A ground teleoperation system and method based on satellite simulation

Abstract

The present application provides a ground-based teleoperation system and method based on satellite simulation, wherein the ground-based teleoperation system includes a space satellite simulator, a space satellite, and a ground-based teleoperation device; the ground-based teleoperation device is used to send pre-trained space tasks to the space satellite simulator and obtain training operation results based on the training of the space satellite simulator; it is also used to obtain the operating parameters of the space satellite, and obtain control instructions based on the operating parameters, pre-trained space tasks, and training operation results, and send the control instructions to the space satellite via the satellite measurement and control center; the space satellite is used to operate according to the control instructions. The embodiments of this specification simulate the operation of spacecraft by providing ground-based teleoperation equipment and a space satellite simulator, thus solving the problem of difficult simulation of space satellites. This allows the space satellite to be controlled and operated during actual operation, ensuring the accurate and efficient completion of various aerospace missions.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a ground remote operation system and method based on satellite simulation. Background Art

[0002] During a space mission, such as a maintenance mission, a spacecraft must undergo a series of maneuvers, including orbit changes, approach, and accompanying flight. The spacecraft must maintain a relatively fixed position with the target spacecraft for a period of time, allowing the mission spacecraft to autonomously or semi-autonomously perform space mechanical operations and disengage promptly after mission completion or in the event of an emergency. For another example, in a close-in attack mission, after orbit changes, the mission spacecraft will conduct autonomously or semi-autonomously capture, docking, targeting, and destruction operations, and decide whether to disengage based on mission requirements.

[0003] Due to the unstructured working environment and highly variable tasks of spacecraft manipulators, as well as the constraints of the development of key supporting technologies such as computers, control, artificial intelligence, and mechanisms, spacecraft are currently unable to implement fully autonomous space robots to carry out the aforementioned space missions. Existing simulation training makes it difficult to practice control on actual satellites due to the large deviation between the simulation environment and the space environment. Furthermore, the safety of manipulating actual satellites while in orbit is relatively low, making simulation training unsuitable. Furthermore, the training environment needs to be as consistent as possible with the actual operating environment, which increases the difficulty of simulation, resulting in low simulation accuracy and even difficulty in achieving simulation, making it impossible to achieve good control of the spacecraft.

[0004] Therefore, a new satellite operation scheme is needed. Summary of the Invention

[0005] In view of this, the embodiments of this specification provide a ground teleoperation system and method based on satellite simulation, which is applied to the spacecraft control process.

[0006] The embodiments of this specification provide the following technical solutions:

[0007] The embodiment of this specification provides a ground teleoperation system based on satellite simulation, the ground teleoperation system comprising: a space satellite simulator, a space satellite and a ground teleoperation device;

[0008] The ground teleoperation device is used to send a pre-training space mission to the space satellite simulator and obtain a training operation result according to the training of the space satellite simulator;

[0009] It is also used to obtain the operating parameters of the space satellite, and obtain a control instruction according to the operating parameters, the pre-trained space mission and the training operation result, and send the control instruction to the space satellite via the satellite measurement and control center;

[0010] The space satellite is used to operate according to the control instruction.

[0011] The embodiments of this specification also provide a ground teleoperation method based on satellite simulation, which uses a ground teleoperation system such as any technical solution of this specification. The ground teleoperation method includes:

[0012] The ground teleoperation device obtains the pre-trained space mission and sends the training mission content and / or pre-trained mission objectives to the space satellite simulator according to the pre-trained space mission;

[0013] The space satellite simulator performs a training operation according to the training task content and / or the pre-training task goal, and obtains an initial training operation result;

[0014] The ground teleoperation device generates a simulated remote control instruction according to the initial training operation result, globally presents the initial training operation result, and sends the simulated remote control instruction to the space satellite simulator;

[0015] The space satellite simulator receives the simulated remote control instruction and obtains a target training operation result according to the simulated remote control instruction training;

[0016] The ground remote operation device obtains the operating parameters of the space satellite, obtains a control instruction according to the operating parameters, the pre-trained space mission and the target training operation result, and sends the control instruction to the space satellite;

[0017] The space satellite receives the control instruction and operates according to the control instruction.

