A multi-satellite parallel test system for attitude and orbit control system

Abstract

This invention relates to the field of satellite simulation and testing technology, specifically to a multi-satellite parallel testing system for attitude and orbit control systems. The system includes a signal transfer unit subsystem, an I / O interface subsystem, a multi-core real-time simulator subsystem, a real-time simulation main control subsystem, a database server subsystem, and a power supply module subsystem. The multi-core real-time simulator connects to multiple I / O interface chassis via PCIe expansion components, with each chassis corresponding to the test resources of one satellite. The real-time simulation main control subsystem deploys the dynamic simulation models of multiple satellites onto different processor cores of the simulator, achieving multi-core distributed parallel simulation. Each satellite's onboard computer establishes a real-time data interaction link with its corresponding dynamic simulation model, forming a multi-satellite parallel real-time closed-loop testing state. This system solves the problem that traditional single-satellite testing systems cannot meet the requirements of mass production and parallel testing, offering advantages such as high testing efficiency, low hardware cost, and strong scalability.

Description

Technical Field

[0001] This invention relates to the field of satellite simulation and testing technology, and specifically to a multi-satellite parallel testing system for attitude and orbit control systems. Background Technology

[0002] As small satellite constellations rapidly evolve towards low-cost, large-scale, and mass production, traditional attitude and orbit control testing systems are gradually revealing their limitations in adapting to these needs.

[0003] The testing mode is singular, only supporting serial testing of a single satellite, which cannot meet the needs of parallel verification of multiple satellite constellations, resulting in a lengthy testing cycle that is not compatible with the development pace of mass production and rapid deployment of satellites. Multi-satellite testing requires each satellite to be equipped with independent testing hardware, resulting in high hardware procurement and maintenance costs and extremely poor economic efficiency. The test data is stored in a scattered manner and lacks a unified management and binding mechanism. It is difficult to trace the correspondence between satellite status and simulation data during subsequent review and analysis, which is not conducive to problem localization and system optimization.

[0004] Therefore, there is an urgent need for an attitude and orbit control testing solution that has multi-satellite parallel testing capabilities, low cost, high real-time performance, and standardized data management to address the pain points of existing technologies. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a multi-satellite parallel testing system for attitude and orbit control systems, so as to overcome the problems existing in the current prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This application provides a multi-satellite parallel test system for attitude and orbit control system, including: a signal transfer unit subsystem, an IO interface subsystem, a multi-core real-time simulator subsystem, a real-time simulation main control subsystem, a database server subsystem, and a power supply module subsystem; The signal transfer unit subsystem communicates with the satellite's onboard computer, and the signal transfer unit subsystem is connected to the IO interface subsystem. The IO interface subsystem is connected to the multi-core real-time simulator subsystem through a PCIe expansion component, thus establishing a communication channel between the onboard computer and the multi-core real-time simulator subsystem. The multi-core real-time simulator subsystem is connected to the real-time simulation main control subsystem and the database server subsystem respectively via an Ethernet switch; The power supply module subsystem is connected to the onboard computer and provides power to the onboard computer; The real-time simulation main control subsystem is used to receive user instructions and user-input dynamic simulation models of multiple satellites, and install simulation software in the multi-satellite real-time simulator subsystem according to the user instructions, complete the real-time simulation engine initialization, and deploy the dynamic simulation models of multiple satellites to different processor cores of the multi-satellite real-time simulator subsystem through the Ethernet switch; The multi-core real-time simulator subsystem is used to perform parallel computations on all the dynamic simulation models in the simulation software and send the initial simulation data of all the dynamic simulation models to the real-time simulation main control subsystem. The real-time simulation main control subsystem is also used to control the multi-core real-time simulator subsystem to determine the corresponding on-board code based on the initial simulation data, and load the on-board code into the on-board computer of the corresponding satellite through the communication channel, so that the corresponding satellite adjusts its attitude according to the on-board code; The onboard computer of each satellite establishes a real-time data interaction link with the corresponding dynamic simulation model through the communication channel, enabling the overall system to enter a parallel real-time closed-loop test state of multi-satellite attitude and orbit control system. After the overall system enters the parallel real-time closed-loop test state of the multi-satellite attitude and orbit control system, the real-time simulation main control subsystem collects and displays the onboard computer operation status and dynamic simulation model operation data of each satellite in real time through independent remote control and telemetry channels. According to the user's instructions, the multi-core real-time simulator subsystem controls the onboard computer and the dynamic simulation model respectively, and synchronously stores the test process data into the database server subsystem.

