Dynamic full-link simulation method and system for space gravitational wave detection spacecraft formation

Abstract

The invention provides a dynamic full-link simulation method and system for space gravitational wave detection spacecraft formation. A multi-physical field model, a full-link noise model and drag-free control are fused to carry out system-level simulation. The method comprises the steps that firstly, multi-physics field models such as a temperature field, a magnetic field and a self-gravitational field are established, optical measurement noise and residual acceleration noise models are combined and input to a spacecraft formation orbit dynamics and drag-free control system, then the drag-free control model feeds satellite state information after control back to the multi-physics field models, system-level closed-loop simulation is carried out, and the system-level closed-loop simulation is carried out. State changes of the spacecraft are dynamically analyzed, scientific measurement data are output to evaluate the sensitivity of the spacecraft formation space gravitational wave detection system, a multi-physical field noise transmission rule among an instrument, the spacecraft and the environment is disclosed, and space gravitational wave detection spacecraft formation dynamic full-link simulation is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space gravitational wave detection, in particular to a space gravitational wave detection spacecraft formation dynamic full-link simulation method and system, and also relates to a corresponding computer terminal and computer readable storage medium. BACKGROUND

[0002] Space gravitational wave detection adopts a laser interferometric measurement method, and utilizes a spacecraft formation to detect the picometer-level low-frequency displacement changes between 100,000-1,000,000 km baseline free-floating test masses caused by gravitational waves, that is, the detection sensitivity needs to reach 10 -21 orders of magnitude. The optical measurement noise needs to be lower than 10 -21 / Hz 1 / 2 orders of magnitude, the residual acceleration noise of the test mass needs to be better than 10 -15 m / s2 / Hz 1 / 2 orders of magnitude, and the spacecraft constellation needs to have the ability to continuously and stably measure to accumulate observation time to meet the detection signal-to-noise ratio requirements. However, the spacecraft in orbit is disturbed by complex factors such as multiple physical fields and space environment, and it is difficult to evaluate whether the spacecraft meets the detection requirements. In order to systematically analyze the detection sensitivity of the space gravitational wave spacecraft, a dynamic full-link simulation system needs to be constructed for the coupling of the instrument-spacecraft-space environment, and the coupling effects need to be analyzed.

[0003] After searching, it is found that:

[0004] The document "Gravitational Wave Detection Spacecraft Noise Decomposition and Electromagnetic Force Noise Simulation [J]. Journal of Deep Space Exploration (English and Chinese), 2023, 10(03): 334-342." focuses on the instrument sensitivity of gravitational wave detection, and clearly defines the top-level indicators of the optical path measurement noise and the residual acceleration noise of the test mass of the "Taiji Plan" spacecraft. The system noise is decomposed step by step, and detailed modeling is completed taking electromagnetic force noise as an example. A simulation system is designed and calculated. However, the coupling effects of multiple physical fields and the dynamic changes of the satellite in orbit are not considered.

[0005] The document "A Space Gravitational Wave Detection Sensitivity Calculation Method and System Based on Time Series Data: CN116413832A [P]. 2023-03-27" proposes a method and simulation system for calculating the sensitivity of a space gravitational wave detector using mixed noise time series data. The noise strain power spectral density is converted into noise relative frequency power spectral density, and the sensitivity is calculated using the noise relative frequency power spectral density and the transfer function R. However, only noise is considered, and dynamic simulation is not performed in combination with multiple physical fields and drag-free control dynamics.

[0006] The current simulation system for a space gravitational wave detection spacecraft does not integrate the coupling effect of multi-physical fields (temperature field, magnetic field, self-gravitational field) and full-link noise, and it is difficult to accurately simulate the influence of the dynamic change of the multi-physical field of the spacecraft formation on-orbit operation on gravitational wave detection, and the inhibition effect of non-conservative force disturbance on the non-drag control, and it cannot analyze the detection sensitivity from the system level. Therefore, it is urgent to carry out dynamic full-link simulation research on the space gravitational wave detection spacecraft formation integrating multi-physical fields and non-drag control. No similar technology to the present application has been found, and no similar data at home and abroad has been collected. SUMMARY

[0007] The present application provides a space gravitational wave detection spacecraft formation dynamic full-link simulation method and system, and simultaneously provides a corresponding computer terminal and computer readable storage medium.

[0008] According to one aspect of the present application, a space gravitational wave detection spacecraft formation dynamic full-link simulation method is provided, comprising:

[0009] A multi-physical field model is established, which is used to obtain a multi-physical field simulation result of a spacecraft at a current time;

[0010] Based on the multi-physical field model, a full-link noise model corresponding to the multi-physical field model is established, which is used to provide optical measurement noise and test mass residual acceleration noise, and in combination with the multi-physical field simulation result, a corresponding satellite noise simulation result is generated;

[0011] A spacecraft formation orbit dynamics and non-drag control model is established, the satellite noise simulation result is taken as an input of the spacecraft formation orbit dynamics and non-drag control model, the on-orbit operation dynamics of the spacecraft formation is simulated, and the state parameters of the formation satellite are obtained.