[0018] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0019] By simulating spacecraft operations using ground-based teleoperation equipment and space satellite simulators, and generating simulation results for unexpected failures during space missions, this system enables better control of the spacecraft. Furthermore, during real-world satellite operations, the system uses the satellite's operating parameters, previous simulation results, and actual satellite conditions to promptly control the actual satellite. Through efficient and accurate simulations, efficient and accurate control and operation are achieved during actual satellite operations, ensuring the accurate and efficient completion of various space missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a schematic diagram of the structure of the ground teleoperation system provided by the implementation of this manual;

[0022] Figure 2 This is a partial structural diagram of the ground teleoperation system provided in this manual. Figure 1 ;

[0023] Figure 3 This is a partial structural diagram of the ground teleoperation system provided in this manual. Figure 2 ;

[0024] Figure 4 This is a diagram showing the internal structure of a space control satellite simulator provided in an embodiment of this specification;

[0025] Figure 5 It is a schematic diagram of each module of the fault injection of the space control satellite simulator provided in the embodiment of this specification;

[0026] Figure 6 This is a diagram showing the internal structure of a space-controlled satellite simulator provided in an embodiment of this specification;

[0027] Figure 7 It is a schematic diagram of each module of the space controlled satellite simulator fault injection provided by the embodiment of this specification;

[0028] Figure 8 This is a flow chart of a method for simulating a space satellite simulator provided in an embodiment of this specification;

[0029] Figure 9 This is a flow chart of the method for on-orbit operation of a space satellite provided by an embodiment of this specification. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0031] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0032] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0033] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0034] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0035] When a spacecraft performs a space mission, whether it is a maintenance mission or a close-in attack mission, the simulation of aerospace satellites and the execution of actual space missions are difficult due to the complex space environment and the large changes in the spacecraft's work tasks.

[0036] With this in mind, the inventors implemented spacecraft mission execution through pre-training simulations. However, existing satellite simulations are inaccurate, making them inapplicable to actual mission execution. Furthermore, actual satellite in-orbit control is not only unsafe but also extremely expensive, making it unsuitable for training.

[0037] Based on this, this specification proposes a solution: Figure 1 As shown, by setting up ground-based teleoperation equipment connected to a space satellite and a space satellite simulator, not only can efficient and accurate space satellite simulations be achieved for various typical satellite operation scenarios and fault scenarios, but the space satellite can also be accurately and efficiently controlled based on the simulations during actual on-orbit operation. This not only breaks through existing scientific and technological barriers to space satellite simulation, but also enables the application of high-level mission planning and control decisions made by ground operators to actual space satellite operations, further improving the efficiency and accuracy of space satellite operations and the execution of space missions.

[0038] The following describes the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, the embodiment of this specification provides a ground remote control system based on satellite simulation, see Figure 1 The ground-based teleoperation system includes a space satellite simulator, a space satellite, ground-based teleoperation equipment, and a satellite tracking and control center connected to the space satellite. In some embodiments, the satellite tracking and control center refers to an actual ground-based facility. The embodiments herein comprehensively consider both the training environment and the actual tracking and control environment to achieve a unified architecture, thereby ensuring that the space satellite can efficiently and accurately complete its mission during actual on-orbit operation.

[0040] Specifically, the ground-based teleoperation device is used to transmit a pre-trained space mission to the space satellite simulator and obtain training operation results (which may include initial training operation results or target training operation results) based on the training of the space satellite simulator. The pre-trained space mission includes various typical training tasks and pre-trained mission objectives such as training evaluation for each training task. In some embodiments, various spacecraft space operation faults are set in the pre-trained space mission to simulate actual operation conditions. In some embodiments, the pre-trained space mission is obtained based on selections made on the ground-based teleoperation device's operating interface.

[0041] On the other hand, ground remote operation equipment is also used to obtain the operating parameters of real space satellites, and obtain control instructions for space satellites based on the operating parameters and previous simulated pre-training space missions and training operation results, so as to send the control instructions to the space satellite through the satellite measurement and control center, so that the space satellite can operate according to the control instructions, ensuring the accurate and efficient completion of various aerospace missions.

[0042] The embodiments of this specification utilize ground-based teleoperation equipment and a space satellite simulator to simulate spacecraft operations and generate simulation results for unexpected failures during space mission execution, thereby achieving better control of the spacecraft. Furthermore, during real-world satellite operations, the system utilizes the satellite's operating parameters, previous simulation results, and actual satellite operations to promptly control the actual satellite. This not only achieves efficient and accurate simulation, but also allows for better control and operation during actual satellite operations, ensuring the accurate and efficient completion of various space missions.

