Simulation test platform and construction method of satellite GNC system

Abstract

This specification provides a simulation test platform and construction method for a satellite GNC system, wherein the simulation test platform for the satellite GNC system is configured with a remote control component and a dynamic simulation component, wherein the dynamic simulation component is configured with at least one simulation stand-alone, each simulation stand-alone simulates at least one simulation stand-alone model, and the simulation stand-alone model is configured based on the satellite model; the remote control component is used to send a remote control instruction to the dynamic simulation component, wherein the remote control instruction carries a simulation stand-alone identifier and remote control data; the dynamic simulation component is used to parse the remote control instruction, obtain the simulation stand-alone identifier and remote control data, and transmit the remote control data to the target simulation stand-alone indicated by the simulation stand-alone identifier, and the target simulation stand-alone responds to the remote control data. In this way, the simulation test platform can be compatible with the differences in stand-alone models between satellite models, is applicable to a variety of satellite models, reduces the difficulty of developing the simulation test platform, and improves the development efficiency of the simulation test platform.

Description

Technical Field

[0001] The present invention relates to the field of satellite simulation test technology, and in particular to a simulation test platform for a satellite GNC system. The present invention also relates to a method for building a simulation test platform for a satellite GNC system, a computing device, and a computer-readable storage medium. Background Art

[0002] With the development of satellite communication technology, satellite communication has been valued by countries around the world in the field of communication for its wide coverage, strong mobility, large transmission capacity, flexible networking, and no geographical restrictions. The test system of the satellite GNC system simulates the working state of a real satellite in a ground environment using ground test equipment, and is used for ground testing of satellite GNC system software and simulated stand-alone machines.

[0003] In the prior art, the test system of the satellite GNC system strictly follows the number and model of simulation units specified by the satellite model, develops the corresponding number and model of single-machine simulation models, and the number and model of simulation units of the test system correspond to the satellite model. After the test system is developed, it is difficult to apply the new satellite model due to the compatibility problem of the number and model of simulation units. It is necessary to redevelop the dynamic simulation model and reconstruct the number and model of simulation units. However, in the above method, one satellite model often corresponds to one set of test systems. For any satellite model, an independent test system needs to be designed, which is difficult to develop and has low development efficiency. It cannot quickly meet the needs of multi-model and batch satellite production testing. Summary of the invention

[0004] In view of this, the embodiment of this specification provides a simulation test platform for a satellite GNC system. This specification also relates to a method for building a simulation test platform for a satellite GNC system, a computing device, and a computer-readable storage medium to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of the present specification, a simulation test platform for a satellite GNC system is provided, wherein the simulation test platform is configured with a remote control component and a dynamics simulation component, wherein the dynamics simulation component is configured with at least one simulation stand-alone, each simulation stand-alone simulates at least one simulation stand-alone model, and the simulation stand-alone model is configured based on the satellite model;

[0006] A remote control component is used to send a remote control instruction to the dynamics simulation component, wherein the remote control instruction carries a simulation stand-alone identifier and remote control data;

[0007] The dynamic simulation component is used to parse the remote control command, obtain the simulation unit identification and remote control data, transmit the remote control data to the target simulation unit indicated by the simulation unit identification, and the target simulation unit responds to the remote control data.

[0008] According to a second aspect of an embodiment of this specification, a method for building a simulation test platform of a satellite GNC system is provided, wherein the simulation test platform is configured with a remote control component and a dynamic simulation component, and the method comprises:

[0009] According to the satellite model, determine the simulation stand-alone model corresponding to each simulation stand-alone machine, and generate a model spectrum based on the simulation stand-alone model;

[0010] According to the model spectrum of each simulation unit, the corresponding simulation unit is configured in the dynamics simulation component, and the attribute information of each simulation unit is configured to obtain the completed simulation test platform.

[0011] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0012] Memory and processor;

[0013] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to implement the steps of the method for building a simulation test platform for the satellite GNC system.

[0014] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the method for building a simulation test platform for a satellite GNC system are implemented.

[0015] The simulation test platform of the satellite GNC system provided in this specification is configured with a remote control component and a dynamic simulation component. The dynamic simulation component is configured with at least one simulation unit, each simulation unit simulates at least one simulation unit model, and the simulation unit model is configured based on the satellite model; the remote control component is used to send remote control instructions to the dynamic simulation component, wherein the remote control instructions carry the simulation unit identification and remote control data; the dynamic simulation component is used to parse the remote control instructions, obtain the simulation unit identification and remote control data, and transmit the remote control data to the target simulation unit indicated by the simulation unit identification, and the target simulation unit responds to the remote control data.

[0016] In this case, at least one simulation stand-alone can be configured in the dynamics simulation component through the remote control component, and each simulation stand-alone simulates at least one simulation stand-alone model, so that the dynamics simulation component can adapt to the differences in simulation stand-alone models between satellite models, and the simulation stand-alone model of the simulation test platform can be flexibly configured based on the satellite model. The simulation test platform can be applied to new satellite models only through parameter configuration, which reduces the difficulty of secondary development, so as to quickly develop a simulation test platform with complex satellite models and short development cycles; in addition, when the remote control component sends a remote control command to the dynamics simulation component, a simulation stand-alone identifier can be added to the remote control command, and the simulation stand-alone identifier can indicate the simulation stand-alone model that the remote control command acts on. A single remote control command can be sent to multiple simulation stands of the same model, and the simulation stand-alone selectively receives the remote control command, which improves the compatibility of the remote control command. In this way, a universal simulation test platform for the satellite GNC system is provided, which simplifies the development link of the simulation test platform. The simulation test platform can be compatible with the differences in stand-alone models between satellite models and is applicable to a variety of satellite models, which reduces the development difficulty of the simulation test platform and improves the development efficiency of the simulation test platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural framework diagram of a simulation test platform of a satellite GNC system provided in an embodiment of this specification;