[0012] Preferably, the above method further comprises:

[0013] The state parameters of the formation satellite are fed back to the corresponding multi-physical field model for system-level closed-loop simulation, the state change of the spacecraft is dynamically analyzed, dynamic spacecraft formation scientific measurement data are obtained, including optical measurement noise, residual acceleration noise and arm length between three-satellite formation spacecrafts; the multi-physical field noise transmission law between instruments, spacecrafts and environment is analyzed and obtained, and the sensitivity of the space gravitational wave detection system of the spacecraft formation is calculated and evaluated; and / or

[0014] According to another aspect of the present application, a space gravitational wave detection spacecraft formation dynamic full-link simulation system is provided, comprising:

[0015] A multi-physical field simulation module is configured to establish a multi-physical field model, and the multi-physical field model is configured to obtain a multi-physical field simulation result of the spacecraft at a current time point;

[0016] A full-link noise simulation module is configured to establish a full-link noise model corresponding to the multi-physical field model based on the multi-physical field model, the full-link noise model is configured to provide optical measurement noise and test mass residual acceleration noise, and the full-link noise simulation module is configured to generate a corresponding satellite noise simulation result in combination with the multi-physical field simulation result;

[0017] A control simulation module is configured to establish a spacecraft formation orbit dynamics and non-drag control model, the satellite noise simulation result is configured as an input of the spacecraft formation orbit dynamics and non-drag control model, the control simulation module is configured to simulate orbit operation dynamics of the spacecraft formation to obtain state parameters of the formation satellites.

[0018] Preferably, the system further comprises:

[0019] A dynamic evaluation module is configured to feed back the state parameters of the formation satellites to the corresponding multi-physical field model to perform system-level closed-loop simulation, dynamically analyze the spacecraft state change, obtain dynamic spacecraft formation scientific measurement data, including optical measurement noise, residual acceleration noise and arm length between three-satellite formation spacecrafts, analyze multi-physical field noise transmission rules among instruments, spacecrafts and environments, and evaluate sensitivity of the spacecraft formation space gravitational wave detection system.

[0020] According to a third aspect of the present application, a computer terminal is provided, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program to perform the method described in the above embodiments of the present application, or run the system described in the above embodiments of the present application.

[0021] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, wherein the computer program is executable on a processor to perform the method described in the above embodiments of the present application, or run the system described in the above embodiments of the present application.

[0022] Compared with the prior art, the present application has at least the following beneficial effects:

[0023] The application provides a space gravitational wave detection spacecraft formation dynamic full-link simulation method and system, which combines a spacecraft multi-physical field model and spacecraft orbit dynamics and a no-drag control closed-loop simulation to carry out spacecraft formation dynamic full-link simulation. Through real-time interaction of a dynamics model, a multi-physical field model and a full-link noise model, dynamic coupling analysis of a temperature field, a magnetic field, a self-gravitational field on optical measurement noise and residual acceleration noise is realized. In combination with closed-loop feedback of an orbit dynamics model and a no-drag control model, state information of the spacecraft formation in orbit is simulated and output, which is fed back to the multi-physical field model to dynamically simulate changes of the multi-physical field of the spacecraft in orbit, so as to form a full-link closed-loop simulation system, output the position and posture state of the spacecraft formation, noise interference spectrum and gravitational wave measurement data, and provide a basis for spacecraft design optimization and detection system sensitivity analysis. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0025] Figure 1 A work flow chart of the space gravitational wave detection spacecraft formation dynamic full-link simulation method in a preferred embodiment of the application.

[0026] Figure 2 A composition module schematic diagram of the space gravitational wave detection spacecraft formation dynamic full-link simulation system in a preferred embodiment of the application.

[0027] Figure 3 A work schematic diagram of the space gravitational wave detection spacecraft formation dynamic full-link simulation system in a preferred embodiment of the application.

[0028] Figure 4 An optical measurement noise simulation result schematic diagram in a time domain in a specific application example of the application.

[0029] Figure 5 A test mass residual acceleration noise simulation result schematic diagram in a time domain in a specific application example of the application. DETAILED DESCRIPTION

[0030] The embodiments of the application are described in detail as follows: The embodiments are implemented on the premise of the technical scheme of the application, detailed implementation modes and specific operation processes are given. It should be noted that, for those skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which all belong to the protection scope of the application.

