A whole-model closed-loop test method for an attitude and orbit control system

Abstract

The application discloses a kind of whole model closed-loop test methods of attitude and orbit control system, it is related to satellite simulation technical field, its technical points are: in closed-loop test system, only using the test serial ports of comprehensive electronic computer and dynamic test serial ports single machine model communication, information interaction of attitude and orbit control system can be completed, and the on-orbit single machine full model operation of attitude and orbit control system is realized.This method can be used for single machine product functional development before complete set, interface debugging and product after complete set cooperate other subsystem long-term test etc.Working condition, overcome the defects of long traditional satellite development cycle, high cost of ground test equipment, greatly reduce the hardware cost of satellite simulation test system.

Description

Technical Field

[0001] This invention relates to the field of satellite simulation technology, and in particular to a closed-loop testing method for a full model of an attitude and orbit control system. Background Technology

[0002] In today's aerospace field, mass production and low cost of satellites have become important development trends to meet the growing demands for space exploration and communication. However, traditional satellite development models are ill-suited to this transformation. In the traditional model, each satellite requires a dedicated set of ground testing equipment, including excitation devices for the electrical signal sources of attitude and orbit control sensors, as well as dedicated equipment for acquiring and conditioning actuator boards. This equipment is expensive, not only in terms of initial purchase costs but also in terms of subsequent maintenance and upgrades, which significantly increases the cost of satellite development. This makes the traditional model inadequate for handling mass production tasks and unable to meet the rapid launch requirements of constellation satellites.

[0003] Traditional satellite testing systems have significant limitations in several aspects. First, the testing process is lengthy. If ground testing equipment cannot arrive on time due to conflicts, or if differences in the development progress of individual units prevent some units from arriving on schedule, the testing work cannot proceed normally. Such delays severely impact the overall progress of satellite development, prolonging the satellite's development cycle and increasing development costs. Second, with the continuous increase in the number of satellites in a constellation, the required number of ground testing equipment has also increased dramatically. A large amount of expensive testing equipment keeps costs high, placing a heavy economic burden on satellite development projects. Third, in situations such as long-term testing of attitude and orbit control in conjunction with other subsystems, personnel are required to be on duty when actual individual units are accessed. This not only increases labor costs, but also, due to limited personnel energy, prolonged on-duty hours may affect the accuracy and reliability of the tests.

[0004] In summary, traditional satellite testing systems suffer from numerous problems in terms of cost, efficiency, and manpower, and can no longer meet the demands of modern satellite mass production, low cost, and rapid development. Therefore, there is an urgent need for a new testing method that can improve testing efficiency, reduce manpower investment, and adapt to different testing scenarios while reducing hardware costs. This invention addresses this need by proposing a full-model closed-loop testing method for attitude and orbit control systems. It aims to solve the dilemmas faced by traditional testing systems and provide a more efficient, economical, and flexible testing solution for satellite development. Summary of the Invention

[0005] In order to at least solve one of the above-mentioned technical problems, the purpose of this invention is to provide a closed-loop testing method for a full model of an attitude and orbit control system, thereby accelerating satellite development and reducing testing costs.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A closed-loop testing method for a full-model attitude and orbit control system includes the following steps:

[0008] A closed-loop testing system was developed, consisting of a comprehensive electronic computer test serial port and a dynamic test serial port single-machine model communication protocol, a dynamic target machine running dynamic simulation software, a test serial port model containing sensors or actuators, and on-board attitude and orbit control software, integrated electrical application software, etc.

[0009] Establish a dynamic test serial port stand-alone model, and package the test serial port stand-alone model data according to the real stand-alone communication protocol;

[0010] The dynamic test serial port single-machine model data realizes the input and output interaction of the test serial port model data of the integrated electronic computer and all single machines of attitude and orbit control through the RS422 ground measurement serial port;

[0011] The design incorporates annotation commands to enable rapid switching between real single-machine and full-model testing. It allows for the selection of partial or complete single-machine replacement with models as needed, adapting to different testing scenario requirements and enabling the integration of real single-machine or full-model testing into a closed-loop testing system.