[0018] Figure 2 It is a schematic diagram of the interaction between a remote control component and a dynamics simulation component provided in an embodiment of this specification;

[0019] Figure 3 This is a schematic diagram of a control data transmission process provided by an embodiment of this specification;

[0020] Figure 4 This is a schematic diagram of a transmission process of a remote control command provided in an embodiment of this specification;

[0021] Figure 5 This is a schematic diagram of a transmission process of remote control data provided by an embodiment of this specification;

[0022] Figure 6 This is a schematic diagram of a transmission process of a telemetry data packet provided in an embodiment of this specification;

[0023] Figure 7 This is a schematic diagram of another transmission process of a telemetry data packet provided in an embodiment of this specification;

[0024] Figure 8 It is a schematic diagram of a processing process of a parameter configuration method provided in an embodiment of this specification;

[0025] Fig. 9It is a data interaction scene diagram of a simulation test platform of a satellite GNC system provided in an embodiment of this specification;

[0026] Fig.10 It is a data interaction scene diagram of another simulation test platform of a satellite GNC system provided in an embodiment of this specification;

[0027] Fig.11 It is a flow chart of a method for building a simulation test platform for a satellite GNC system provided in an embodiment of this specification;

[0028] Fig.12 It is a structural block diagram of a device for building a simulation test platform for a satellite GNC system provided in an embodiment of this specification;

[0029] Fig.13 It is a structural block diagram of a computing device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0030] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0031] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] First, the terms involved in one or more embodiments of this specification are explained.

[0034] GNC (Guidance Navigation_Control) system: navigation, guidance and control subsystem of the spacecraft, referred to as GNC subsystem.

[0035] Satellite: refers to a natural celestial body that orbits a planet and moves periodically in a closed orbit. Artificial satellites are also generally called satellites. Artificial satellites are artificially built and launched into space by space flight vehicles such as rockets and spacecraft. They orbit the earth or other planets like natural satellites.

[0036] It should be noted that the satellite GNC system test system is in a ground environment, using ground test equipment to simulate the working state of a real satellite, and is used for ground testing of satellite GNC system software and simulation units. The test system includes a dynamic real-time simulator, a remote control computer, a telemetry database server, and a satellite-borne computer.

[0037] Among them, the remote control computer sends remote control instructions to the dynamic real-time simulator; the telemetry database server receives, analyzes and stores telemetry data from the dynamic simulator; the onboard computer provides the satellite GNC system software operating environment, receives simulation data from the dynamic real-time simulator, and sends control instructions to the dynamic real-time simulator after calculation. The dynamic simulation model runs in the dynamic real-time simulator. The dynamic simulation model consists of a dynamic data simulation model, a sensor interface simulation model, an actuator interface simulation model, an RS422 / 485 single-machine interface simulation model, a remote control interface simulation model and a telemetry interface simulation model. The dynamic data simulation model mainly simulates the satellite GNC system's simulation single machine and the entire satellite data, and the interface simulation model mainly simulates the single-machine hardware interface, communication protocol and remote control telemetry protocol.

[0038] The test system of the traditional satellite GNC system strictly follows the number and model of units specified by the satellite model, develops the dynamic simulation model of the corresponding number and model of units, and the number and model of units in the test system correspond to the satellite model. After the test system is developed, it is difficult to apply the new satellite model due to the compatibility problem of the number and model of units. The dynamic simulation model needs to be redeveloped to reconstruct the number and model of units. During the secondary development, the reconstruction work is complicated, with great development difficulty and low development efficiency. That is, at present, the test system is usually designed independently for a single satellite model, that is, one satellite model corresponds to a set of test systems, and no generalization and platform design is performed in terms of the number and model simulation of units, communication interface address simulation, remote control commands, etc. This development method is difficult to develop and cannot quickly meet the needs of multi-model and batch satellite production testing.

[0039] Therefore, the embodiments of this specification provide a simulation test platform, which is designed in a universal and platform-based manner based on the test system of the traditional satellite GNC system, counts the requirements for the number of single machines for each satellite model, lists the single machine models used by each satellite model in the model spectrum, develops a dynamic simulation model according to the maximum envelope of the number of single machines and the single machine model spectrum, and sets the number of single machines and models as configurable parameters. The number of single machines and models of the simulation test platform can be flexibly configured in the configuration interface, providing a basic and universal platform, reducing the difficulty of secondary development, and meeting the goal of rapid development of satellite simulation test platforms with complex satellite types and short development cycles.

[0040] Secondly, when the current test system is developed, the single-machine development interface simulation model in the test system includes hardware interface simulation and communication protocol simulation, and the two are developed as a whole without hierarchical division. When the test system introduces a new model of simulated stand-alone, the hardware interface simulation part is a homogeneous content and cannot be reused due to the lack of hierarchical division. It still needs to be developed again, resulting in redundancy of the dynamic simulation model. Therefore, in the embodiments of this specification, the levels of single-machine hardware interface simulation and communication protocol simulation in the interface simulation model are clarified to improve the reusability of single-machine hardware interface simulation, and a communication protocol simulation library is established to uniformly manage the communication protocol simulation corresponding to each simulated stand-alone model in the spectrum.