[0007] Furthermore, in the system described above, the parallel real-time closed-loop test state of the multi-satellite attitude and orbit control system includes: The multi-core real-time simulator subsystem continuously calculates the dynamic simulation model of each satellite according to a preset cycle, obtains the corresponding dynamic parameters, generates real-time simulation status data based on the dynamic parameters, and synchronously sends the real-time simulation status data to the onboard computer of the corresponding satellite through the communication channel. The onboard computer of each satellite completes attitude determination, control law calculation and actuator instruction generation based on the real-time received simulation status data, and transmits the control instructions back to the corresponding dynamic simulation model through the communication channel; The multi-core real-time simulator subsystem updates the dynamic state of the corresponding dynamic simulation model according to the control command, and enables the corresponding actuator in the dynamic simulation model to complete the motion simulation, forming a complete real-time closed-loop test.

[0008] Furthermore, in the system described above, the multi-core real-time simulator subsystem is a multi-core real-time simulator; The multi-core real-time emulator is equipped with a 16-core high-performance processor, runs a Linux real-time operating system, and its motherboard is equipped with a reflective memory card and a PCIe slot.

[0009] Furthermore, the system described above is characterized in that the IO interface subsystem includes an IO interface chassis and a PCIe expansion component; The I / O interface chassis includes a serial port board, a relay output board, and a pulse acquisition board, which are respectively connected to the PCIe expansion component. The multi-core real-time simulator is connected to multiple I / O interface chassis through multiple PCIe buses in a one-to-one correspondence. The same I / O interface chassis shares one PCIe bus to enable multiple PCIe buses to access hardware I / O resources simultaneously and in parallel.

[0010] Furthermore, in the system described above, the multi-core real-time simulator can complete multi-core task allocation and IO resource mapping according to the number of satellites and testing requirements, independently deploying the dynamic simulation model corresponding to each satellite to different processor cores, providing dedicated computing resources and real-time operating environment for the dynamic simulation model corresponding to each satellite.

[0011] Furthermore, in the system described above, the signal conversion unit subsystem is used to realize interface adaptation, level conversion, electrical isolation, and physical interface conversion of RS422 serial port signals, relay switch signals, and pulse acquisition and output signals between the onboard computer and the IO interface subsystem, ensuring that the signals of each satellite do not interfere with each other during multi-satellite parallel testing.

[0012] Furthermore, the real-time simulation main control subsystem of the system described above also has the functions of building and configuring satellite dynamic simulation models and parameters, loading on-board code online and monitoring its running status, editing and uplinking remote control commands, real-time parsing of telemetry data and display on the terminal interface, starting and stopping control of the simulation process, automatic recording of test data and full-process traceability management.

[0013] Furthermore, the system described above also includes: The number of satellites that can be tested in parallel is increased by expanding the PCIe expansion bus and IO interface chassis, and constellation co-simulation verification of multi-satellite link pointing, relative orbit and relative attitude is supported.

