A ground test system and method for on-board autonomous mission planning

Abstract

The application discloses a ground test system and method for on-orbit autonomous mobile task planning, which comprises a ground measurement and operation control simulation module, a satellite computer equivalent module, a spacecraft dynamics simulation module, a space environment simulation module, a navigation sensor simulation module and a load execution simulation module. The ground measurement and operation control simulation module generates a task instruction based on a test scene, a measurement and operation control resource constraint, a satellite-ground state and a task demand. The satellite computer equivalent module generates a control instruction or a task execution sequence based on the task instruction generated by the ground measurement and operation control simulation module. The spacecraft dynamics simulation module determines a satellite orbit, an attitude and visibility based on the control instruction. The space environment simulation module generates sensor simulation data based on the orbit and the attitude. The navigation sensor simulation module starts or terminates a task based on the control instruction and generates measurement data based on the sensor simulation data and sends the measurement data to the satellite computer equivalent module. The load execution simulation module simulates a load working process based on the task execution sequence. The application can simulate and verify the whole process of a task planning algorithm from task injection to execution feedback.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to a ground test system and method for planning onboard autonomous maneuvering missions. Background Technology

[0002] As the complexity of space missions increases, onboard autonomous mission planning capabilities become crucial. Traditional testing methods typically involve software unit testing of planning algorithms in isolated environments. However, autonomous maneuvering missions involve numerous onboard machines, requiring comprehensive consideration of individual machine acquisition timing, current status, and communication latency. Simple planning and execution simulation tests are insufficient to support the verification of the actual onboard autonomous maneuvering mission planning process. Summary of the Invention

[0003] To address some or all of the problems in existing technologies, and in order to simulate and fully verify the entire process of mission planning algorithms from mission injection to execution feedback, the first aspect of this invention provides a ground test system for on-board autonomous maneuver mission planning, comprising:

[0004] The ground-based telemetry, tracking, and command (TT&C) simulation module is used to set TT&C resource constraints, satellite-ground status, and mission requirements according to the test scenario, generate mission instructions based on the mission requirements, receive telemetry information, and perform telemetry analysis. It has human-computer interaction capabilities, can generate instructions and upload them to the equivalent module of the onboard computer to control the start and termination of mission planning, and can monitor and evaluate the mission execution status through the telemetry interface of the simulation module.

[0005] An equivalent module for a spaceborne computer is used to perform autonomous mission planning based on mission instructions generated by the ground telemetry, tracking and command simulation module, so as to generate control instructions or mission execution sequences.

[0006] The spacecraft dynamics simulation module has the capability of real-time extrapolation and is used to determine the satellite orbit, attitude, and visibility based on the control commands generated by the equivalent module of the onboard computer.

[0007] The space environment simulation module is used to generate sensor simulation data based on the orbit and attitude determined by the spacecraft dynamics simulation module.

[0008] The navigation sensor simulation module is capable of simulating various types of navigation sensors. It is used to start or terminate the mission based on control commands generated by the onboard computer equivalent module, and to generate measurement data based on the sensor simulation data as iterative input for mission planning and send it to the onboard computer equivalent module.

[0009] The payload execution simulation module is used to simulate the payload operation process based on the task execution sequence generated by the equivalent module of the onboard computer.

[0010] Furthermore, the spacecraft dynamics simulation module determines the satellite's orbit, attitude, and visibility based on the dynamics model.

[0011] Furthermore, the navigation sensor simulation module includes a GNSS positioning module, a star-sensor attitude determination module, and a camera measurement module.

[0012] Furthermore, the space environment simulation module includes:

[0013] A navigation satellite simulator, used to generate the navigation data required by the GNSS positioning module;

[0014] An electronic star model is used to generate the star map data required by the star-aware attitude determination module.

[0015] Furthermore, the load execution simulation module simulates the load working process through a pyrotechnic equivalent device and a camera.