[0041] In addition, when the current test system is developed, the corresponding single-machine remote control instructions and remote control interface simulation models are designed according to the number and model of single machines specified by the satellite model. The remote control instruction entries and remote control interface simulation models correspond to the satellite models. After the test system is developed, it is difficult to apply new satellite models due to the compatibility issues of the remote control instruction entries and remote control interface simulation models. It is necessary to redevelop the single-machine remote control instructions and remote control interface simulation models, resulting in a large number of remote control instructions, high development difficulty and low efficiency. Therefore, in the embodiment of this specification, the remote control instructions and remote control interface simulation models can be designed according to the simulated single-machine models in the model spectrum, and a single remote control instruction can be sent to multiple simulated single machines of the same model, and the simulated single machine selectively receives the remote control instructions.

[0042] Furthermore, when the current test system is developed, the communication interface address between the dynamics real-time simulator and other devices is defined in advance and written into the dynamics simulation model. After the test system is developed, the communication interface address cannot be directly changed, resulting in the dynamics simulation model being unable to be deployed to a test system that is inconsistent with the defined address. Therefore, in the embodiment of this specification, the communication interface address between the dynamics real-time simulator and other devices is set as a configurable parameter, and the communication interface address of the simulation test platform can be flexibly configured in the configuration interface.

[0043] From the above, it can be seen that, in response to the current complex and redundant test systems, this specification provides a universal and platform-based simulation test platform for satellite GNC systems, which simplifies the development process of the simulation test platform and improves the development efficiency of the simulation test platform. Specifically, in a general test system, only the number and model of units required by the satellite model are simulated. Due to the differences in the number and model of units between satellite models, the simulation test platform cannot be universal. The embodiment of this specification provides a simulation test platform with configurable number and model of units; secondly, in a general test system, the serial port single-machine interface simulation model includes hardware interface simulation and communication protocol simulation, and there is no hierarchical division between the two. The embodiment of this specification provides a serial port single-machine interface simulation model that divides the hardware interface simulation and communication protocol simulation levels, which is convenient for multiplexing hardware interface simulation and expanding communication protocol simulation; in addition, in a general test system, it is impossible to directly change the interface address between the dynamic real-time simulator and other devices, and it is impossible to flexibly change the test environment. The embodiment of this specification provides a simulation test platform with a configurable interface communication address; furthermore, in a general test system, remote control instructions are set according to the units included in the satellite model, resulting in redundancy of remote control instructions, and due to the differences in the number and model of units between satellite models, the test system cannot be universal. The embodiment of this specification provides a solution for simplifying remote control instructions with strong adaptability.

[0044] In this specification, a simulation test platform for a satellite GNC system is provided. This specification also involves a method for building a simulation test platform for a satellite GNC system, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0045] Figure 1 The structure framework diagram of a simulation test platform of a satellite GNC system provided according to an embodiment of the present specification is shown. The simulation test platform is configured with a remote control component 102 and a dynamics simulation component 104. The dynamics simulation component 104 is configured with at least one simulation stand-alone. Each simulation stand-alone simulates at least one simulation stand-alone model. The simulation stand-alone model is configured based on the satellite model.

[0046] The remote control component 102 is used to send a remote control instruction to the dynamics simulation component 104, wherein the remote control instruction carries a simulation stand-alone identifier and remote control data;

[0047] The dynamics simulation component 104 is used to parse the remote control instruction, obtain the simulation unit identifier and remote control data, and transmit the remote control data to the target simulation unit indicated by the simulation unit identifier, and the target simulation unit responds to the remote control data.

[0048] It should be noted that the remote control instructions sent by the remote control component are used to set the status data of the simulation unit and to create data fault instructions for the simulation unit, that is, the remote control component can send remote control instructions to the corresponding target simulation unit, and the remote control instructions include the simulation unit identification and remote control data. The target simulation unit indicated by the simulation unit identification can receive the remote control instructions, respond to the remote control data in the remote control instructions, and perform simulation tests. In specific implementation, the remote control component can be a remote control computer to realize remote control of the dynamics simulation component, and the dynamics simulation component can be a dynamics real-time simulation machine, on which various models required for simulation testing are deployed.

[0049] Specifically, a satellite refers to a natural celestial body that orbits a planet and moves periodically in a closed orbit. Artificial satellites are generally also called satellites. Artificial satellites are artificially built and launched into space by space flight vehicles such as rockets and spacecraft. They orbit the earth or other planets like natural satellites.

[0050] In addition, the simulation stand-alone refers to a device that simulates the output data and receiving instructions of a real stand-alone through the simulation model set in the dynamic simulation component. A satellite can be composed of multiple subsystems, including structure, energy, thermal control, attitude and orbit control subsystems, and the simulation stand-alone refers to each device that constitutes the subsystem. The simulation test platform of the satellite GNC system provided in the embodiment of this specification is a platform for simulation and simulation testing of the attitude and orbit control subsystem. Therefore, the simulation stand-alone in the embodiment of this specification refers to each device that constitutes the attitude and orbit control subsystem. For example, the simulation stand-alone of the attitude and orbit control subsystem can include five types of sensor stand-als, such as star sensor, gyroscope, magnetometer, sun sensor, GNSS (Global Navigation Satellite System), and five types of actuator stand-als, such as flywheel, magnetic rod, SADA (solar array drive assembly), QV, and electric push. The main function of the sensor stand-alone is to output the measurement data required by the attitude and orbit control subsystem, and the main function of the actuator stand-alone is to receive and execute control instructions, and at the same time feedback the data of the execution status.