[0031] Space-based gravitational wave detection employs laser interferometry, utilizing a spacecraft formation to detect low-frequency displacement changes in mass at the picometer level (tens of thousands to millions of kilometers) caused by gravitational waves, which are freely suspended in space. This requires a detection sensitivity of at least 10⁻⁶. -21 Order of magnitude. Optical measurement noise must be below 10. -12 m / Hz 1 / 2 Level, with residual acceleration noise of the test mass better than 10. -15 m / s 2 / Hz 1 / 2 At the spacecraft level, spacecraft are subject to complex dynamic interferences from multiphysics fields and the space environment in orbit. Current spacecraft simulation systems for gravitational wave detection do not integrate the coupling effects of dynamic multiphysics fields (temperature field, magnetic field, self-gravitational field) and end-to-end noise. This makes it difficult to accurately simulate the impact of dynamic multiphysics field interference on gravitational wave detection during spacecraft formation operation in orbit, as well as the suppression effectiveness of drag-free control on non-conservative force disturbances. Consequently, it is impossible to analyze detection sensitivity at the system level.

[0032] To address the aforementioned issues, one embodiment of the present invention provides a dynamic full-link simulation method for space gravitational wave detection spacecraft formations. This method integrates multiphysics and drag-free control to achieve dynamic full-link simulation of space gravitational wave detection spacecraft formations.

[0033] Specifically, such as Figure 1 As shown in the embodiment, the dynamic full-link simulation method for space gravitational wave detection spacecraft formations provided may include:

[0034] S1. Establish a multiphysics model. The multiphysics model is used to obtain the multiphysics simulation results of the spacecraft at the current moment.

[0035] S2, based on the multiphysics model, establishes a full-link noise model corresponding to the multiphysics model. The full-link noise model is used to provide optical measurement noise and residual acceleration noise of the test mass, and combined with the multiphysics simulation results, generates the corresponding satellite noise simulation results.

[0036] S3. Establish a spacecraft formation orbital dynamics and drag-free control model. Use the satellite noise simulation results as the input to the spacecraft formation orbital dynamics and drag-free control model to simulate the on-orbit operation dynamics of the spacecraft formation and obtain the state parameters of the formation satellites.

[0037] In some preferred embodiments, the above method may further include:

[0038] S4, feeding the state parameters of the formation satellites to the corresponding multi-physical field model, performing system-level closed-loop simulation, dynamically analyzing the state changes of the spacecraft, and obtaining dynamic spacecraft formation scientific measurement data, including: optical measurement noise, residual acceleration noise, and arm length between three-satellite formation spacecraft; analyzing the noise transmission law among the instrument-spacecraft-environment multi-physical field, and calculating and evaluating the sensitivity of the spacecraft formation space gravitational wave detection system.

[0039] In some preferred embodiments, S1 above can further include:

[0040] S11, obtaining spacecraft multi-physical field change parameters, including: temperature field, magnetic field, and self-gravitational field change parameters;

[0041] S12, obtaining spacecraft orbit change parameters, including: spacecraft orbit space, spacecraft external heat flux, and interplanetary space magnetic field change parameters;

[0042] S13, calculating the radiation transmission in the core area of the spacecraft, establishing a temperature field model of the spacecraft and a core area temperature field calculation boundary condition;

[0043] S14, meshing the spacecraft, calculating the gravitational acceleration and angular acceleration disturbance of each grid element on the test mass, establishing a self-gravitational field model of the spacecraft, and obtaining the influencing factors of the self-gravitational field, including: MOSA rotation angle, fuel consumption change, test mass relative motion, and thermal deformation;

[0044] S15, calculating the multi-magnetic dipole moment inside the star, and establishing a spacecraft magnetic field model;

[0045] S16, combining the above processes to construct a multi-physical field model; based on the multi-physical field model, according to the state change of the satellite at each moment and the physical field state at the last moment, the multi-physical field simulation result of the spacecraft at this moment is generated, including: temperature fluctuation of the optical platform and the electrode cage, magnetic field and magnetic field gradient of the spacecraft platform at the test mass, self-gravitation of the spacecraft platform on the test mass, and self-gravitation stiffness.

[0046] In some preferred embodiments, S2 above can further include:

[0047] S21, combining all multi-physical field models to establish a full-link noise model (time domain model) of the corresponding formation spacecraft, including an optical measurement noise model and a test mass residual acceleration noise model; wherein:

[0048] S211, establishing an optical measurement noise model, including:

[0049] The optical measurement noise is decomposed from three parts of laser emission-propagation-reception; wherein, the emission part is related to the laser, the propagation part is related to the optical path, and the reception part is related to the detector;

[0050] The optical measurement noise is classified, including: optical noise, electronic noise and optical path noise;

[0051] Based on the above classification, optical noise model, electronic noise model and optical path noise model are established respectively, and the optical measurement noise model is constructed to provide optical measurement noise; wherein, the optical noise model is used to simulate the phase drift caused by the frequency stability of the laser and the shot noise caused by the random fluctuation of photons, the electronic noise model is used to simulate the noise of the photodetector and the phase meter and the noise introduced by the phase demodulation process, and the optical path noise model is used to simulate the change of the optical path caused by the temperature drift, the change of the optical path caused by the beam tilt and the change of the optical path caused by the beam pointing drift;