[0016] Based on the ground test system described above, a second aspect of the present invention provides a ground test method for onboard autonomous maneuvering mission planning, comprising:

[0017] System initialization includes setting the satellite's initial state model, dynamic parameters, target mission requirements, and resource constraints;

[0018] Simultaneously launch the onboard computer equivalent module, spacecraft dynamics simulation module, and space environment simulation module;

[0019] The ground-based telemetry, tracking, and command (TT&C) simulation module sends mission instructions to the spaceborne computer equivalent module. After receiving the instructions, the spaceborne computer equivalent module parses and processes the mission constraints and obtains the mission parameters.

[0020] The onboard computer equivalent module generates control commands and mission execution sequences based on the orbit and attitude information provided by the navigation sensor simulation module and the mission parameters.

[0021] The spacecraft dynamics simulation module performs orbit extrapolation and attitude simulation in real time according to the control instructions of the onboard computer equivalent module, and sends orbit and attitude information to the space environment simulation module.

[0022] The space environment simulation module generates the simulation data required by the navigation sensor simulation module based on orbit and attitude information;

[0023] The navigation sensor simulation module determines and measures the orbital attitude based on the simulation data, and feeds back the orbital attitude determination results to the onboard computer equivalent module.

[0024] The onboard computer equivalent module receives updated orbit and attitude information, and, in conjunction with the mission parameters, autonomously decides whether to conduct a new round of control planning. If continued control is required, it generates control commands and a mission execution sequence, repeating the above steps. If the target mission requirements have been met, it generates a mission execution sequence for the payload execution simulation module to control the payload operation.

[0025] Furthermore, the ground testing method also includes:

[0026] The payload execution simulation module simulates payload operation based on the task execution sequence of the spaceborne computer equivalent module, and feeds back the task execution results to the spaceborne computer equivalent module, which then sends them to the ground telemetry, tracking and command simulation module.

[0027] After the mission is launched, the ground-based telemetry and control simulation module can display and update in real time the mission parameter reception, platform parameter simulation, mission planning results, control sequence execution status, and payload mission execution status of the equivalent module of the onboard computer, so as to monitor and evaluate the mission execution status.

[0028] This invention provides a ground-based test system and method for on-board autonomous maneuvering mission planning, used to simulate the on-orbit environment and verify the correctness, efficiency, and reliability of on-board autonomous maneuvering mission planning algorithms. Through the integration of hardware and software into key components, high-fidelity simulation of the space environment, and high-precision simulation of the mission implementation process, it achieves comprehensive verification of autonomous planning capabilities at the system level and the entire mission chain level. Attached Figure Description

[0029] To further illustrate the above and other advantages and features of the various embodiments of the present invention, a more specific description of the various embodiments of the present invention will be presented with reference to the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by identical or similar reference numerals for clarity.

[0030] Figure 1 This diagram illustrates the structure of a ground test system for onboard autonomous maneuvering mission planning according to an embodiment of the present invention.

[0031] Figure 2 The diagram shows a schematic flow chart of a ground test method for onboard autonomous maneuvering mission planning according to an embodiment of the present invention. Detailed Implementation

[0032] In the following description, the invention is described with reference to various embodiments. However, those skilled in the art will recognize that the embodiments may be practiced without one or more specific details or in conjunction with other alternatives and / or additional methods or components. In other instances, well-known structures or operations are not shown or described in detail so as not to obscure the inventive points of the invention. Similarly, for illustrative purposes, specific numbers and configurations are set forth to provide a comprehensive understanding of embodiments of the invention. However, the invention is not limited to these specific details. Furthermore, it should be understood that the embodiments shown in the drawings are illustrative representations and are not necessarily drawn to scale.

[0033] In this specification, references to "an embodiment" or "this embodiment" mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the invention. The phrase "in one embodiment" appearing throughout this specification does not necessarily refer to the same embodiment in all instances.

[0034] It should be noted that the embodiments of the present invention describe the method steps in a specific order; however, this is only for illustrating the specific embodiment and not for limiting the order of the steps. On the contrary, in different embodiments of the present invention, the order of the steps can be adjusted according to actual needs.