[0012] Preferably, a dynamic test serial port standalone model is established, and the test serial port standalone model data is packaged according to the real standalone communication protocol, specifically including:

[0013] The dynamic test serial port standalone model receives data packets sent by the integrated electronic computer. The data packets include instruction codes, actuator control instructions, and checksums, among other information. The actuator control instructions include control instructions for the reaction flywheel, control torque gyroscope, magnetic torque generator, and thruster.

[0014] The dynamic test serial port standalone model parses the received data packets according to the protocol format, verifies the collected data packets by identification code and check, and extracts the corresponding byte data according to the protocol for calculation after the verification is passed;

[0015] The data packets sent from the dynamic test serial port standalone model to the integrated electronic computer include return codes, sensor output data, actuator output data, and checksums. The sensor output data includes the output data of the gyroscope assembly, magnetometer, star sensor, earth sensor, and sun sensor.

[0016] Preferably, the design of the input command enables rapid switching between real single-machine and full-model modes, allowing for the selection of partial or complete single-machine replacement with the model as needed. Specifically, this includes:

[0017] Define the format of the on-board software injection number switching instruction. According to the specific test requirements for model access, remote injection instructions can be used to enable the access of configurable full models, full stand-alone models, sensor models, actuator models and other models to the test system.

[0018] A dynamics parameter switching instruction format was developed, allowing the dynamics model to select some or all of the single-machine models corresponding to the on-board software to replace the access system, forming a complete closed-loop test system.

[0019] Preferably, the operational status monitoring of the entire onboard single-machine model of the attitude and orbit control system is achieved through a dynamic test serial port single-machine model.

[0020] The present invention has the following beneficial effects:

[0021] I. Accelerating Satellite Development: This invention can be used to conduct closed-loop testing, functional development, and interface debugging when products or equipment are unavailable. During satellite development, situations often arise where products or equipment are not delivered on time, which frequently delays the entire project schedule. The attitude and orbit control system full-model closed-loop testing method provided by this invention can, under such unfavorable conditions, construct a full-model closed-loop testing system to conduct functional development and interface debugging in advance, thereby significantly accelerating the satellite development schedule and ensuring the project can be completed on time.

[0022] II. Reduced Ground Testing Equipment Costs: This invention significantly reduces the cost of ground testing equipment, resulting in substantial economic benefits. Traditional satellite testing methods may require a large amount of specialized ground testing equipment, which is not only expensive but also has relatively high maintenance costs. In contrast, this invention establishes a dynamic test serial port single-machine model and utilizes the input / output interaction of test serial port model data from an integrated electronic computer and all individual attitude and orbit control units to achieve closed-loop testing of the satellite attitude and orbit control system. This eliminates the need for excessive specialized ground testing equipment, thereby greatly reducing ground testing equipment costs and improving the project's economic efficiency.

[0023] Third, simplifying the experimental process and reducing labor costs: This invention simplifies the experimental process and significantly reduces labor costs. In traditional satellite testing, the experimental process is often complex, requiring substantial manpower for equipment debugging, data collection, and analysis. This invention, however, achieves rapid switching between the actual single-machine and full-model modes through the design of annotation commands, and monitors the operational status of the onboard attitude and orbit control system's single-machine full-model mode via a dynamic testing serial port. This makes the experimental process simpler and clearer, and the operation more convenient and faster, thereby greatly reducing labor costs and improving testing efficiency.

[0024] IV. Flexible Switching Between Standalone Units and Models with Simple Engineering Applications: This invention allows for rapid switching between standalone units and models based on different needs, requiring no hardware operation. It is flexible, convenient, and simple to apply in engineering. In actual satellite testing, different testing scenarios may have varying requirements for standalone units and models. This invention achieves rapid switching between real standalone units and the full model by developing integrated electronic computer test serial port and dynamics test serial port standalone model communication protocols, and designing annotation instructions. This allows users to select some or all standalone units to be replaced with models as needed, adapting to different testing scenarios. This flexible and convenient switching method, requiring no hardware operation, greatly simplifies the engineering application process and improves testing flexibility and efficiency. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the attitude and trajectory control full-model closed-loop test system provided by the method of the present invention.