[0051] In actual applications, the simulation stand-alone model in the dynamics simulation component can be customized in advance through the stand-alone configuration interface provided by the simulation test platform based on the satellite model, and the simulation stand-alone model used by each satellite model can be included in the model spectrum. In the dynamics simulation component, stand-alone simulation can be performed according to the maximum envelope of the number of simulated stand-als and the stand-alone model spectrum, and the number of simulated stand-als and the simulated stand-alone model can be set as configurable parameters.

[0052] Among them, the model spectrum is a concept for simulation stand-alone machines. The same type of simulation stand-alone machines can be divided into Type I, Type II, Type III, etc. according to performance, technical indicators, etc. For example, star sensors are divided into Type I star sensors, Type II star sensors, Type III star sensors, etc. This is the model spectrum of star sensors, that is, each simulation stand-alone machine can be divided into different models, and different models of simulation stand-alone machines have different simulation models.

[0053] For example, the simulation stand-alone machine is type AI, type II, type III,...; the simulation stand-alone machine is type BI, type II, type III,...; the simulation stand-alone machine is type CI, type II, type III,...; the simulation stand-alone machine is type DI, type II, type III,... etc., among which, simulation stand-alone machine A, simulation stand-alone machine B, simulation stand-alone machine C, simulation stand-alone machine D etc. refer to different simulation stand-alone machines, and "Type I, Type II, Type III" refer to simulation stand-alone machine models, indicating that each simulation stand-alone machine can be divided into different models, that is, each simulation stand-alone machine can be divided into Type I, Type II, Type III,... etc.

[0054] Secondly, in addition to configuring the simulation stand-alone model in the dynamics simulation component through the stand-alone configuration interface provided by the simulation test platform, the number of stand-alones required for each simulation stand-alone model can also be configured. It should be noted that different models of simulation stand-alones differ in performance, technical indicators, etc. Therefore, different satellite models can select suitable simulation stand-alone models according to mission requirements. For each satellite model, the appropriate simulation stand-alone model and the number of simulation stand-alones can be selected from the perspectives of cost and reliability. For example, the reliability of the attitude and orbit control subsystem of two star sensors is higher than that of the attitude and orbit control subsystem of one star sensor, but at the same time the cost of the satellite will increase. Therefore, different satellite models can be configured with different simulation stand-alone models and the number of simulation stand-alones according to mission requirements and development purposes.

[0055] It should be noted that the single-machine simulation is performed according to the maximum envelope of the number of simulated single machines and the spectrum of single-machine models, which means that in the simulation test platform of the satellite GNC system provided in the embodiment of this specification, simulation can be performed according to the maximum number of a certain type of simulated single machine that may appear in each satellite model. For example, the number of star sensors configured for a single satellite may be 1, 2, 3, or 4. In the simulation test platform of the satellite GNC system, 4 star sensors are simulated. When the simulation test platform of the satellite GNC system is actually used, the corresponding number of numbers can be configured on the simulation test platform of the satellite GNC system according to the configuration of the simulated single machine of the actual satellite, and the simulation test platform of the satellite GNC system can call the corresponding number of simulated single machines. In addition, one simulated single machine includes all models of this type of single machine. Similarly, when the simulation test platform of the satellite GNC system is actually used, the corresponding simulated single machine model can be configured in the configuration interface according to the actual situation to complete the model selection.

[0056] In the embodiments of this specification, the number and model of the simulation test platform can be flexibly configured in the configuration interface, providing a basic and universal platform, reducing the difficulty of secondary development, so as to meet the goal of rapid development of satellite simulation test platforms with complex satellite types and short development cycles. As a universal basic development platform for simulation testing of satellite GNC systems, the simulation test platform can integrate the commonalities and development requirements of different whole-satellite model test systems, and simulation tests of general satellite GNC systems can be developed on the basis of the simulation test platform.

[0057] In addition, the remote control instructions in the remote control component can be designed according to the various simulation stand-alone models configured in the dynamic simulation component, and the simulation stand-alone identifier can be added to the remote control instruction content. The simulation stand-alone identifier can indicate the simulation stand-alone model that the remote control instruction acts on. After the dynamic simulation component parses the remote control instruction and obtains the simulation stand-alone identifier and remote control data, the remote control data can be transmitted to the target simulation stand-alone indicated by the simulation stand-alone identifier in each simulation stand-alone, so as to control the target simulation stand-alone to respond to the remote control data and realize simulation. In this way, in the dynamic simulation component, the simulation stand-alone has a digital code, and the remote control instruction sent to the stand-alone contains the stand-alone digital code information. The remote control instruction is only effective for the simulation stand-alone with a matching digital code, that is, a single remote control instruction can be sent to multiple simulation stands of the same model, and the simulation stand-alone selectively receives the remote control instruction, which improves the compatibility of the remote control instruction.

[0058] In an optional implementation of this embodiment, Figure 1 As shown, the dynamics simulation component 104 is provided with a dynamics simulation model, which includes a dynamics data simulation model and an interface simulation model. The dynamics data simulation model is used to simulate the single-machine data and satellite data of the simulated single-machine of the satellite GNC system, and the interface simulation model is used to simulate the hardware interface, communication protocol and remote control telemetry protocol of the simulated single-machine.