[0043] In some embodiments, the ground remote operation device includes a global display unit, a task management unit and a remote control instruction generation unit; the task management unit is connected to the global display unit and the remote control instruction generation unit respectively; the task management unit is used to obtain the pre-trained space task and the corresponding training operation results, and is also used to obtain the training operation results based on the operation parameters; the global display unit is used to display the pre-trained space task, the training operation results, the operation parameters and the operation status of the space satellite; the remote control instruction generation unit is used to obtain the corresponding control instruction based on the training operation results.

[0044] like Figure 1-Figure 3 As shown, the ground teleoperation device includes a global display unit, a task management unit, and a remote control command generation unit; the task management unit is connected to the global display unit and the remote control command generation unit, respectively. The global display unit is used to display the pre-trained space mission, the training operation results, the operation parameters, and the space satellite's operating status (e.g., including the operating status of the space satellite's manipulator arm). In particular, the global display unit is used to provide a three-dimensional visualization of the space satellite's real-time on-orbit operation based on the space satellite's operating parameters. In some embodiments, the space satellite includes a space manipulating satellite and a space controlled satellite, so the global display unit provides a three-dimensional visualization of the live on-orbit operation of the two satellites. The remote control command generation unit can obtain corresponding control instructions based on the training operation results. In some embodiments, the remote control command generation unit obtains the corresponding control instructions based on the ground teleoperation device's operating interface. The task management unit not only obtains the pre-trained space mission and the corresponding training operation results during the space satellite simulator simulation process, but also predicts the training operation results based on the space satellite's actual operating parameters during actual space satellite operation, thereby obtaining the corresponding control instructions. If the corresponding training operation results cannot be obtained based on the space satellite's operating parameters, the corresponding control instructions must be obtained based on the ground teleoperation device's operating interface.

[0045] In some embodiments, the space satellite simulator includes: a dynamic model and a fault injection unit; the fault injection unit is used to receive the fault problem input by the remote control instruction production unit and the fault problem corresponding to the pre-trained space task; so that the dynamic model obtains the corresponding training operation result according to the fault problem.

[0046] like Figure 2 As shown, the dynamics model primarily implements simulation modeling of the space satellite dynamics model, involving the calculation of the satellite's on-orbit position and attitude, and the simulation of the satellite's stand-alone operating mechanism. In some embodiments, the dynamics model performs an initial round of iterative calculations based on given initialization parameters (e.g., initial orbit parameters, initial attitude parameters, initial mass parameters, satellite surface-to-mass ratio parameters, satellite moment of inertia, etc.) to generate an initialized satellite on-orbit simulation state. This initialized satellite on-orbit simulation state is then published through internal data communication, for example, to the satellite service computing unit, the satellite stand-alone module, the fault injection unit, and the robotic arm simulation unit.

[0047] In some embodiments, simulations are performed based on emergencies and faults that occur during a spacecraft's space mission. Therefore, a fault injection unit is used to inject faults and simulate typical faults. This unit can receive not only faults input by the remote control command generation unit, but also faults issued during pre-trained space missions by the mission management unit. Furthermore, it can receive internal logic faults during the operation of the space satellite simulator. In some embodiments, the fault injection unit receives fault data via a data interface. This not only simplifies the modeling complexity of the simulation, allowing each simulation unit and module to focus on its essential simulation tasks without having to consider the complex logic associated with fault injection, but also reduces the complexity of data transmission between units and modules, while still enabling corresponding fault simulation. In other embodiments, the advantage of the fault injection unit's internal logic injection is that it allows for more precise fault simulation of the space satellite simulator, enabling internal logic fault injection. This ensures that a fault error somewhere in the simulation triggers a chain reaction of faults, resulting in a better satellite simulation. This ensures that the fault injection unit can inject all faults, enabling comprehensive and accurate simulation of the space satellite simulator, further ensuring the efficient and accurate completion of various space missions during actual space satellite in-orbit operation.