[0014] The beneficial effects of this invention are as follows: It supports multi-satellite parallel testing. Through multi-core task allocation of the multi-core real-time simulator subsystem, multiple dynamic simulation models are deployed on different cores for parallel operation. With the independent resource configuration of the multi-IO interface chassis, the synchronous testing of the attitude and orbit control systems of multiple satellites can be realized, which greatly shortens the testing cycle and adapts to the needs of satellite mass production. The architecture of "one multi-core real-time simulator + multiple I / O interface chassis" eliminates the need for an independent test host for each satellite, significantly reducing hardware procurement and maintenance costs and resulting in outstanding economic benefits. A high-speed communication channel between the onboard computer and the multi-core real-time simulator subsystem is built based on PCIe expansion components to achieve low-latency and high-reliability data interaction. Combined with the adaptation function of the signal switching unit, the accuracy and real-time performance of test data are guaranteed, and the credibility of test results is improved. Establish a unified database server subsystem to store dynamic simulation model running data, satellite remote sensing data, and data deviation information, which will facilitate subsequent test review, performance analysis, and problem localization, and provide complete data support for attitude and orbit control system optimization. The system boasts strong compatibility and scalability, allowing for flexible expansion of the number of test satellites by adding I / O interface chassis and PCIe expansion components, thus adapting to the testing needs of satellite constellations of different sizes. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the multi-satellite parallel testing system for attitude and orbit control of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of a multi-satellite parallel testing system for attitude and orbit control according to the present invention. Please refer to... Figure 1This embodiment may include: a signal transfer unit subsystem 1, an IO interface subsystem 2, a multi-core real-time simulator subsystem 3, a real-time simulation main control subsystem 4, a database server subsystem 5, and a power supply module subsystem 6; The signal transfer unit subsystem 1 communicates with the satellite's onboard computer 8. The signal transfer unit subsystem 1 is connected to the IO interface subsystem 2. The IO interface subsystem 2 is connected to the multi-core real-time simulator subsystem 3 through the PCIe expansion component, thus establishing a communication channel between the onboard computer 8 and the multi-core real-time simulator subsystem 3. The multi-core real-time simulation subsystem 3 is connected to the real-time simulation main control subsystem 4 and the database server subsystem 5 respectively via Ethernet switch 7; The power supply module subsystem 6 is connected to the onboard computer 8 to provide power to the onboard computer 8; The real-time simulation main control subsystem 4 is used to receive user instructions and user-input dynamic simulation models of multiple satellites, and install simulation software in the multi-core real-time simulator subsystem 3 according to user instructions, complete the initialization of the real-time simulation engine, and deploy the dynamic simulation models of multiple satellites to different processor cores of the multi-core real-time simulator subsystem 3 through Ethernet switch 7. Multi-core real-time simulator subsystem 3 is used to perform parallel computation of all dynamic simulation models in the simulation software and send the initial simulation data of all dynamic simulation models to the real-time simulation master control subsystem 4; The real-time simulation main control subsystem 4 is also used to control the multi-core real-time simulation machine subsystem 3 to determine the corresponding on-board code based on the initial simulation data, and load the on-board code into the on-board computer 8 of the corresponding satellite through the communication channel so that the corresponding satellite can adjust its attitude according to the on-board code. Each satellite's onboard computer 8 establishes a real-time data interaction link with the corresponding dynamic simulation model through a communication channel, enabling the overall system to enter a parallel real-time closed-loop test state of the multi-satellite attitude and orbit control system. The real-time simulation main control subsystem 4, after the overall system enters the parallel real-time closed-loop test state of the multi-satellite attitude and orbit control system, collects and displays the operating status of the onboard computer 8 and the operating data of the dynamic simulation model of each satellite in real time through independent remote control and telemetry channels. According to the user's instructions, it controls the onboard computer 8 and the dynamic simulation model through the multi-core real-time simulator subsystem 3, and synchronously stores the test process data into the database server subsystem 5.

[0019] Preferred parallel real-time closed-loop test states for multi-satellite attitude control systems include: The multi-core real-time simulator subsystem 3 continuously calculates the dynamic simulation model of each satellite according to a preset cycle, obtains the corresponding dynamic parameters, generates real-time simulation state data based on the dynamic parameters, and synchronously sends the real-time simulation state data to the onboard computer 8 of the corresponding satellite through the communication channel. The onboard computer 8 of each satellite completes attitude determination, control law calculation and actuator command generation based on the real-time received simulation status data, and transmits the control commands back to the corresponding dynamic simulation model through the communication channel; The multi-core real-time simulator subsystem 3 updates the dynamic state of the corresponding dynamic simulation model according to the control command, and enables the corresponding actuator in the dynamic simulation model to complete the motion simulation, forming a complete real-time closed-loop test.

[0020] Understandably, through the closed loop of "solution-feedback-update", the virtual dynamics model in the simulator can respond to the control commands issued by the onboard computer in real time, thereby highly replicating the real physical process of "sensing-computing-execution" when the satellite is in orbit.

[0021] By "continuous calculation according to a preset cycle" and "synchronous transmission", the data interaction between the dynamic models of multiple satellites and their respective onboard computers is guaranteed to have deterministic low latency, which is crucial for attitude and orbit control systems with extremely high real-time requirements.

[0022] The real-time closed-loop test process directly verifies the correctness of the attitude determination algorithm, control law logic, and actuator instruction generation of the onboard computer. It also verifies the reliability of the communication interface between the simulator and the onboard computer. Furthermore, the closed-loop test process for each satellite is parallel, independent, and does not interfere with each other.

