comprises system control software, simulation control software, simulator embedded software, a digital-to-analog converter and an upconverter.
2. The system of claim 1, wherein, The system control software is used for communicating with the simulation control software, issuing scene files and control parameters, receiving and displaying simulation states and data. The simulation control software is used for forwarding and protocol converting data between the system control software and the simulator embedded software and storing data. The simulator embedded software is used for receiving control parameters, configuring hardware and controlling generation of navigation digital intermediate frequency signals. The digital-to-analog converter and the upconverter are used for converting digital intermediate frequency signals into radio frequency analog signals. The multi-user GNSS simulation source supports acquiring user trajectory information through file input or trajectory real-time injection and can perform trajectory adaptive interpolation operation to generate trajectory data consistent with hardware simulation steps.
3. The system of claim 2, wherein, The system supports configuring multiple spacecraft trajectory input quantities and measured user quantities and can configure a corresponding relationship between input trajectories and measured users.
4. The system of claim 1, wherein, The multi-user GNSS simulation source can complete associated simulation of multiple user antenna signals on the same spacecraft according to input relative coordinate parameters of antenna positions on the spacecraft and a spacecraft mass center.
5. The system of claim 1 or 4, wherein, The application further discloses a multi-user GNSS simulation method comprising the following steps:
6. A method for closed loop testing of spacecraft multi-user navigation functions based on the system of any of claims 1-5, characterized by, Step S1: starting the multi-user GNSS simulation source, running system control software and simulation control software and establishing network connection; Step S2: configuring spacecraft trajectory input quantity, measured user quantity, a corresponding relationship between input trajectories and measured users and setting antenna position parameters on the spacecraft through the system control software; Step S3: configuring simulation source scene files and signal parameters of each user channel through the system control software; Step S4: the simulation control software receives instructions and parameters of the system control software, performs format conversion, forwards the data to the simulator embedded software and forwards data reported by the embedded software. Step S5: The simulator embedded software configures the hardware user channel according to the received parameters, and completes initialization; Step S6: The simulator embedded software generates navigation digital intermediate frequency signals, and outputs multiple navigation analog test signals after digital-to-analog conversion and up-conversion; Step S7: The target spacecraft receiver and the spacecraft receiver receive corresponding analog signals, perform positioning calculation, and output navigation information; Step S8: The ground detection equipment controls the test sequence, acquires spacecraft telemetry data, and forwards the same; Step S9: The integrated test analysis software receives the theoretical data of the GNSS simulation source and the test data forwarded by the ground detection equipment, performs real-time comparison and interpretation, and completes closed-loop testing.
7. The method of claim 6, wherein, In step S6, the simulator embedded software obtains user trajectory information through file input or real-time trajectory injection, generates trajectory data consistent with the hardware simulation step size after adaptive interpolation operation, and then controls the generation of corresponding navigation signals.
8. The method according to claim 6 or 7, characterized in that, The method simultaneously supports testing and verification of absolute positioning, relative positioning, and orbit prediction functions.
9. The method of claim 8, wherein, In step S9, the real-time comparison and interpretation includes comparing the theoretical absolute positioning data of the spacecraft, the theoretical data of the target spacecraft, and the absolute positioning data and relative positioning data output by the spacecraft receiver.
10. The method of claim 6, 7 or 9, wherein, The multi-user GNSS simulation source is based on a cloud architecture, supports the input of multiple user trajectories through local or network input methods, and generates multiple spacecraft orbit data in real time.