[0059] It should be noted that a dynamics simulation model needs to be deployed in the dynamics simulation component, that is, the dynamics simulation model runs in the dynamics simulation component, and the satellite GNC system is simulated through the dynamics simulation model. The dynamics simulation model can include a dynamics data simulation model and an interface simulation model. The dynamics data simulation model is used to simulate the single-machine data and satellite data of the simulated single-machine of the satellite GNC system, and the interface simulation model is used to test the hardware interface, communication protocol and remote control telemetry protocol of the simulated single-machine. Among them, the single-machine data mainly refers to the measurement data of the sensor single-machine in each simulation single-machine of the attitude and orbit control subsystem, as well as the data on the execution of instructions fed back by the actuator single-machine; satellite data, that is, the data of the entire satellite, refers to the overall attitude, orbit and other data of the satellite.

[0060] In an optional implementation of this embodiment, Figure 1 As shown, the simulation test platform is also equipped with a satellite computer 106, and the interface simulation model includes a sensor interface simulation model, a serial port stand-alone interface simulation model, an actuator interface simulation model, a remote control interface simulation model and a telemetry interface simulation model. The satellite computer 106 establishes a communication connection with the actuator interface simulation model;

[0061] The remote control component is further used to send remote control instructions to the remote control interface simulation model;

[0062] The remote control interface simulation model is used to parse the remote control command, obtain the simulation unit identification and remote control data, and transmit the remote control data to the target simulation unit in the dynamic data simulation model, the sensor interface simulation model, the serial port unit interface simulation model and the telemetry interface simulation model respectively;

[0063] The actuator interface simulation model is used to receive control instructions sent by the onboard computer, parse the control instructions to obtain control data, and send the control data to the dynamic data simulation model.

[0064] It should be noted that the interface simulation model is mainly used to simulate the stand-alone hardware interface, communication protocol and remote control telemetry protocol. The interface simulation model includes the sensor interface simulation model, the serial port stand-alone interface simulation model, the actuator interface simulation model, the remote control interface simulation model and the telemetry interface simulation model. Specifically, the sensor interface simulation model, the serial port stand-alone interface simulation model and the actuator interface simulation model can all simulate the stand-alone hardware interface and communication protocol, and the remote control interface simulation model and the telemetry interface simulation model can simulate the remote control telemetry protocol.

[0065] Among them, the serial port stand-alone interface simulation model can be an RS422 / 485 stand-alone interface simulation model, or a UDP serial port stand-alone interface simulation model, where RS is the abbreviation of "recommended standard", 422 / 485 is the serial port identification number, and RS422 / 485 represents the communication interface of the serial port with the corresponding identification number.

[0066] Figure 2 is a schematic diagram of the interaction between a remote control component and a dynamic simulation component provided in an embodiment of this specification, such as Figure 2 As shown, the remote control command (UDP signal) sent by the remote control component is transmitted to the remote control interface simulation model in the dynamic simulation component through network transmission equipment such as switches and transmission media. The remote control interface simulation model parses the remote control command into remote control data and transmits it to the dynamic data simulation model, sensor interface simulation model, serial port stand-alone interface simulation model and telemetry interface simulation model respectively.

[0067] It should be noted that the remote control command and remote control interface simulation model can be designed according to the simulation stand-alone model in the model spectrum, and the simulation stand-alone identification is added to the remote control command. The remote control interface simulation model can parse the remote control data and the simulation stand-alone identification, and transmit them to the dynamic data simulation model, the sensor interface simulation model, the serial port stand-alone interface simulation model and the telemetry interface simulation model. The remote control data is transmitted indiscriminately to the same type of simulation stand-alone in the four models (i.e., the target simulation stand-alone indicated by the simulation stand-alone identification). At the same time, the simulation stand-alones of the four models define a stand-alone number, which corresponds to the simulation stand-alone identification. The simulation stand-alone can selectively receive the remote control data whose simulation stand-alone identification is consistent with the stand-alone number, forming multiple remote control commands for multiple simulation stand-als of the same type. A single remote control command can be sent to multiple simulation stand-als of the same model. The simulation stand-alone selectively receives the remote control data in a remote control command sending-receiving mode, which improves the compatibility of the remote control command.

[0068] In addition, the control instruction sent by the onboard computer to the actuator interface simulation model is an instruction to send measurement data, status data and other data to the actuator interface simulation model.

[0069] It should be noted that the onboard computer can provide the software operating environment for the satellite GNC system. Figure 3 is a schematic diagram of a control data transmission process provided by an embodiment of this specification, such as Figure 3 As shown, the control instructions output by the onboard computer can be converted into UDP signals through the CAN bridge and sent to the actuator interface simulation model in the dynamic simulation component. The actuator interface simulation model parses the control instructions, obtains control data, and passes the control data (i.e., measurement data and single-machine status) to the dynamic data simulation model.

[0070] Furthermore, in addition to setting the model and quantity of the simulation stand-alone machines in the simulation test platform as configurable parameters, the communication interface address (IP address, port, serial port) between the dynamics simulation component and other devices can also be set as a configurable parameter. Specifically, the communication interface address between the dynamics real-time simulation machine and other devices can be set as a configurable parameter in the sensor interface simulation model, the actuator interface simulation model, the serial port stand-alone interface simulation model, the remote control interface simulation model, and the telemetry interface simulation model.