[0023] Preferably, the multi-core real-time simulator subsystem 3 is a multi-core real-time simulator; The multi-core real-time emulator is equipped with a 16-core high-performance processor and runs a Linux real-time operating system. Its motherboard features a reflective memory card and a PCIe slot.

[0024] Understandably, using a 16-core high-performance processor and running a Linux real-time operating system can allocate an independent processor core to the dynamic model of each satellite, avoiding the time jitter caused by single-core time-sharing of multiple models, ensuring that each simulation model can complete the calculation within a strict step size, and meeting the hard requirements of the attitude and orbit control system for high real-time performance.

[0025] The motherboard is equipped with a reflective memory card, which is a high-precision, low-latency real-time network synchronization device. This ensures that the simulation time base of all satellite models is strictly unified during multi-core parallel simulation and can be accurately synchronized with external real devices.

[0026] The PCIe bus features high bandwidth and low latency. This allows multi-core emulators to exchange massive amounts of data with multiple I / O interface chassis simultaneously without data congestion or latency bottlenecks, ensuring the smoothness of multi-loop testing.

[0027] Preferably, the IO interface subsystem 2 includes an IO interface chassis and a PCIe expansion component; The I / O interface chassis includes a serial port board, a relay output board, and a pulse acquisition board, which are connected to the PCIe expansion components respectively. Multiple real-time simulators are connected to multiple I / O interface chassis one-to-one through multiple PCIe buses. The same I / O interface chassis shares one PCIe bus to enable multiple PCIe buses to access hardware I / O resources in parallel at the same time.

[0028] Preferably, the multi-core real-time simulator can complete multi-core task allocation and IO resource mapping according to the number of satellites and testing requirements, and independently deploy the dynamic simulation model corresponding to each satellite to different processor cores, providing dedicated computing resources and real-time operating environment for the dynamic simulation model corresponding to each satellite.

[0029] Preferably, the signal transfer unit subsystem 1 is used to realize the interface adaptation, level conversion, electrical isolation and physical interface transfer of RS422 serial port signals, relay switch signals and pulse acquisition and output signals between the onboard computer 8 and the IO interface subsystem 2, so as to ensure that the signals of each satellite do not interfere with each other during multi-satellite parallel testing.

[0030] Preferably, the real-time simulation main control subsystem 4 also has the functions of building and configuring the satellite's dynamic simulation model and parameters, loading on-board code online and monitoring the running status, editing and uplinking remote control commands, real-time parsing of telemetry data and display on the terminal interface, simulation process start and stop control, automatic recording of test data and full-process traceability management.

[0031] Understandably, testers can complete the entire lifecycle management from "test preparation (modeling)" to "test execution (start and stop)" and then to "test analysis (source tracing)" on a single platform, which greatly improves the continuity and efficiency of operations.

[0032] Furthermore, the real-time simulation main control subsystem 4 supports online loading and monitoring of onboard code and injection of remote control commands without recompiling or burning. The onboard software version can be dynamically changed during testing, facilitating rapid regression testing and fault location. It also allows testers to actively send commands to the onboard computer (such as switching working modes or modifying control parameters) to simulate the uplink operations of the ground telemetry and control station, comprehensively verifying the controllability of the satellite.

[0033] The real-time simulation main control subsystem 4 can parse the raw binary telemetry data stream transmitted from the satellite into engineering physical quantities (such as attitude angles and flywheel speeds) in real time and display them in visual formats such as numbers, dashboards, and curves. This allows testers to instantly grasp the dynamic behavior of each satellite during closed-loop testing and quickly detect anomalies. All operations (such as model modifications and command injections) and response data are timestamped and stored in the database. When problems occur during testing, the entire process can be replayed to accurately pinpoint the time point of the fault and the sequence of operations, which is crucial for quality control and problem analysis of mass-produced satellites.

[0034] Preferred options also include: The number of satellites that can be tested in parallel is increased by expanding the PCIe expansion bus and IO interface chassis, and constellation co-simulation verification of multi-satellite link pointing, relative orbit and relative attitude is supported.

[0035] In practical application, we will take the simultaneous testing of three satellites (Satellite A, Satellite B, and Satellite C) as an example for illustration.