[0027] Figure 2 This is a schematic diagram of the test serial port standalone communication protocol of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figures 1 to 2 As shown, a closed-loop testing method for a full model of an attitude and orbit control system includes the following steps:

[0030] Constructing a closed-loop test system: First, a communication protocol was developed for the integrated electronic computer test serial port and the dynamic test serial port stand-alone model. This protocol forms the foundational specification for data interaction within the entire closed-loop test system. Through this protocol, it is ensured that the integrated electronic computer and the dynamic test serial port stand-alone model can transmit and communicate data according to a unified standard.

[0031] The dynamic target machine runs dynamic simulation software, which includes serial port models for testing sensors and actuators. Sensors, such as gyroscope assemblies, magnetometers, and star sensors, acquire various attitude and orbital information of the satellite in orbit, simulating the satellite's attitude perception in space. Actuators, such as reaction wheels, control torque gyroscopes, magnetometers, and thrusters, adjust the satellite's attitude and orbit according to control commands, simulating attitude control actions. Simultaneously, onboard attitude and orbit control software and integrated electronic application software are incorporated into this system. The onboard attitude and orbit control software is responsible for performing attitude and orbit control calculations based on the acquired information, while the integrated electronic application software handles integrated electronic functions. These multiple components together form a complete closed-loop test system that simulates the satellite's attitude and orbit control process during actual operation.

[0032] Establishing a dynamic test serial port standalone model and data packetization: A dynamic test serial port standalone model is established to simulate the behavior of a real standalone machine in a closed-loop test system. Packaging the test serial port standalone model data according to the real standalone machine's communication protocol ensures consistency in format and content between the model data and the real standalone machine data, enabling effective data interaction between the model and the integrated electronic computer and other relevant components during closed-loop testing. For example, when the model receives data packets from the integrated electronic computer, the data packets contain instruction codes, actuator control instructions (such as control instructions for reaction flywheels, control torque gyroscopes, magnetic torquers, and thrusters), and checksums. The model parses the received data packets according to the protocol format, verifies the identification codes and checksums of the acquired data packets, and after successful verification, extracts the corresponding byte data according to the protocol for calculation to simulate the real standalone machine's instruction processing. Similarly, the data packets sent by the model to the integrated electronic computer include return codes, sensor output data (such as output data from gyroscope assemblies, magnetometers, star sensors, earth sensors, and sun sensors), actuator output data, and checksums, to simulate the process of real stand-alone machines feeding back data to the integrated electronic computer.

[0033] Data Input / Output Interaction: The dynamics test serial port single-machine model data is exchanged between the integrated electronic computer and all individual attitude and orbit control units via an RS422 ground-based serial port. RS422 is a commonly used serial communication standard with advantages such as strong anti-interference capability and long transmission distance. In this closed-loop test system, it serves as the data transmission channel, enabling the integrated electronic computer to send control commands and other data to the dynamics test serial port single-machine model. Simultaneously, the model can also feed back simulated sensor output data and actuator output data to the integrated electronic computer, thus realizing bidirectional data flow throughout the closed-loop test system and simulating the data interaction process between various parts of the satellite during actual operation.

[0034] Rapid Switching Between Real Standalone Machines and Full Models: A command-line instruction was designed to enable rapid switching between real standalone machines and full models. A format for switching command-line instructions for on-board software was established. Based on specific testing requirements for model integration, remote command-line instructions allow for the integration of configurable full models, all standalone machines, sensor models, actuator models, etc., into the testing system. For example, when full model testing is required, the corresponding command is uploaded, making the entire closed-loop testing system composed entirely of models; when testing only some real standalone machines, the command-line instruction integrates the corresponding real standalone machine into the system, while the remaining parts are replaced by models. Simultaneously, a dynamics command-line switching command format was established, allowing dynamics models to select some or all standalone machines corresponding to the on-board software for model replacement into the system, forming a complete closed-loop testing system. This allows for flexible selection of real standalone machines or models based on different testing scenario requirements, eliminating the need for complex hardware operations and improving testing flexibility and efficiency.