[0052] S212, a test mass residual acceleration noise model is established, including:

[0053] The test mass residual acceleration noise is classified, including: disturbance force noise and stiffness coupling noise;

[0054] Based on the above classification, the following models are established:

[0055] A disturbance noise model caused by temperature field and self-gravitational field is established to simulate the first disturbance force noise, including: thermal radiation pressure caused by electrode cage temperature gradient, thermal radiation meter and outgassing effect, self-gravitational field change caused by thermal elastic deformation and mass distribution change;

[0056] An electromagnetic field disturbance noise model is established to simulate the second disturbance force noise, including: Lorentz force caused by the cumulative charge on the test mass and the interstellar magnetic field, the static magnetic force and the electrostatic force on the test mass;

[0057] A test mass electrostatic suspension control noise model is established to simulate the stiffness coupling noise;

[0058] S22, the full-link noise model is used, and the corresponding satellite noise simulation results are generated in combination with the multi-physical field simulation results, including:

[0059] In combination with the multi-physical field simulation results, the current temperature field, magnetic field and self-gravitational field state values of the spacecraft are obtained, including: temperature fluctuation of the optical platform and the electrode cage, magnetic field and magnetic field gradient of the spacecraft platform at the test mass, self-gravity and self-gravitational stiffness of the spacecraft platform to the test mass.

[0060] The state value is input into the full-link noise model to obtain current optical measurement noise and test mass residual acceleration noise, i.e., corresponding satellite noise simulation results.

[0061] In some preferred embodiments, the S3 can further include:

[0062] The S31 is a spacecraft formation orbit dynamics and drag-free control model, which includes a dynamics model, a control model, an actuator and sensor model, wherein:

[0063] The S311 is to establish a dynamics model, which includes:

[0064] Based on spacecraft-telescope-test mass multi-body dynamics, the orbit and attitude motion models of the formation spacecraft, the relative motion and attitude motion equations of the test mass relative to the satellite center of mass, and the rotation motion equation of the telescope system are established respectively, and the dynamics model is obtained by combination.

[0065] The S312 is to establish a control model, which includes:

[0066] The control model is used to simulate spacecraft attitude control and telescope pointing control, drag-free control and electrostatic suspension control, wherein the spacecraft attitude control and telescope pointing control are used to control the spacecraft attitude and telescope pointing, to ensure the pointing alignment and chain building between the spacecraft formation; the drag-free control is used to offset the non-conservative residual acceleration disturbance suffered by the spacecraft, so as to detect the picometer-level distance fluctuation between the two freely suspended test masses caused by gravitational waves in the scientific mode of space gravitational wave detection; and the electrostatic suspension control is used to realize the electrostatic suspension protection control of the test mass in the non-scientific mode.

[0067] The S313 is to establish an actuator and sensor model, which includes:

[0068] The actuator and sensor model is used to realize control-related execution and sensing, wherein the execution includes thruster configuration under different thruster layouts, each thruster dynamic simulation, inertial sensor electrostatic control, telescope rotation mechanism; and the sensing includes inertial sensor electrostatic measurement, interferometric measurement readout, star sensor, capture camera and QPD simulation.

[0069] The S32 is to take the satellite noise simulation results (optical measurement noise and test mass residual acceleration) as the input of the spacecraft formation orbit dynamics and drag-free control model, to simulate the spacecraft formation orbit dynamics and the drag-free control and attitude control system, and to obtain the state parameters of the space gravitational wave detection formation satellite, including spacecraft state information, sensor measurement information and actuator information.

[0070] In some preferred embodiments, the S4 can further comprise feeding back the state parameters of the formation satellites to the corresponding multi-physical field model to perform system-level closed-loop simulation, dynamically analyze the state changes of the spacecraft, obtain dynamic spacecraft optical measurement noise, residual acceleration noise and arm length between three-satellite formation spacecraft, analyze the multi-physical field noise transmission law between the instrument-spacecraft-space environment, and calculate and evaluate the sensitivity of the spacecraft formation space gravitational wave detection system.

[0071] The space gravitational wave detection spacecraft formation dynamic full-link simulation method provided by the above embodiments of the present application fuses multi-physical field and multi-degree-of-freedom drag-free control to realize space gravitational wave detection spacecraft formation dynamic full-link simulation. Firstly, multi-physical field models such as temperature field, magnetic field and self-gravitational field are constructed, and according to the state changes of the satellite at each moment and the physical field state at the last moment, the multi-physical field simulation results of the spacecraft at this moment are generated, and the simulation results are transmitted to the full-link noise model and the spacecraft formation dynamics and drag-free control model. Then, the full-link noise model is established, the noise analysis results are generated according to the optical measurement noise model and the residual acceleration noise model of the test mass, and combined with the output results of the multi-physical field, the corresponding noise analysis results are input to the spacecraft formation dynamics and drag-free control model. Next, based on the simulation results of the optical measurement noise and the residual acceleration noise, combined with the orbit dynamics model of the spacecraft formation, the drag-free control and attitude control system, the on-orbit operation dynamics simulation is completed, and finally the state parameters such as the position and posture information of the formation spacecraft are output and fed back to the multi-physical field model. Based on the simulation output results, the multi-physical field transmission law of the instrument-spacecraft-space environment and the measurement link establishment-maintenance space-time changes is researched, and the detection efficiency of the space gravitational wave detection system is analyzed.