[0048] In some embodiments, the space satellite simulator includes: a robotic arm simulation unit, a satellite service computing unit and a satellite stand-alone module; the robotic arm simulation unit is used to simulate the load operation of a multi-section robotic arm according to the parameters of the robotic arm; the fault injection unit is also used to inject fault problems into the robotic arm simulation unit, the satellite service computing unit and the satellite stand-alone module respectively, so that the dynamic model obtains corresponding training operation results; the satellite service computing unit, by constructing a digital CPU, runs the satellite service code of the space satellite on the digital CPU; the satellite stand-alone module is used to simulate a single space satellite.

[0049] like Figure 1 and Figure 2 As shown, the satellite mission computing unit primarily implements soft simulation of the satellite mission computer chip. By constructing a digital CPU, it enables the real satellite mission code to run directly on the digital CPU, thus ensuring the high fidelity of the digital satellite. The satellite stand-alone module primarily implements typical stand-alone simulation functions for typical satellite subsystems. This includes not only the thrusters, magnetic torquers, momentum wheels, star sensors, time sensors, and gyroscopes of the attitude and orbit control subsystem; but also the sailboard deployment mechanism of the structure and mechanism subsystem; the thermocouples and thermoelectric sensors of the thermal control subsystem; the battery packs and solar panels of the energy subsystem; and the GNSS antenna, ground / space data transmission antenna, and phased array antenna of the measurement and control subsystem. The manipulator simulation unit primarily simulates the payload of the manipulator arm used to control a space satellite. In some embodiments, a multi-segment manipulator payload simulator is constructed based on the parameters of an actual manipulator arm. Upon receiving digital commands from the satellite mission computing unit, the manipulator simulation unit can swing each manipulator arm into position as required, ultimately achieving mechanical operation of the space satellite simulator.

[0050] In some embodiments, the fault injection unit is further configured to inject faults into the manipulator simulation unit, the satellite computing unit, and the satellite stand-alone module, respectively, so that the dynamics model obtains corresponding training and operation results. This allows for more accurate simulation results and enables efficient and accurate completion of satellite missions during actual on-orbit operation of the satellite.

[0051] See also Figure 5 For the space control satellite simulator, the fault injection unit injects fault problems into the manipulator simulation unit, the satellite computing unit and the satellite stand-alone module respectively, so that the dynamic model can obtain the corresponding training operation results. For each fault, the fault injection unit selects the most appropriate fault injection point and fault injection method to simulate typical faults, provide a fault environment for training and achieve a realistic simulation. Figure 5As shown, injection points 1 to 7 all inject faults into the inter-module interfaces through the data interface; injection point 8 injects faults into the logic within the module. The advantage of injecting faults into the interface is that it can simplify the modeling complexity of the module corresponding to the interface, so that the corresponding module only needs to focus on its essential work simulation without considering the complex logic brought by fault injection. While injecting faults at the value transmission interface reduces the complexity of the module, it can still achieve fault simulation of the corresponding module. The advantage of the intra-module logic injection mode is that the fault simulation is more refined and can achieve fault injection into the internal logic of the corresponding object, thereby ensuring that a series of fault chain reactions can be triggered when an error occurs in the logic somewhere within the module, achieving better satellite simulation. Injection point 1 is the interface fault injection between modules. Injecting a fault at this point can realize the robot arm fault simulation function of the robot arm simulation unit; injection point 2 is the interface fault injection between modules. Injecting a fault at this point can realize the fault simulation function of the satellite stand-alone module; injection point 3 is the interface fault injection between modules. Injecting a fault at this point can realize the simulation of the satellite stand-alone module sensor; injection point 4 is the interface fault injection between modules. Injecting a fault at this point can realize the fault simulation function of the satellite service computing unit calculating robot arm; injection point 5 is the interface fault injection between modules. Injecting a fault at this point can realize the simulation function of the robot arm operation fault of the robot arm simulation unit; injection point 6 is the interface fault injection between modules. Injecting a fault at this point can realize the simulation function of the single-machine control fault calculated by the satellite service computing unit; injection point 7 is the interface fault injection between modules. Injecting a fault at this point can realize the single-machine detection fault simulation function of the satellite stand-alone module sensor; injection point 8 is the logic fault injection within the module. Injecting a fault at this point can realize the simulation function of the internal fault of the satellite service computing unit.