[0036] The signal conversion unit subsystem communicates with the onboard computers (onboard computers A, B, and C) of the three satellites via dedicated cables. Simultaneously, the signal conversion unit subsystem connects to the I / O interface subsystem. Its main function is to achieve interface adaptation, level conversion, and electrical isolation of RS422 serial port signals, relay switch signals, and pulse acquisition / output signals between the onboard computers and the I / O interface subsystem, ensuring that signals do not interfere with each other during multi-satellite parallel testing.

[0037] The I / O interface subsystem comprises three I / O interface chassis (I / O interface chassis A, B, and C) and PCIe expansion components. Each I / O interface chassis integrates serial port cards, relay output cards, and pulse acquisition cards, providing all the I / O resources required to test a satellite. Each I / O interface chassis is connected to a dedicated PCIe bus of the multi-core real-time simulator subsystem via the PCIe expansion components.

[0038] The multi-core real-time emulator subsystem is a real-time emulation computer equipped with a 16-core high-performance processor, running a Linux real-time operating system. The motherboard features a reflective memory card and multiple PCIe slots. The emulator connects to three I / O interface chassis via three independent PCIe buses, enabling simultaneous parallel access to hardware I / O resources across multiple PCIe buses. Internally, the emulator runs a real-time simulation engine responsible for simulation task scheduling and inter-core data communication.

[0039] The real-time simulation main control subsystem and the database server subsystem are both connected to the multi-core real-time simulation machine subsystem via Ethernet switches. The real-time simulation main control subsystem deploys simulation control software, possessing functions such as model development, simulation process control, onboard software loading and monitoring, remote control command injection, telemetry data display, and data storage management. The database server is used to store all test data.

[0040] The power supply module subsystem provides the necessary stable power to the onboard computers of the three satellites.

[0041] The specific workflow includes: Testers deployed pre-built dynamic simulation models of satellites A, B, and C to three different cores of the 16-core processor in the multi-core real-time simulator via Ethernet using the real-time simulation main control subsystem. Each dynamic model has its own dedicated computing core, and the simulation process runs independently without interference. Simultaneously, the real-time simulation main control subsystem controls the multi-core real-time simulator to complete the real-time simulation engine initialization.

[0042] Based on the initial simulation data, the real-time simulation main control subsystem determines the on-board code corresponding to each satellite and loads the on-board code into the corresponding satellite's onboard computer through the communication channel of "real-time simulation main control subsystem - Ethernet switch - multi-core real-time simulator - PCIe bus - IO interface chassis - signal transfer unit".

[0043] After loading the code, each onboard computer establishes a real-time data interaction link with the corresponding dynamic model in the multi-core real-time simulator. The multi-core real-time simulator calculates the dynamic model of each satellite at a preset cycle, sending the obtained attitude, orbit, and sensor simulation data to the onboard computer via I / O interfaces. Based on this data, the onboard computer performs attitude determination and control law calculation, generates drive commands for actuators (such as flywheels and thrusters), and sends them back to the multi-core real-time simulator. Upon receiving the commands, the multi-core real-time simulator updates the dynamic model state and simulates the actuator actions, thus forming a complete real-time closed-loop test.

[0044] During testing, the real-time simulation main control subsystem collects real-time data on the onboard computer's operational status and dynamic model operation of each satellite via independent uplink remote control and downlink telemetry channels, displaying the data in split-screen or centralized format on the terminal interface. Test personnel can inject remote control commands or modify model parameters for any individual satellite. All test data is synchronously stored in a database server for subsequent analysis and traceability.