[0072] Based on the same inventive concept, an embodiment of the present application also provides a space gravitational wave detection spacecraft formation dynamic full-link simulation system.

[0073] Specifically, as shown in Figure 2 the space gravitational wave detection spacecraft formation dynamic full-link simulation system provided by this embodiment can include:

[0074] a multi-physical field simulation module, which is configured to establish a multi-physical field model, and the multi-physical field model is configured to obtain a multi-physical field simulation result of a spacecraft at a current moment;

[0075] a full-link noise simulation module, which is configured to establish a full-link noise model corresponding to the multi-physical field model based on the multi-physical field model, and the full-link noise model is configured to provide optical measurement noise and test mass residual acceleration noise, and generate corresponding satellite noise simulation results in combination with the multi-physical field simulation results;

[0076] A control simulation module is configured to establish a spacecraft formation orbit dynamics and non-drag control model, take the satellite noise simulation result as an input of the spacecraft formation orbit dynamics and non-drag control model, simulate the spacecraft formation orbit dynamics, and obtain state parameters of the formation satellite.

[0077] In some preferred embodiments, the system further comprises:

[0078] A dynamic evaluation module is configured to feed back the state parameters of the formation satellite to the corresponding multi-physical field model, perform system-level closed-loop simulation, dynamically analyze the spacecraft state change, obtain dynamic spacecraft formation scientific measurement data, including optical measurement noise, residual acceleration noise and three-satellite formation spacecraft arm length, analyze the multi-physical field noise transmission law among the instrument, the spacecraft and the environment, and evaluate the sensitivity of the spacecraft formation space gravitational wave detection system.

[0079] The technical solution of the system provided by the above embodiments of the application will be further described in detail in combination with preferred embodiments.

[0080] The spacecraft formation dynamic full-link simulation system for space gravitational wave detection provided by the above embodiments of the application is fused with multi-physical field and multi-degree-of-freedom non-drag control, and comprises a multi-physical field simulation module, a full-link noise simulation module and a control simulation module. Figure 3 As shown in the figure. Wherein:

[0081] The multi-physical field simulation module is mainly configured to simulate a temperature field, a magnetic field and a self-gravitational field, etc. The module can generate the physical field result of the spacecraft at each moment according to the state change of the satellite at each moment and the physical field state at the previous moment, and transmit the result to the full-link noise simulation module and the control simulation module. The full-link noise simulation module is configured to simulate optical measurement noise and residual acceleration noise of a test mass. The module mainly generates the corresponding noise analysis result, i.e. the satellite noise simulation result, to the control simulation module according to the optical measurement noise and the residual acceleration noise of the test mass in combination with the output result of the multi-physical field. The control simulation module generates the spacecraft formation orbit dynamics simulation result according to the satellite noise simulation result in combination with the orbit dynamics model of the spacecraft, the non-drag control and the attitude control system. Finally, the position and posture information and other state parameters of the formation satellite are outputted and fed back to the multi-physical field simulation module, so as to build the spacecraft formation dynamic full-link simulation system fused with multi-physical field simulation, full-link noise simulation and non-drag control. Based on the simulation system, the multi-physical field transmission law of the instrument-spacecraft-space environment and the measurement link establishment-maintenance is researched, and the detection efficiency of the spacecraft formation space gravitational wave detection system is analyzed.

[0082] In some preferred embodiments, the multi-physical field simulation module further comprises:

[0083] According to the preliminary design scheme of the spacecraft, the changes of the temperature field, the magnetic field, the self-gravitational field and other multi-physical fields of the three spacecrafts are analyzed respectively. According to the orbit design scheme of the spacecraft, the orbit space environment of the spacecraft, the change of the external heat flow of the spacecraft, the change of the interplanetary space magnetic field and the like are determined. In combination with the core region structure of the spacecraft, the internal single-machine power dissipation and heat dissipation, the external heat flow condition and the design of the active and passive thermal control system of the spacecraft, the radiation transmission in the core region is calculated, the temperature field model of the spacecraft and the boundary condition for calculating the temperature field of the core region are established. Then, in combination with the configuration and layout of the spacecraft, the spacecraft is meshed based on the finite element method, the gravitational acceleration and the angular acceleration interference of each grid element to the test mass are calculated, the self-gravitational field model of the spacecraft is established, and the influences of the MOSA rotation angle, the fuel consumption change, the relative motion of the test mass, the thermal deformation and the like on the self-gravitational field are analyzed. In combination with the layout of each single-machine on the spacecraft, the magnetic measurement parameters of each single-machine, the position of the test mass and the like information and the multi-magnetic dipole moment model, the magnetic field model of the spacecraft is established. Then, the multi-physical field simulation results of the spacecraft are output to the full-link noise model part, including the temperature fluctuation of the optical platform and the electrode cage, the magnetic field and the magnetic field gradient of the spacecraft platform at the test mass, the self-gravitation and the self-gravitational stiffness of the spacecraft platform to the test mass and the like.