[0052] See also Figure 7 As shown, for the space-controlled satellite simulator, the fault injection unit injects fault problems into the manipulator simulation unit, the satellite computing unit and the satellite stand-alone module respectively, so that the dynamic model obtains the corresponding training operation results. This process is similar to Figure 5 The process is similar and will not be described here.

[0053] In some embodiments, the pre-training space task includes training task content and pre-training task objectives;

[0054] The ground remote control device is used to send training task content and / or pre-training task objectives to the space satellite simulator according to the pre-training space task; the space satellite simulator is used to carry out training operation according to the training task content and / or the pre-training task objectives, and return the obtained initial training operation results to the ground remote control device; the ground remote control device is also used to globally present the training operation process, generate simulated remote control instructions, and return the simulated remote control instructions to the space satellite simulator, so that the space satellite simulator can operate according to the simulated remote control instructions to obtain the target training operation results.

[0055] Specifically, a pre-training space task is set up during the simulation process of the space satellite simulator, and the pre-training space task includes training task content and pre-training task objectives for training task evaluation, etc. Among them, the training task content mainly involves the initialization parameters of the binary satellite (including the training start time, the initial orbit of the binary satellite, the initial attitude, the initial mass, the surface-to-mass ratio, the moment of inertia, the thruster capability, etc.), fault settings (including no fault, a certain joint operation fault of the robotic arm, a certain single-machine fault of the satellite, a control algorithm fault, etc.), etc. The pre-training task objectives include: training task objectives (including approach distance, operation mode, operation target, etc.) and training task evaluation method, etc. In some embodiments, during the space satellite simulation process, the selection of training task content and the setting of training task parameters can be obtained through the operation interface of the ground remote operation device, and then the task management unit executes at the specified time according to the task content, and sends task-related instructions to the external space satellite simulator through the data interface, thereby realizing the simulation scheduling execution of the global task.

[0056] Then, the satellite status data generated by each space satellite simulator is released to the outside through the data interface for ground remote control equipment to display the comprehensive situation, provide an interface display for training operators to grasp the overall situation, and visualize the overall situation in a three-dimensional visualization environment.

[0057] This manual implements supervised simulation training by setting pre-training mission objectives for the space satellite simulation process, further improving the efficiency and accuracy of space satellite simulation, and ultimately ensuring that actual space satellites can accurately and efficiently complete space missions while operating in orbit.

[0058] Therefore, in some embodiments, the simulated remote control instructions correspond to the control instructions. The remote control instruction generation unit of the ground-based remote control device primarily generates control instructions for simulated and actual space satellite operations under the control of the relevant ground-based remote operator. These include orbit control instructions, attitude control instructions, thermal control instructions, data transmission instructions, and robotic arm operation instructions. The remote control instruction generation unit issues instructions to other modules via a data interface at relevant times, thereby implementing operational control functions for the space satellite simulator and even the actual space satellite.

[0059] In combination with the above embodiments, if the target training operation result is close to the pre-training task target, and the simulated control instruction achieves good control for the process accurately simulated by the space satellite simulator, it will be of great reference value in the actual on-orbit operation of the space satellite to perform the aerospace mission. Therefore, the ground remote operation equipment will correspond the obtained simulated remote control instruction to the said control instruction, thereby realizing efficient and accurate control of the actual on-orbit operation process of the space satellite to ensure the completion of the aerospace mission.

[0060] In some embodiments, the dynamic model is also used to obtain an initialized simulated on-orbit state based on the pre-trained space mission; and send the initialized simulated on-orbit state to the satellite stand-alone module, the satellite stand-alone module obtains processed data based on the initialized simulated on-orbit state, and sends the processed data to the satellite service computing unit for simulation.

[0061] like Figure 4 and Figure 6 As shown, the dynamic model module performs the first round of iterative calculation based on the given initialization parameters (such as initialization orbit parameters, initialization attitude parameters, initialization mass parameters, satellite surface-to-mass ratio parameters, satellite moment of inertia, etc.) to generate the initialized satellite on-orbit simulation state; through internal data communication, the initialized satellite on-orbit state is released to the satellite stand-alone module, and the released data includes key data of the stand-alone such as star sensitivity, time sensitivity, magnetometer, GPS, etc., so that it can process the data and distribute it to the satellite service calculation unit; the satellite stand-alone module and the robotic arm simulation unit will also receive the digital control instructions of the satellite service calculation unit, and pass the corresponding satellite service control instructions back to the dynamic model through internal data communication, wherein the data passed includes stand-alone data such as thruster, momentum wheel, magnetic torquer, and robotic arm joint; the dynamic model module performs the next round of iterative calculation based on the current satellite on-orbit simulation state and the control parameters passed by the satellite stand-alone module, and generates a new satellite on-orbit simulation state for the next round of iteration and update.