[0035] like Figures 1 to 2 As shown, the dynamics test serial port stand-alone model, as a key component of the closed-loop test system, first receives data packets sent by the integrated electronic computer. These data packets follow the real stand-alone communication protocol and contain instruction codes, actuator control instructions (covering control instructions for reaction flywheels, control torque gyroscopes, magnetic torquers, and thrusters), and checksums. The model parses the received data packets according to the protocol format, first verifying the packet's identification code and checksum. The identification code confirms whether the data packet is the intended recipient, while the checksum detects whether errors occurred during data transmission. Only after successful verification will the model extract the corresponding byte data from the data packet according to the protocol and perform subsequent calculations based on this data, simulating the real stand-alone machine's instruction processing.

[0036] After data processing is complete, the dynamics test serial port standalone model sends a feedback data packet to the integrated computer. This data packet contains a return code, sensor output data (such as output data from the gyroscope assembly, magnetometer, star sensor, Earth sensor, and sun sensor), actuator output data, and checksum information. The return code informs the integrated computer model of the processing result of the command; the sensor output data simulates the satellite attitude and orbit information acquired by the actual standalone unit; and the actuator output data reflects the actual operating status of the actuator after receiving the control command. Through this two-way data interaction, information flow between the integrated computer and the dynamics test serial port standalone model is realized, simulating the actual communication process between various parts of the satellite attitude and orbit control system.

[0037] To meet the needs of different testing scenarios and enable rapid switching between real single-machine and full-model approaches, a format for switching parameters for on-board software has been developed. Through remote parameter uploading, the types of models connected to the test system can be flexibly configured according to specific testing requirements. For example, when full-model testing is required, the corresponding command is uploaded, making the entire closed-loop test system composed entirely of models; when testing only some real single-machine components is needed, the command uploads the corresponding real single-machine component to the system, while the remaining components are replaced by models. This configuration method can be further subdivided into various modes such as full-model access, full single-machine access, sensor-only model access, and actuator-only model access, greatly improving the flexibility and specificity of testing. Simultaneously, a format for switching parameters for dynamics has been developed. This command allows the dynamics model to select, based on the on-board software configuration, to replace some or all single-machine components corresponding to the on-board software with models for system access. For example, when the on-board software is configured for sensor-only model access, the dynamics model will also correspondingly select the sensor model to access the system, thus forming a complete closed-loop test system. This design ensures seamless collaboration between the dynamic model and the onboard software, enabling the entire testing system to accurately simulate the actual operating state of the satellite's attitude and orbit control system.

[0038] The dynamics test serial port stand-alone model, while performing data interaction and switching functions, can also monitor the operational status of all onboard units of the attitude and orbit control system. By receiving and parsing commands sent by the integrated computer, and by feeding back its own sensor output data and actuator output data, the model can record and track the operational status of each unit in real time. For example, by monitoring the output data of the gyroscope assembly, the attitude changes of the satellite can be understood; by monitoring the actuator output data of the reaction flywheel, the flywheel speed and control effect can be determined. This monitoring data can provide technicians with detailed system operation information, helping them to promptly identify and resolve potential problems and ensure the stable operation of the attitude and orbit control system.

[0039] like Figure 1 The diagram shown is a schematic of the full-model closed-loop test system for the attitude and orbit control system provided by this invention. Based on the established communication protocol between the integrated electronic computer test serial port and the dynamic model, a dynamic single-machine test serial port model is established. Data from the single-machine test serial port model is packaged according to the actual single-machine communication protocol. Input / output interaction between the integrated electronic computer and all single-machine test serial port model data of the attitude and orbit control system can be achieved solely through the RS422 ground-based serial port.

[0040] like Figure 2 As shown, this invention provides a schematic diagram of the communication protocol of the test serial port standalone model. The test serial port standalone model contains the main information of all standalone communication protocols of the attitude and orbit control subsystem.

[0041] Table 1 shows the protocol format of the standalone serial port model for testing according to the present invention, including the data formats received and transmitted by the dynamic test serial port model. The data received by the dynamic test serial port model includes instruction codes, actuator control instructions (reaction flywheel, control torque gyroscope, magnetic torque generator, thruster), and checksums, etc. The data transmitted by the dynamic test serial port model includes return codes, sensor output data (gyroscope assembly, magnetometer, star sensor, earth sensor, sun sensor), actuator output data, and checksums, etc.