[0084] In some preferred embodiments, the full-link noise simulation module, the function implementation manner thereof, further includes:

[0085] In combination with the multi-physical field model of the spacecraft, the full-link noise time-domain model of the formation spacecraft is established respectively, including the optical measurement noise model and the residual acceleration noise model of the test mass. The optical measurement noise is decomposed from three parts of laser emission, propagation and reception. The emission part is related to the laser, the propagation part is related to the optical path, and the reception part is related to the detector. The optical measurement noise is divided into three categories: optical noise, electronic noise and optical path noise. The optical noise model is established, including the phase drift caused by the frequency stability of the laser and the shot noise caused by the random fluctuation of photons. The electronic noise model is established, including the noise of the photodetector and the phase meter, and the noise introduced in the demodulation process. The optical path noise model is established, including the change of the optical path caused by the temperature drift, the change of the optical path caused by the beam tilt and the change of the optical path caused by the beam pointing drift. And the residual acceleration noise model of the test mass is mainly the interference force noise and the stiffness coupling noise. The interference noise model of the temperature field and the self-gravitational field is established, including the thermal radiation pressure caused by the temperature gradient of the electrode cage, the thermal radiation meter and the outgassing effect, the self-gravitational field change caused by the thermal elastic deformation and the mass distribution change; the electromagnetic field interference noise model is established, including the Lorentz force caused by the cumulative charge on the test mass under the influence of the interstellar magnetic field and the interplanetary magnetic field, the static magnetic force and the electrostatic force on the test mass; the electrostatic suspension control noise model of the test mass is established.

[0086] In some preferred embodiments, the control simulation module, the function implementation of which further comprises: a dynamics model of the spacecraft formation, a control model, an actuator and sensor model.

[0087] The dynamics model is used for simulating the multi-body dynamics of the spacecraft-telescope-test mass;

[0088] The control model is used for simulating the spacecraft attitude control and telescope pointing control, drag-free control and electrostatic suspension control.

[0089] The actuator and sensor model is used for simulating the control-related execution and sensing.

[0090] In some preferred embodiments, the dynamic evaluation module, the function implementation of which further comprises:

[0091] The spacecraft state information such as the position and attitude of the satellite platform and the test mass relative to the nominal state, the MOSA rotation angle and fuel consumption is output and fed back to the multi-physical field module, so as to dynamically analyze the on-orbit multi-physical field changes of the spacecraft formation detection system.

[0092] Finally, the spacecraft formation dynamic full-link simulation system integrating the multi-physical field model, the full-link noise model and the drag-free control model is completed, the multi-physical field transfer law of the instrument-spacecraft-space environment and the measurement link establishment and maintenance is researched, and the sensitivity of the gravitational wave measurement system is analyzed. In a specific application example, the simulation results of the optical measurement noise and the residual acceleration noise of the test mass are as shown in Figure 4 and Figure 5 .

[0093] It should be noted that the steps in the method provided by the present application can be implemented by using corresponding components in the system, and those skilled in the art can refer to the technical solution of the system to implement the step flow of the method, or refer to the technical solution of the method to implement the composition of the system, that is, the embodiments in the system and the embodiments in the method can be understood as preferred examples, which will not be described here.

[0094] An embodiment of the present application further provides a computer terminal, including a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor can be used for executing the method of any one of the above-mentioned embodiments of the present application or running the system of any one of the above-mentioned embodiments of the present application when executing the computer program.

[0095] Optionally, a memory for storing programs; the memory can include volatile memory (e.g., random-access memory (RAM) such as static random-access memory (SRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), etc.), and / or non-volatile memory (e.g., flash memory). The memory is used to store computer programs (e.g., application programs, functional modules, etc. for implementing the above-described methods), computer instructions, etc. The above-described computer programs, computer instructions, etc. can be stored in one or more memories in a partitioned manner. The above-described computer programs, computer instructions, data, etc. can be invoked by the processor.

[0096] A processor for executing the computer programs stored in the memory to implement the various steps in the methods or the various modules of the systems according to the above-described embodiments. Details can be referred to the related descriptions in the above-described method and system embodiments.