[0071] For example, Figure 4 FIG. 1 is a schematic diagram of a transmission process of a remote control command provided in an embodiment of the present specification. Figure 4As shown, the dynamic data simulation model includes the dynamic data corresponding to the stand-alone A, the dynamic data corresponding to the stand-alone B, the dynamic data corresponding to the stand-alone C, the dynamic data corresponding to the stand-alone D, ..., etc.; the remote control interface simulation model includes the remote control data corresponding to the stand-alone X, ..., etc.; in the serial port stand-alone interface simulation model (UDP or RS422 / 485 stand-alone interface simulation model), the simulation stand-alone model corresponds to the number (1: type I; 2: type II; 3: type III; ...), that is, including stand-alone AI type, type II, type III, ..., stand-alone BI type, type II, type III, ..., stand-alone CI type, type II, type III, ..., stand-alone DI type, type II, type III, ..., etc., and each simulation stand-alone includes a configured interface, which can be a communication interface address. The dynamic data simulation model and the remote control interface simulation model can interact with the corresponding simulation stand-alone in the serial port stand-alone interface simulation model based on the simulation stand-alone identifier carried in the remote control instruction.

[0072] In addition, through the configuration interface provided by the remote control component, you can configure the attribute information corresponding to the simulated stand-alone models such as stand-alone A model, stand-alone B model, stand-alone C model, stand-alone D model, etc. The attribute information may include the interface corresponding to the stand-alone (i.e., the communication interface address), the satellite model corresponding to the simulated stand-alone model, the quantity and other basic information.

[0073] In an optional implementation of this embodiment, Figure 1 As shown, the simulation test platform is also configured with a telemetry database server 108, and the telemetry database server 108 establishes a communication connection with the telemetry interface simulation model; the telemetry interface simulation model is used to:

[0074] receiving telemetry data output by a dynamics data simulation model, an actuator interface simulation model, and a remote control interface simulation model;

[0075] The telemetry data is packaged into a set format and transmitted to a telemetry database server, wherein the telemetry database server is used to receive, parse and store the telemetry data from the dynamics simulation component.

[0076] Among them, the setting format is a pre-set encapsulation format, based on which the telemetry data transmitted by each model can be encapsulated and then transmitted to the telemetry database server for storage. For example, the setting format can be JSON (JavaScript Object Notation, JS object notation) format, which is a lightweight data exchange format.

[0077] As an example, Figure 5 FIG. 1 is a schematic diagram of a transmission process of remote control data provided by an embodiment of this specification. Figure 5As shown, the telemetry data output by the dynamic data simulation model, the actuator interface simulation model, and the remote control interface simulation model can be transmitted to the telemetry interface simulation model, and the telemetry packets in JSON format are composed by the telemetry interface simulation model and sent to the telemetry database server through the UDP link.

[0078] It should be noted that the onboard computer can send control instructions to the actuator interface simulation model in the dynamics simulation component. The actuator interface simulation model can parse the control instructions, obtain control data, and send the control data to the dynamics data simulation model. The dynamics data simulation model in the dynamics simulation component can respond to the control data and return a single-machine telemetry data packet. The single-machine telemetry data packet and satellite data are sent to the telemetry database server for storage in real time.

[0079] In the embodiments of this specification, the telemetry data generated by the dynamic data simulation model, the actuator interface simulation model, and the remote control interface simulation model can be encapsulated through the telemetry interface simulation model, and the telemetry data from different sources can be encapsulated into a unified format and sent to the telemetry database server for storage, so that the telemetry database server can parse the telemetry packages that need to be stored, thereby improving the success rate of parsing, improving the storage efficiency of telemetry data, and saving storage resources.

[0080] In an optional implementation of this embodiment, the dynamic data simulation model is further used to: receive control data, perform simulation according to the control data, and output the stand-alone simulation data generated by the simulation process to the sensor interface simulation model and the serial port stand-alone interface simulation model respectively.

[0081] In the embodiments of the present specification, the onboard computer can output control instructions to control the dynamic data simulation model to perform simulation, and output the stand-alone simulation data generated by the simulation process to the sensor interface simulation model and the serial port stand-alone interface simulation model respectively, so that the sensor interface simulation model and the serial port stand-alone interface simulation model can subsequently summarize the stand-alone simulation data and stand-alone status data generated by the simulation process, and feed them back to the onboard computer for simulation calculations.

[0082] In an optional implementation of this embodiment, the remote control interface simulation model is further used to: control the target simulation stand-alone operation according to the remote control data, and output the stand-alone status data to the sensor interface simulation model and the serial port stand-alone interface simulation model respectively.

[0083] It should be noted that the remote control interface simulation model can receive the remote control instructions sent by the remote control component and parse the remote control data therefrom. Therefore, the remote control interface simulation model can control the target simulation stand-alone operation indicated by the simulation stand-alone identifier according to the remote control data, and then output the stand-alone status data to the sensor interface simulation model and the serial port stand-alone interface simulation model respectively, so that the sensor interface simulation model and the serial port stand-alone interface simulation model can subsequently summarize the stand-alone data and stand-alone status data generated by the simulation process, and feed them back to the on-board computer for simulation calculations.

[0084] In an optional implementation of this embodiment, the sensor interface simulation model is used to:

[0085] Receive the single-machine simulation data transmitted by the dynamics data simulation model and the single-machine status data output by the remote control interface simulation model;

[0086] The single-machine simulation data and the single-machine state data are assembled to obtain a first single-machine telemetry data packet, and the first single-machine telemetry data packet is sent to the onboard computer.

[0087] Specifically, the single-machine simulation data refers to relevant data used by the onboard computer to perform simulation operations, and the single-machine status data refers to data indicating the single-machine status of the simulated single machine.

[0088] It should be noted that Figure 6 is a schematic diagram of a transmission process of a telemetry data packet provided in an embodiment of this specification, such as Figure 6 As shown, the single-machine simulation data generated by the dynamic data simulation model and the single-machine status data output by the remote control interface simulation model are composed of the first single-machine telemetry package through the sensor interface simulation model. The UDP signal is converted into CAN signal data through the CAN bridge and sent to the onboard computer.