[0045] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0046] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0047] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0048] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0049] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0050] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0051] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0052] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0053] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-satellite parallel testing system for attitude and orbit control systems, characterized in that, include: Signal transfer unit subsystem, IO interface subsystem, multi-core real-time simulator subsystem, real-time simulation main control subsystem, database server subsystem, and power supply module subsystem; The signal transfer unit subsystem communicates with the satellite's onboard computer, and the signal transfer unit subsystem is connected to the IO interface subsystem. The IO interface subsystem is connected to the multi-core real-time simulator subsystem through a PCIe expansion component, thus establishing a communication channel between the onboard computer and the multi-core real-time simulator subsystem. The multi-core real-time simulator subsystem is connected to the real-time simulation main control subsystem and the database server subsystem respectively via an Ethernet switch; The power supply module subsystem is connected to the onboard computer and provides power to the onboard computer; The real-time simulation main control subsystem is used to receive user instructions and user-input dynamic simulation models of multiple satellites, and install simulation software in the multi-satellite real-time simulator subsystem according to the user instructions, complete the real-time simulation engine initialization, and deploy the dynamic simulation models of multiple satellites to different processor cores of the multi-satellite real-time simulator subsystem through the Ethernet switch; The multi-core real-time simulator subsystem is used to perform parallel computations on all the dynamic simulation models in the simulation software and send the initial simulation data of all the dynamic simulation models to the real-time simulation main control subsystem. The real-time simulation main control subsystem is also used to control the multi-core real-time simulator subsystem to determine the corresponding on-board code based on the initial simulation data, and load the on-board code into the on-board computer of the corresponding satellite through the communication channel, so that the corresponding satellite adjusts its attitude according to the on-board code; The onboard computer of each satellite establishes a real-time data interaction link with the corresponding dynamic simulation model through the communication channel, enabling the overall system to enter a parallel real-time closed-loop test state of multi-satellite attitude and orbit control system. After the overall system enters the parallel real-time closed-loop test state of the multi-satellite attitude and orbit control system, the real-time simulation main control subsystem collects and displays the onboard computer operation status and dynamic simulation model operation data of each satellite in real time through independent remote control and telemetry channels. According to the user's instructions, the multi-core real-time simulator subsystem controls the onboard computer and the dynamic simulation model respectively, and synchronously stores the test process data into the database server subsystem.

2. The system according to claim 1, characterized in that, The parallel real-time closed-loop test status of the multi-satellite attitude control system includes: The multi-core real-time simulator subsystem continuously calculates the dynamic simulation model of each satellite according to a preset cycle, obtains the corresponding dynamic parameters, generates real-time simulation status data based on the dynamic parameters, and synchronously sends the real-time simulation status data to the onboard computer of the corresponding satellite through the communication channel. The onboard computer of each satellite completes attitude determination, control law calculation and actuator instruction generation based on the real-time received simulation status data, and transmits the control instructions back to the corresponding dynamic simulation model through the communication channel; The multi-core real-time simulator subsystem updates the dynamic state of the corresponding dynamic simulation model according to the control command, and enables the corresponding actuator in the dynamic simulation model to complete the motion simulation, forming a complete real-time closed-loop test.

3. The system according to claim 1, characterized in that, The multi-core real-time simulator subsystem is a multi-core real-time simulator; The multi-core real-time emulator is equipped with a 16-core high-performance processor, runs a Linux real-time operating system, and its motherboard is equipped with a reflective memory card and a PCIe slot.

4. The system according to claim 3, characterized in that the IO interface subsystem includes an IO interface chassis and a PCIe expansion component; The I / O interface chassis includes a serial port board, a relay output board, and a pulse acquisition board, which are respectively connected to the PCIe expansion component. The multi-core real-time simulator is connected to multiple I / O interface chassis through multiple PCIe buses in a one-to-one correspondence. The same I / O interface chassis shares one PCIe bus to enable multiple PCIe buses to access hardware I / O resources simultaneously and in parallel.

5. The system according to claim 4, characterized in that, The multi-core real-time simulator can allocate multi-core tasks and map I / O resources according to the number of satellites and testing requirements, and independently deploy the dynamic simulation model corresponding to each satellite to different processor cores, providing dedicated computing resources and real-time operating environment for the dynamic simulation model corresponding to each satellite.

6. The system according to claim 1, characterized in that, The signal transfer unit subsystem is used to realize the interface adaptation, level conversion, electrical isolation and physical interface transfer of RS422 serial port signals, relay switch signals and pulse acquisition and output signals between the onboard computer and the IO interface subsystem, so as to ensure that the signals of each satellite do not interfere with each other during multi-satellite parallel testing.

7. The system according to claim 1, characterized in that, The real-time simulation main control subsystem also has the functions of building and configuring satellite dynamic simulation models and parameters, loading on-board code online and monitoring the running status, editing and uplinking remote control commands, real-time parsing of telemetry data and display on the terminal interface, simulation process start and stop control, automatic recording of test data and full-process traceability management.

8. The system according to claim 1, characterized in that, Also includes: The number of satellites that can be tested in parallel is increased by expanding the PCIe expansion bus and IO interface chassis, and constellation co-simulation verification of multi-satellite link pointing, relative orbit and relative attitude is supported.

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