[0097] The processor and the memory can be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor can be coupled and connected through a bus.

[0098] An embodiment of the present application further provides a computer readable storage medium, which has stored thereon a computer program. The computer program is executed by a processor to implement the method of any one of the above-described embodiments of the present application or to run the system of any one of the above-described embodiments of the present application.

[0099] The computer readable medium includes a computer storage medium and a communication medium. The communication medium includes any medium that facilitates transfer of a computer program from one place to another. A storage medium can be any available medium that can be accessed by a general purpose or special purpose computer. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a component of the processor. Suitable processors include, by way of example, both general and special purpose microprocessors. Of course, the degree of processor control over the computer program can vary in various embodiments. In other embodiments, the processor architectures can be more than merely a processor and a memory.

[0100] The space gravitational wave detection spacecraft formation dynamic full-link simulation method and system provided in the above embodiments of the present invention combine a spacecraft multiphysics model with spacecraft orbital dynamics and drag-free control closed-loop simulation to conduct dynamic full-link simulation of spacecraft formation. Through real-time interaction between the dynamic model, multiphysics model, and full-link noise model, dynamic coupling analysis of temperature field, magnetic field, and self-gravitational field on optical measurement noise and residual acceleration noise is achieved. Combining the closed-loop feedback of the orbital dynamics model and drag-free control model, the simulation outputs the on-orbit state information of the formation spacecraft, which is fed back to the multiphysics model to dynamically simulate the changes in the multiphysics fields of the spacecraft on orbit, thus forming a full-link closed-loop simulation system. This system outputs the attitude state of the formation spacecraft, noise interference spectrum, and gravitational wave measurement data, providing a basis for spacecraft design optimization and detection system sensitivity analysis.

[0101] Any matters not covered in the above embodiments of the present invention are well-known in the art.

[0102] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A dynamic full-link simulation method for space gravitational wave detection spacecraft formations, characterized in that, include: A multiphysics model is established, which is used to obtain the multiphysics simulation results of the spacecraft at the current moment; Based on the multiphysics model, a corresponding end-link noise model is established. The end-link noise model is used to provide optical measurement noise and residual acceleration noise of the test mass. Combined with the multiphysics simulation results, corresponding satellite noise simulation results are generated. A spacecraft formation orbital dynamics and drag-free control model is established. The satellite noise simulation results are used as input to the spacecraft formation orbital dynamics and drag-free control model to simulate the on-orbit operation dynamics of the spacecraft formation and obtain the state parameters of the formation satellites. The drag-free control simulation results are fed back to the multiphysics model to perform system-level closed-loop simulation, and the sensitivity of the space gravitational wave detection system is dynamically analyzed and evaluated.

2. The dynamic full-link simulation method for space gravitational wave detection spacecraft formation according to claim 1, characterized in that, A multiphysics model is established, which is used to obtain the multiphysics simulation results of the spacecraft at the current moment, including: Acquire the multiphysics field variation parameters of the spacecraft, including the variation parameters of the temperature field, magnetic field and self-gravity field; Obtain parameters of spacecraft orbital changes, including: parameters of changes in spacecraft orbital space, spacecraft external heat flux, and interplanetary magnetic field; The radiation transfer within the core region of the spacecraft is calculated, and a temperature field model of the spacecraft and the calculation boundary conditions of the temperature field in the core region are established. The spacecraft is meshed, and the gravitational acceleration and angular acceleration interference of each mesh cell on the test mass are calculated. A self-gravitational field model of the spacecraft is established, and the influencing factors on the self-gravitational field are obtained, including: MOSA rotation angle, fuel consumption change, relative motion of the test mass and thermal deformation. Calculate the multi-magnetic dipole moments within the satellite and establish a spacecraft magnetic field model; By combining the above processes, a multiphysics model is constructed. Based on the multiphysics model, the multiphysics simulation results of the spacecraft at each moment are generated according to the changes in the satellite's state at each moment and the physical field state at the previous moment. These results include: temperature fluctuations of the optical platform and electrode cage, magnetic field and magnetic field gradient of the spacecraft platform at the test mass, and self-gravity and self-gravity stiffness of the spacecraft platform on the test mass.