[0089] In an optional implementation of this embodiment, the serial port stand-alone interface simulation model is used to:

[0090] Receive the single-machine simulation data transmitted by the dynamics data simulation model and the single-machine status data output by the remote control interface simulation model;

[0091] The single-machine simulation data and the single-machine state data are assembled to obtain a second single-machine telemetry data packet, and the second single-machine telemetry data packet is sent to the onboard computer.

[0092] It should be noted that Figure 7 FIG. 1 is a schematic diagram of another transmission process of a telemetry data packet provided in an embodiment of the present specification. Figure 7 As shown, the single-machine simulation data generated by the dynamic data simulation model and the single-machine status data output by the remote control interface simulation model are composed of a second single-machine telemetry package through the serial port single-machine interface simulation model and are directly sent to the onboard computer through the cable network.

[0093] It should be noted that the sensor units in the attitude and orbit control subsystem include serial port simulation units (such as RS422 / 485 simulation units) and other non-serial port simulation units. The sensor interface simulation model can simulate both serial port simulation units and non-serial port simulation units. The serial port unit interface simulation model only simulates the serial port simulation unit. In the simulation test platform of the satellite GNC system, the serial port simulation unit can choose to transmit simulation data (unit simulation data and unit status data) through the sensor interface simulation model according to test requirements, or transmit simulation data (unit simulation data and unit status data) through the serial port unit interface simulation model.

[0094] That is to say, both the sensor interface simulation model and the serial port stand-alone interface simulation model can compose the received stand-alone simulation data and stand-alone status data into a stand-alone telemetry packet, and send it to the onboard computer. Specifically, the dynamics data simulation model and the remote control interface simulation model can transmit the stand-alone simulation data and the stand-alone status data to the sensor interface simulation model, and the sensor interface simulation model assembles the stand-alone simulation data and the stand-alone status data to obtain a stand-alone telemetry data packet and send it to the onboard computer. That is, the stand-alone telemetry data generated by the dynamics data simulation model and the remote control interface simulation model are transmitted to the onboard computer via the sensor interface simulation model. Alternatively, the dynamics data simulation model and the remote control interface simulation model can transmit the stand-alone simulation data and the stand-alone status data to the serial port stand-alone interface simulation model, and the serial port stand-alone interface simulation model assembles the stand-alone simulation data and the stand-alone status data to obtain a stand-alone telemetry data packet and send it to the onboard computer. That is, the stand-alone telemetry data generated by the dynamics data simulation model and the remote control interface simulation model are transmitted to the onboard computer via the serial port stand-alone interface simulation model. Figure 6 and Figure 7 shown.

[0095] In an optional implementation of this embodiment, the interface simulation model includes a hardware interface simulation layer and a stand-alone communication protocol simulation layer, the stand-alone communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each simulated stand-alone model, and the hardware interface simulation layer includes a hardware interface simulation model of each simulated stand-alone model;

[0096] The target simulation machine includes a target communication protocol simulation sub-model and a hardware interface simulation model. The target communication protocol simulation sub-model corresponds to the model of the target simulation machine.

[0097] In specific implementation, when building a target simulation machine, the communication protocol simulation sub-model corresponding to the simulation machine model of the target simulation machine can be determined from the various communication protocol simulation sub-models included in the single-machine communication protocol simulation layer, and the determined communication protocol simulation sub-model can be used as the target communication protocol simulation sub-model. The target communication protocol simulation sub-model and the hardware interface simulation model can be jointly constructed to form the target simulation machine.

[0098] It should be noted that the simulation test platform can be divided into an application layer and a development layer. Parameters are configured through the application layer, and various models required for simulation testing are configured through the development layer. Specifically, the simulation test platform can be divided into dynamic data simulation and interface simulation for a single machine within the model spectrum, and a configuration interface is designed for single machine selection and quantity configuration, that is, the simulation single machine model is obtained through the single machine configuration interface provided by the simulation test platform. This design divides the simulation test platform into an application layer and a development layer, and the simulation test platform can be built through simple configuration operations at the application layer.

[0099] In actual applications, the interface simulation of a single machine in the spectrum is divided into two parts: hardware interface simulation and single machine communication protocol simulation. The important parameters of the hardware interface can be configured in the configuration interface provided by the application layer. It is compatible with all types of hardware interfaces of the single machine in the spectrum, and there is no need to perform hardware interface simulation. A communication protocol simulation library is established to uniformly manage the communication protocol simulation of the single machine in the spectrum, which is convenient for calling and expansion.

[0100] That is, a single-machine communication protocol simulation layer can be set in the application layer, and a hardware interface simulation layer can be set in the development layer. The single-machine communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each simulated single-machine model, and the hardware interface simulation layer includes a hardware interface simulation model for each simulated single-machine model. When building any simulated single-machine, the target communication protocol simulation sub-model in the application layer and the hardware interface simulation model in the development layer can be called to build the target simulated single-machine. The target communication protocol simulation sub-model is the communication protocol simulation sub-model corresponding to the target simulated single-machine in each communication protocol simulation sub-model.

[0101] In the embodiments of this specification, in the interface simulation model (i.e., the sensor interface simulation model, the actuator interface simulation model, and the serial port stand-alone interface simulation model), the hardware interface simulation and communication protocol simulation levels can be divided, so as to establish a communication protocol simulation library, store the communication protocol simulation sub-models of the stand-alone in the model spectrum for the simulation test platform to call, and reuse the same hardware interface simulation model and different communication protocol sub-models to obtain different simulation stand-als. In this way, when the model spectrum is expanded or changed, the hardware interface simulation does not need to be changed, and only the communication protocol simulation library needs to be expanded or changed, thereby improving the reuse rate of the hardware interface simulation model.