[0042] Table 1 Test Serial Port Standalone Communication Protocol Contents

[0043]

[0044]

[0045] As shown in Table 2, the onboard software instruction switching format of this invention is composed of a header, a valid data area, and a footer, according to the onboard remote control message protocol format. The header includes packet identification, packet order, packet length, frame type, and number of instructions, while the footer includes verification calculated from the header and data information.

[0046] Table 2. Format of Onboard Software Invoice Switching Command

[0047]

[0048] Table 3 shows the specific content definition of the on-board switching instruction code of the present invention. The required single-machine type is defined bit by bit. 1 indicates the test serial port model used, and 0 indicates the use of a single machine, realizing the rapid switching of the full model, the full single machine, and the single-machine model that can be arbitrarily selected as needed to access the test system.

[0049] Table 3 defines the specific content of the on-board handover command codes.

[0050]

[0051] As shown in Table 4, the dynamics instruction switching format of this invention is as follows: according to the on-board software instruction switching selection, the corresponding dynamics single-machine model is selected to access the system and form a complete closed-loop test system.

[0052] Table 4 Dynamics Injection Command Switching Format

[0053]

[0054] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A closed-loop testing method for a full-model attitude and orbit control system, characterized in that, Includes the following steps: A closed-loop testing system was developed, consisting of a comprehensive electronic computer test serial port and a dynamic test serial port single-machine model communication protocol, a dynamic target machine running dynamic simulation software, a test serial port model containing sensors or actuators, and on-board attitude and orbit control software, integrated electrical application software, etc. Establish a dynamic test serial port stand-alone model, and package the test serial port stand-alone model data according to the real stand-alone communication protocol; The dynamic test serial port single-machine model data realizes the input and output interaction of the test serial port model data of the integrated electronic computer and all single machines of attitude and orbit control through the RS422 ground measurement serial port; The design incorporates annotation commands to enable rapid switching between real single-machine and full-model testing. It allows for the selection of partial or complete single-machine replacement with models as needed, adapting to different testing scenario requirements and enabling the integration of real single-machine or full-model testing into a closed-loop testing system.

2. The full-model closed-loop testing method for the attitude and orbit control system according to claim 1, characterized in that, Establish a dynamic test serial port standalone model, and assemble the test serial port standalone model data into packets according to the real standalone communication protocol, specifically including: The dynamic test serial port standalone model receives data packets sent by the integrated electronic computer. The data packets include instruction codes, actuator control instructions, and checksums, among other information. The actuator control instructions include control instructions for the reaction flywheel, control torque gyroscope, magnetic torque generator, and thruster. The dynamic test serial port standalone model parses the received data packets according to the protocol format, verifies the collected data packets by identification code and check, and extracts the corresponding byte data according to the protocol for calculation after the verification is passed; The data packets sent from the dynamic test serial port standalone model to the integrated electronic computer include return codes, sensor output data, actuator output data, and checksums. The sensor output data includes the output data of the gyroscope assembly, magnetometer, star sensor, earth sensor, and sun sensor.

3. The full-model closed-loop testing method for the attitude and orbit control system according to claim 1, characterized in that, The design incorporates a command to enable rapid switching between real single-player and full-model modes, allowing users to select partial or complete single-player instances to be replaced with models as needed. Specifically, this includes: Define the format of the on-board software injection number switching instruction. According to the specific test requirements for model access, remote injection instructions can be used to enable the access of configurable full models, full stand-alone models, sensor models, actuator models and other models to the test system. A dynamics parameter switching instruction format was developed, allowing the dynamics model to select some or all of the single-machine models corresponding to the on-board software to replace the access system, forming a complete closed-loop test system.

4. The full-model closed-loop testing method for the attitude and orbit control system according to claim 1, characterized in that, The operational status monitoring of the entire onboard single-machine model of the attitude and orbit control system is achieved through a dynamic test serial port single-machine model.

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