[0062] In some embodiments, the space satellite simulator is connected to the ground remote operation equipment via a data interface.

[0063] Specifically, the ground-based teleoperation equipment is equipped with a data interface to enable data transmission with the space satellite simulator, and can also be equipped with a corresponding interface to enable data transmission with the satellite control center. Based on the current application environment (such as the teleoperation training simulation environment or the on-orbit operation support environment), the data interface can transmit and receive data with the space satellite simulator or with the data interface provided by the satellite control center.

[0064] The embodiments of this specification can simplify the modeling complexity of the modules corresponding to the interfaces by setting up data interfaces, so that the corresponding modules only focus on their essential work simulation without considering the complex logic brought about by data transmission, thereby achieving convenient and efficient simulation.

[0065] In some embodiments, the space satellite includes a space manipulating satellite and a space manipulated satellite; correspondingly, the space satellite simulator includes a space manipulating satellite simulator and a space manipulated satellite simulator.

[0066] like Figure 1-Figure 3 As shown, the real operating space satellite includes a space controlling satellite and a space controlled satellite. Correspondingly, the space satellite simulator may include a space controlling satellite simulator and a space controlled satellite simulator, thereby realizing efficient simulation of the real space satellite, and further ensuring that the real space satellite completes the space mission efficiently and accurately.

[0067] In combination with the above embodiments, an embodiment of this specification provides a ground teleoperation method. The ground teleoperation system using the technical solution of any embodiment of this specification can implement the ground teleoperation method, which specifically includes: a ground teleoperation device obtaining a pre-trained space task, and sending a training task content and / or a pre-trained task target to a space satellite simulator based on the pre-trained space task; the space satellite simulator performs a training operation based on the training task content and / or the pre-trained task target, and obtains an initial training operation result; the ground teleoperation device generates a simulated remote control instruction based on the initial training operation result, globally presents the initial training operation result, and sends the simulated remote control instruction to the space satellite simulator; the space satellite simulator receives the simulated remote control instruction and obtains a target training operation result based on the simulated remote control instruction; the ground teleoperation device obtains the operating parameters of the space satellite, and obtains a control instruction based on the operating parameters, the pre-trained space task, and the target training operation result, and sends the control instruction to the space satellite; the space satellite receives the control instruction and operates according to the control instruction.

[0068] Specifically, during the space satellite simulation phase, the actual operating parameters and operating status of the space satellite are not connected to the ground teleoperation equipment. Figure 8, the ground teleoperation device obtains the pre-trained space task, and sends the training task content and / or pre-training task target to the space satellite simulator according to the pre-training space task. In some embodiments, the ground teleoperation device obtains the pre-training space task according to the operation of the user operation interface, that is, the relevant personnel can select the pre-training task. In some embodiments, the pre-training task includes the injection of fault problems, etc. The space satellite simulator performs training operation according to the training task content and / or the pre-training task target, and obtains the initial training operation result. The ground teleoperation device generates a simulated remote control instruction according to the initial training operation result, and globally presents the initial training operation result, and sends the simulated remote control instruction to the space satellite simulator; the space satellite simulator receives the simulated remote control instruction, and obtains the target training operation result according to the simulated remote control instruction training.

[0069] During the on-orbit operation of a space satellite, the relevant data of the space satellite simulator is not connected to the ground remote operation equipment. Figure 9 The ground-based teleoperation device obtains the operating parameters of the space satellite, obtains control instructions based on the operating parameters, the pre-trained space mission, and the target training results, and transmits the control instructions to the space satellite. The space satellite receives the control instructions and operates according to the control instructions. In some embodiments, space satellite simulation is performed at appropriate intervals from the on-orbit operation of the space satellite, which is not limited in this specification. The above implementation process is described in the relevant description of the ground-based teleoperation system and is not repeated here.

[0070] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the product embodiments described later are relatively simple to describe because they correspond to the methods. For relevant parts, refer to the description of the system embodiments.