[0035] In this invention, the modules of the system according to the invention can be implemented using software, hardware, firmware, or a combination thereof. When a module is implemented using software, its function can be implemented through computer program flow. For example, the module can be implemented using code segments (such as code segments in languages ​​like C and C++) stored in a storage device (such as a hard disk, memory, etc.), wherein the corresponding function of the module can be implemented when the code segment is executed by a processor. When a module is implemented using hardware, its function can be implemented by setting a corresponding hardware structure. For example, the module's function can be implemented by hardware programming a programmable device such as a field-programmable gate array (FPGA), or by designing an application-specific integrated circuit (ASIC) that includes multiple transistors, resistors, capacitors, and other electronic devices. When a module is implemented using firmware, the module's function can be written into a read-only memory such as an EPROM or EEPROM in the form of program code, and the corresponding function of the module can be implemented when the program code is executed by a processor. In addition, some functions of the module may need to be implemented by separate hardware or by working in cooperation with the hardware. For example, the detection function is implemented by a corresponding sensor (such as a proximity sensor, accelerometer, gyroscope, etc.), the signal transmission function is implemented by a corresponding communication device (such as a Bluetooth device, infrared communication device, baseband communication device, Wi-Fi communication device, etc.), the output function is implemented by a corresponding output device (such as a display, speaker, etc.), and so on.

[0036] To address the need for closed-loop simulation of complex autonomous maneuver mission planning in space, and to enable high-fidelity, full-link, and closed-loop ground tests of on-board autonomous maneuver mission planning, this invention provides a ground test system and method for on-board autonomous maneuver mission planning. This system simulates and fully verifies the entire process of mission planning algorithms, from mission injection to execution feedback. By integrating the hardware and software of key components, and through high-fidelity simulation of the space environment and high-precision simulation of the mission implementation process, the system comprehensively verifies the autonomous planning capabilities of autonomous maneuver missions at the system level and the entire mission link level.

[0037] The technical solution of the present invention will be further described below with reference to the accompanying drawings of the embodiments.

[0038] Figure 1 This diagram illustrates the structure of a ground-based experimental system for onboard autonomous maneuvering mission planning, according to an embodiment of the present invention. Figure 1 As shown, a ground test system for planning autonomous maneuvering missions on a satellite includes a ground telemetry, tracking and command simulation module 101, an onboard computer equivalent module 102, a spacecraft dynamics simulation module 103, a space environment simulation module 104, a navigation sensor simulation module 105, and a payload execution simulation module 106.

[0039] The ground-based telemetry, tracking, and command (TT&C) simulation module 101 is communicatively connected to the onboard computer equivalent module 102, and includes a test scenario configuration management module 111 and a telemetry analysis module 112. The test scenario configuration management module 111 is used to configure and manage test scenarios, including satellite-ground status, resource constraints, and mission requirements. It has human-computer interaction capabilities and can generate instructions to upload to the onboard computer equivalent module 102 to control the initiation and termination of mission planning. The telemetry analysis module 112 receives telemetry information from the onboard computer equivalent module 102 and performs telemetry analysis processing. Simultaneously, the ground-based TT&C simulation module 101 also includes a telemetry interface for monitoring and evaluating mission execution status. The mission instructions are all instructions used by spacecraft, satellites, etc., in real missions. In one embodiment of the invention, the ground-based TT&C simulation module 101 is implemented using a computer configured with energy front-end management and telemetry / remote control functions.

[0040] The onboard computer equivalent module 102 includes a mission planning and management module 121 and an attitude and orbit control module 122. The mission planning and management module 121 receives mission commands from the ground-based telemetry, tracking, and command (TT&C) simulation module 101 and performs autonomous mission planning based on the spacecraft's current orbit, attitude, and the status of each individual component. The attitude and orbit control module 122 generates control commands based on the mission planning and sends them to the spacecraft dynamics simulation module 103 and the space environment simulation module 104, or generates a mission execution sequence and sends it to the payload execution simulation module 106. In one embodiment of the invention, the onboard computer equivalent module 102 uses a spaceboard computing unit employed in real missions, comprising hardware and software, capable of running real onboard mission management and calculation in orbit; typically, it is an electrical component used in the spacecraft development and production process.