3. The dynamic full-link simulation method for space gravitational wave detection spacecraft formation according to claim 1, characterized in that, Based on the multiphysics model, a corresponding end-to-end noise model is established. This end-to-end noise model provides information on optical measurement noise and residual acceleration noise of the test mass, including: Based on the aforementioned multiphysics model, corresponding end-to-end noise models for the formation spacecraft are established, including an optical measurement noise model and a test mass residual acceleration noise model; wherein: Establish an optical measurement noise model, including: Optical measurement noise is decomposed into three parts: laser emission, propagation, and reception. The emission part is related to the laser, the propagation part is related to the optical path, and the reception part is related to the detector. Optical measurement noise can be classified into three categories: optical noise, electronic noise, and optical path noise. Based on the above classification, optical noise models, electronic noise models, and optical path noise models are established respectively to construct an optical measurement noise model, which is used to provide optical measurement noise. Among them, the optical noise model is used to simulate phase drift caused by laser frequency stability and shot noise caused by random photon fluctuations; the electronic noise model is used to simulate the noise of photodetectors and phase meters, as well as the noise introduced by the phase deconvolution process; and the optical path noise model is used to simulate optical path changes caused by temperature drift, optical path changes caused by beam tilt, and optical path changes caused by beam pointing drift. Establish a residual acceleration noise model for the inspection mass, including: The residual acceleration noise of the test mass is classified into two categories: interference force noise and stiffness coupling noise. Based on the above classification, the following models are established respectively: An interference noise model caused by temperature field and self-gravity field is established to simulate the first interference force noise, including: thermal radiation pressure, thermal radiometer and gas outflow effect caused by temperature gradient of electrode cage, and self-gravity field change caused by thermoelastic deformation and mass distribution change. An electromagnetic field interference noise model was established to simulate the second interference force noise, including: the Lorentz force caused by the intra-satellite and interstellar magnetic fields and the accumulated charge on the test mass, the magnetostatic force and the electrostatic force on the test mass; A noise model for electrostatic levitation control of inspection quality was established to simulate stiffness-coupled noise. Using the aforementioned end-to-end noise model and combining it with the multiphysics simulation results, corresponding satellite noise simulation results are generated, including: Based on the multiphysics simulation results, the corresponding state values ​​of the current temperature field, magnetic field and self-gravity field of the spacecraft are obtained, including: temperature fluctuations of the optical platform and electrode cage, magnetic field and magnetic field gradient of the spacecraft platform at the test mass, and self-gravity and self-gravity stiffness of the spacecraft platform on the test mass. The state value is input into the end-to-end noise model to obtain the current optical measurement noise and the residual acceleration noise of the test mass, thus obtaining the corresponding satellite noise simulation results.

4. The dynamic full-link simulation method for space gravitational wave detection spacecraft formation according to claim 1, characterized in that, A spacecraft formation orbital dynamics and drag-free control model is established, including: a dynamics model, a control model, and actuator and sensor models; wherein: The dynamic model is used to simulate the multibody dynamics of the spacecraft-telescope-test mass. The control model is used to simulate spacecraft attitude control and telescope pointing control, drag-free control and electrostatic levitation control; The actuator and sensor model is used to simulate control-related execution and sensing. The simulation results of the optical measurement noise and the residual acceleration of the test mass are used as inputs to the spacecraft formation orbital dynamics and drag-free control model. The spacecraft formation orbital dynamics and the drag-free control and attitude control system are simulated to obtain the state parameters of the space gravitational wave detection formation satellite.

5. The dynamic full-link simulation method for space gravitational wave detection spacecraft formation according to any one of claims 1-4, characterized in that, Also includes: The state parameters of the formation satellites are fed back to the corresponding multiphysics model for system-level closed-loop simulation. The changes in spacecraft state are dynamically analyzed to obtain dynamic spacecraft optical measurement noise, residual acceleration noise, and arm lengths between the three-satellite formation spacecraft. The multiphysics noise transmission law between instruments, spacecraft, and environment is analyzed to evaluate the sensitivity of the spacecraft formation space gravitational wave detection system.

6. A dynamic full-link simulation system for space gravitational wave detection spacecraft formations, characterized in that, include: A multiphysics simulation module is used to build a multiphysics model, which is used to obtain the multiphysics simulation results of the spacecraft at the current moment. The end-to-end noise simulation module establishes an end-to-end noise model corresponding to the multiphysics model. The end-to-end noise model is used to provide optical measurement noise and residual acceleration noise of the test mass, and generates corresponding satellite noise simulation results by combining the multiphysics simulation results. The control simulation module is used to establish a spacecraft formation orbital dynamics and drag-free control model. The satellite noise simulation results are used as input to the spacecraft formation orbital dynamics and drag-free control model to simulate the on-orbit dynamics of the spacecraft formation and obtain the state parameters of the formation satellites.

7. The space gravitational wave detection spacecraft formation dynamic full-link simulation system according to claim 6, characterized in that, Also includes: The dynamic evaluation module feeds back the state parameters of the formation satellites to the corresponding multiphysics model, performs system-level closed-loop simulation, dynamically analyzes the changes in spacecraft state, and obtains dynamic spacecraft optical measurement noise, residual acceleration noise, and arm length between three-star formation spacecraft. Analyze the multiphysics noise transmission patterns between instruments, spacecraft, and the environment to assess the sensitivity of a spacecraft formation space gravitational wave detection system.

8. A computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it can be used to perform the method of any one of claims 1-6, or to run the system of claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program can be used to perform the method of any one of claims 1-6, or to run the system of claim 7.

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