[0071] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A ground-based remote control system based on satellite simulation, characterized in that: The ground remote operation system includes: a space satellite simulator, a space satellite and a ground remote operation device; The ground teleoperation device is used to send a pre-training space mission to the space satellite simulator and obtain a training operation result according to the training of the space satellite simulator; It is also used to obtain the operating parameters of the space satellite, and obtain a control instruction according to the operating parameters, the pre-trained space mission and the training operation result, and send the control instruction to the space satellite via the satellite measurement and control center; The space satellite is used to operate according to the control instruction; The space satellite simulator includes: a dynamic model, a fault injection unit; The fault injection unit is used to receive the fault problem input by the remote control instruction generation unit and the fault problem corresponding to the pre-trained space task; so that the dynamic model obtains the corresponding training operation result according to the fault problem; The space satellite simulator includes: a robotic arm simulation unit, a satellite service computing unit, and a satellite stand-alone module; the robotic arm simulation unit is used to simulate the load operation of a multi-section robotic arm according to the parameters of the robotic arm; the fault injection unit is further used to inject fault problems into the robotic arm simulation unit, the satellite service computing unit, and the satellite stand-alone module, respectively, so that the dynamic model obtains corresponding training operation results; The satellite service computing unit runs the satellite service code on the digital CPU by constructing a digital CPU; The satellite stand-alone module is used to simulate a single space satellite; The pre-training space task includes training task content and pre-training task objectives; The ground teleoperation device is used to send training mission content and / or pre-training mission objectives to the space satellite simulator according to the pre-training space mission; The space satellite simulator is used to carry out training operations according to the training mission content and / or the pre-training mission objectives, and return the obtained initial training operation results to the ground teleoperation device; The ground remote operation equipment is also used to globally present the training operation process, generate simulated remote control instructions, and return the simulated remote control instructions to the space satellite simulator so that the space satellite simulator can operate according to the simulated remote control instructions to obtain the target training operation results.

2. The ground teleoperation system according to claim 1, characterized in that: The ground remote operation equipment includes a global display unit, a task management unit and a remote control instruction generation unit; The task management unit is connected to the global display unit and the remote control instruction generation unit respectively; The task management unit is used to obtain the pre-training space task and the corresponding training operation result, and is also used to obtain the training operation result according to the operation parameter; The global display unit is used to display the pre-trained space mission, the training operation results, the operation parameters and the space satellite operation status; The remote control instruction generating unit is used to obtain the corresponding control instruction according to the training operation result.

3. The ground remote operation system according to claim 1, characterized in that: The simulated remote control instruction corresponds to the control instruction.

4. The ground teleoperation system according to claim 1, characterized in that: The dynamic model is also used to obtain an initialized simulated on-orbit state based on the pre-trained space mission; and send the initialized simulated on-orbit state to the satellite stand-alone module. The satellite stand-alone module obtains processed data based on the initialized simulated on-orbit state, and sends the processed data to the satellite service computing unit for simulation.

5. The ground teleoperation system according to any one of claims 1 to 4, characterized in that: The space satellite simulator is connected to the ground remote operation equipment via a data interface.

6. The ground teleoperation system according to claim 5, characterized in that: The space satellites include space manipulating satellites and space controlled satellites; correspondingly, the space satellite simulators include space manipulating satellite simulators and space controlled satellite simulators.

7. A ground remote operation method based on satellite simulation, characterized in that: Applying the ground teleoperation system based on satellite simulation as claimed in claim 1, the ground teleoperation method comprises: The ground teleoperation device obtains the pre-trained space mission and sends the training mission content and / or pre-trained mission objectives to the space satellite simulator according to the pre-trained space mission; The space satellite simulator performs a training operation according to the training task content and / or the pre-training task goal, and obtains an initial training operation result; The ground teleoperation device generates a simulated remote control instruction according to the initial training operation result, globally presents the initial training operation result, and sends the simulated remote control instruction to the space satellite simulator; The space satellite simulator receives the simulated remote control instruction and obtains a target training operation result according to the simulated remote control instruction training; The ground remote operation device obtains the operating parameters of the space satellite, obtains a control instruction according to the operating parameters, the pre-trained space mission and the target training operation result, and sends the control instruction to the space satellite; The space satellite receives the control instruction and operates according to the control instruction.

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