[0041] The spacecraft dynamics simulation module 103 receives attitude and orbit control commands sent by the onboard computer equivalent module 102, and simulates the spacecraft's orbital dynamics and attitude changes based on the control commands to determine the satellite's orbit, attitude, and visibility, before sending the results to the space environment simulation module 104. In one embodiment of the invention, the spacecraft dynamics simulation module 103 includes a high-precision, real-time dynamic model 131 with real-time extrapolation capabilities, such as a dynamics simulator capable of real-time orbit and attitude calculations.

[0042] The space environment simulation module 104 is used to receive the satellite orbit and attitude generated by the spacecraft dynamics simulation module 103, generate corresponding sensor simulation data, and send the data to the navigation sensor simulation module 105. In one embodiment of the present invention, the space environment simulation module 104 includes a navigation star simulator 141 and an electronic star model 142, wherein the navigation star simulator 141 is used for orbit positioning and outputs navigation data required for positioning, and the electronic star model 142 is used for attitude determination and outputs star map data required for attitude determination.

[0043] The navigation sensor simulation module 105 is capable of simulating various types of navigation sensors. It receives power-on / off commands from the onboard computer equivalent module 102 and initiates or terminates the mission based on these commands. Simultaneously, it receives sensor simulation data from the space environment simulation module 104, processes the data, generates measurement data as iterative input for mission planning, and sends it to the onboard computer equivalent module 102 for mission planning. In one embodiment of the invention, the navigation sensor simulation module 105 includes an attitude measurement unit, an orbit determination unit, a camera measurement module, etc., wherein the attitude measurement unit may be, for example, a star-sensor attitude determination module 151, including a star sensor, capable of running on-orbit real star-sensor algorithms. The orbit determination unit may be, for example, a GNSS positioning module 152, including a GNSS receiver, capable of running on-orbit real GNSS receiver algorithms. In one embodiment of the invention, the navigation sensor simulation module 105 is implemented using electrical components from the spacecraft development and manufacturing process.

[0044] The payload execution simulation module 106 is used to simulate the payload operation process based on the task execution sequence generated by the onboard computer equivalent module. The task execution sequence includes payload operation instructions, such as capture and cutting in imaging and debris removal. In one embodiment of the invention, the payload execution simulation module 106 simulates the payload operation process using devices such as a pyrotechnic equivalent device 161 and a camera ground inspection device 162.

[0045] Based on the ground test system described above, Figure 2 This diagram illustrates a ground test method for onboard autonomous maneuvering mission planning according to an embodiment of the present invention. Figure 2 As shown, a ground test method for onboard autonomous maneuvering mission planning includes:

[0046] First, in step 201, initialization is performed. System initialization includes setting the satellite initial state model, dynamic parameters, target mission requirements, and resource constraints. In one embodiment of the present invention, the onboard computer equivalent module is initialized, the satellite initial state model and dynamic parameters are configured in the spacecraft dynamics simulation module, and telemetry and control resource constraints are set in the ground telemetry and control simulation module according to the test scenario.

[0047] Next, in step 202, environmental simulation. After the initial state settings are completed, the onboard computer equivalent module, spacecraft dynamics simulation module, and space environment simulation module are simultaneously started to ensure that all data in the test system are time-consistent during the mission;

[0048] Next, in step 203, mission parameters are uploaded. The ground-based telemetry, tracking, and command (TT&C) simulation module sends mission parameter instructions to the onboard computer equivalent module. After receiving the instructions, the onboard computer equivalent module parses and processes the mission constraints, obtains the mission parameters, and initiates onboard autonomous mission planning and management.

[0049] Next, in step 204, autonomous mission planning is performed. The onboard computer equivalent module, based on the orbit and attitude information provided by the navigation sensor simulation module and combined with the mission parameters, generates a control sequence and a mission execution sequence.

[0050] Next, in step 205, the command transmission and execution simulation is performed. After receiving the control sequence, the attitude and orbit control module in the onboard computer equivalent module initiates real-time orbital maneuver control and sends control commands to the spacecraft dynamics simulation module. The spacecraft dynamics simulation module performs orbit extrapolation and attitude simulation in real time according to the control commands.

[0051] Next, in step 206, the status is updated. The spacecraft dynamics simulation module sends orbit and attitude information to the space environment simulation module, and the space environment simulation module generates simulation data required by the navigation sensor simulation module based on the orbit and attitude information. This simulation data includes navigation messages and star charts. The GNSS positioning module and star-sensor attitude determination module in the navigation sensor simulation module determine the orbit and attitude based on the navigation messages and star charts, respectively.

[0052] Finally, in step 207, the autonomous feedback loop is closed. The navigation sensor simulation module feeds back the positioning and attitude determination results to the onboard computer equivalent module in real time. The onboard computer equivalent module receives the updated orbit and attitude information and, in conjunction with the mission parameters, autonomously decides whether to initiate a new round of control planning. If continued control is required, it generates control commands and a mission execution sequence, repeating the above steps. If the target mission requirements have been met, it generates a mission execution sequence for the payload execution simulation module to control the payload to operate, and the mission ends.

[0053] As mentioned above, in one embodiment of the present invention, the ground testing method also has telemetry monitoring and evaluation functions. The ground testing method further includes:

[0054] In step 208, telemetry monitoring and evaluation are performed. The payload execution simulation module simulates payload operation based on the mission execution sequence of the onboard computer equivalent module and feeds back the mission execution results to the onboard computer equivalent module, which then forwards them to the ground-based telemetry, tracking, and command (TT&C) simulation module. After mission initiation, the telemetry monitoring interface of the ground-based TT&C simulation module can display and update in real time the mission parameter reception, platform parameter simulation, mission planning results, control sequence execution status, and payload mission execution status of the onboard computer equivalent module, providing a platform for monitoring and evaluating mission execution status.

[0055] Taking a simulation of an autonomous maneuver mission for space debris removal as an example, the spacecraft initially lies in a certain orbit, and the mission objective is to approach and capture target debris within 24 hours through maneuver control. Using the system architecture described above, its ground tests include:

[0056] First, in the spacecraft dynamics simulation module—the dynamics simulator capable of real-time orbit and attitude calculations—the initial state model and dynamic parameters of the satellite are configured. The dynamics simulator, onboard computer, navigation satellite simulator, and electronic star model are then synchronously started to ensure time consistency of all data in the experimental system during the mission. Next, the orbital information of the target debris is uploaded to the onboard computer via the ground-based telemetry, tracking, and command (TT&C) simulation module. Upon receiving the instructions, the onboard computer's equivalent module parses and processes the mission constraints and initiates onboard autonomous mission planning and management. Based on the orbital information provided by the equivalent GNSS module and the attitude information provided by the equivalent star-sensor, combined with the injected mission parameters, the onboard computer's equivalent module generates control sequences and mission execution sequences. Upon receiving the control sequences, the attitude and orbit control module initiates real-time orbital maneuver control, sends control commands to the dynamics simulator, and performs real-time orbit extrapolation and attitude simulation. The dynamics simulator sends orbital and attitude information to the navigation satellite simulator and electronic star model in real time. The navigation satellite simulator generates navigation messages for the equivalent GNSS module for orbit positioning, and the electronic star model generates star maps for the equivalent star-sensor for attitude determination. Finally, the onboard computer equivalent module decides whether to perform control planning based on the current orbital attitude state. If continued control is required, orbital maneuvers are performed based on the previous steps. If control ends, a mission execution sequence is generated for the payload execution simulation module's pyrotechnic equivalent unit. The pyrotechnic equivalent unit's indicator light illuminates, signifying mission success.

[0057] This invention provides a ground-based test system and method for on-board autonomous maneuvering mission planning, used to simulate the on-orbit environment and verify the correctness, efficiency, and reliability of on-board autonomous maneuvering mission planning algorithms. Through the integration of hardware and software into key components, high-fidelity simulation of the space environment, and high-precision simulation of the mission implementation process, it achieves comprehensive verification of autonomous planning capabilities at the system level and the entire mission chain level.

[0058] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A ground test system for onboard autonomous maneuvering mission planning, characterized in that, include: The ground-based telemetry, tracking, and command (TT&C) simulation module is configured to manage TT&C resource constraints, satellite-ground status, and mission requirements according to the test scenario, and generate instructions to upload to the onboard computer equivalent module to control the start and termination of autonomous mission planning, as well as monitor and evaluate mission execution status. The spaceborne computer equivalent module is configured to perform autonomous mission planning based on the mission instructions or feedback information generated by the ground telemetry, tracking and command simulation module, so as to generate control instructions or mission execution sequences. The spacecraft dynamics simulation module is configured to extrapolate in real time based on control commands generated by the onboard computer equivalent module to determine the satellite orbit, attitude, and visibility; The space environment simulation module is configured to generate sensor simulation data based on the orbit and attitude determined by the spacecraft dynamics simulation module. The navigation sensor simulation module is configured to simulate various types of navigation sensors, start or terminate the mission based on control commands generated by the onboard computer equivalent module, and generate measurement data based on the sensor simulation data as iterative input for autonomous mission planning, and send it to the onboard computer equivalent module. The payload execution simulation module is configured to simulate the payload operation process based on the task execution sequence generated by the onboard computer equivalent module.

2. The ground testing system as described in claim 1, characterized in that, The spacecraft dynamics simulation module determines the satellite's orbit, attitude, and visibility based on a dynamics model.

3. The ground testing system as described in claim 1, characterized in that, The navigation sensor simulation module includes a GNSS positioning module, a star-aware attitude determination module, and a camera measurement module.

4. The ground testing system as described in claim 3, characterized in that, The space environment simulation module includes: A navigation satellite simulator configured to generate the navigation data required by the GNSS positioning module; An electronic star model is configured to generate the star map data required by the star-aware attitude determination module.

5. The ground testing system as described in claim 1, characterized in that, The load execution simulation module simulates the load working process through a pyrotechnic equivalent device and a camera ground inspection.

6. A ground test method for onboard autonomous maneuvering mission planning, characterized in that, include: System initialization includes setting the satellite's initial state model, dynamic parameters, target mission requirements, and resource constraints; Simultaneously launch the onboard computer equivalent module, spacecraft dynamics simulation module, and space environment simulation module; The ground-based telemetry, tracking, and command (TT&C) simulation module sends mission instructions to the spaceborne computer equivalent module. After receiving the instructions, the spaceborne computer equivalent module parses and processes the mission constraints and obtains the mission parameters. The onboard computer equivalent module generates control commands and mission execution sequences based on the orbit and attitude information provided by the platform sensor simulation module and the mission parameters. The spacecraft dynamics simulation module performs orbit extrapolation and attitude simulation in real time according to the control instructions of the onboard computer equivalent module, and sends orbit and attitude information to the space environment simulation module. The space environment simulation module generates the simulation data required by the navigation sensor simulation module based on orbit and attitude information; The navigation sensor simulation module determines and measures the orbital attitude based on the simulation data, and feeds back the orbital attitude determination results to the onboard computer equivalent module. Based on the orbital attitude determination results and the mission parameters, the onboard computer equivalent module determines whether a new round of control planning is needed. If so, it generates control commands and a mission execution sequence again. If not, it generates a mission execution sequence for the payload execution simulation module to control the payload operation.

7. The ground testing method as described in claim 6, characterized in that, Also includes: The payload execution simulation module feeds back the task execution results to the onboard computer equivalent module; The onboard computer equivalent module sends telemetry data to the ground telemetry, tracking, and command (TT&C) simulation module, and monitors the mission execution status through the telemetry interface of the ground TT&C simulation module.

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