[0102] Furthermore, the communication interface address between the dynamic simulation component and other modules of the simulation test platform can also be configured in the configuration interface, that is, the communication interface address between the dynamic simulation component and other devices can be configured through the communication interface configuration interface provided by the simulation test platform, and can adapt to different test environments without the need for underlying development.

[0103] For example, Figure 8 is a schematic diagram of a processing process of a parameter configuration method provided in an embodiment of this specification, such as Figure 8 As shown, an initialization file is set at the application layer, which may include space environment parameters - atmosphere, solar light pressure, geomagnetism, orbital parameters - six initial orbital elements (orbital elements, or orbital elements or orbital parameters, are six parameters necessary to determine the orbit of a celestial body or spacecraft under the action of Newton's laws of motion and Newton's law of universal gravitation when it moves on its Kepler orbit), whole satellite parameters - whole satellite mass, whole satellite mechanical size / area, sailboard deployment / retraction state inertia, single machine parameters - each single machine installation matrix, reaction flywheel maximum torque, maximum angular momentum, magnetic torque device rated magnetic moment, rated current, maximum current of Taimin, SADA / QV initial angle.

[0104] The development layer is equipped with dynamic data simulation model, sensor interface simulation model, actuator interface simulation model, remote control interface simulation model, telemetry interface simulation model and serial port stand-alone interface simulation model. The initialization file is transferred to the development layer to configure each simulation model set in the development layer.

[0105] The remote control component provides a configuration interface, which is located in the application layer. The configuration interface includes a single machine quantity / model configuration area and a communication interface address configuration area. In the single machine quantity / model configuration area, you can configure single machine A model-1: Type I; 2: Type II; 3: Type III; ..., single machine B model-1: Type I; 2: Type II; 3: Type III; ..., single machine C model-1: Type I; 2: Type II; 3: Type III; .... In the communication interface address configuration area, you can configure the sensor interface address (receiving end IP and port number, sending end IP and port number), actuator interface address (receiving end IP and port number), remote control interface address (receiving end IP and port number), telemetry interface address (sending end IP and port number), CAN bridge interface address (receiving end IP and port number), server interface address (receiving end IP and port number), single machine interface address (serial port number, single machine serial number). Each communication interface address configuration is connected to the corresponding simulation model in the development layer.

[0106] Fig. 9 This is a data interaction scene diagram of a simulation test platform of a satellite GNC system provided in an embodiment of this specification, such as Fig. 9As shown, the simulation test platform is configured with: a dynamics simulator, a remote control component, a telemetry database server, and a satellite computer. A UDP communication connection is established between the remote control component and the dynamics simulator, and a UDP communication connection is also established between the telemetry database server and the dynamics simulator. The dynamics simulator and the satellite computer are communicated through a network transmission device (UDP connection) and a CAN bridge. Specifically, a UDP communication connection is established between the dynamics simulator and the network transmission device, and a UDP communication connection is established between the network transmission device and the CAN bridge. The CAN bridge and the satellite computer are communicated through a CAN bus. Furthermore, the dynamics simulator and the satellite computer can also be communicated directly through a cable network, and the satellite computer is communicated with a serial port simulation stand-alone through a cable network.

[0107] It should be noted that the dynamics simulation component, remote control component, and telemetry database server are all connected to the local area network. The devices are connected through UDP links. The onboard computer converts UDP signals to CAN bus signals through a CAN bridge to achieve connection with the dynamics simulation component. The onboard computer can also be connected to the dynamics simulation component or a real actuator through a cable network.

[0108] In addition, the data flow between the onboard computer and the dynamics simulation model or the real actuator can be switched according to the actual test requirements. The onboard computer is connected to the real actuator through a cable network. When the command data is sent to the real actuator, it can also be synchronously sent to the dynamics simulation component through the UDP link for closed-loop simulation.

[0109] In actual applications, after the actuator receives and executes the instruction, it will feedback the telemetry data of the actuator. The telemetry data of the actuator contains data on the execution status of the instruction. After the onboard computer receives the telemetry data fed back by the actuator, it will send the fed-back telemetry data to the dynamics simulator as an instruction to ensure that the instruction of the actuator in the dynamics simulator is consistent with the actual state of the actuator, thus completing the closed-loop simulation.

[0110] Fig.10 This is a data interaction scene diagram of a simulation test platform of a satellite GNC system provided in an embodiment of this specification, such as Fig.10As shown, the actuator interface simulation model includes flywheel A / B / C / D / E / F: command / return speed, torque, working mode, magnetic rod A / B / C / D / E / F: command / return current size and direction, SADAA / B: drive command / transmit drive data, QVA / B: drive command / transmit drive data, single machine: link selection. The remote control interface simulation model includes dynamic state settings: start and stop, orbit, interference torque, pull coefficient, single-machine communication fault settings: all single machines, star sensitivity A / B / C / D: quaternion, state data, fault settings, gyroscope A / B / C / D: angular velocity, state data, fault settings, magnetometer A / B / C / D: magnetic field data, state data, fault settings, Taimin: battery current, fault settings, GNSS: position / speed, fault settings, magnetic bar A / B / C / D / E / F: feedback magnetic current, magnetic moment gain, flywheel A / B / C / D / E / F: speed / torque / working mode, state data, fault settings, control source, SADA: initial angle value, rotation coefficient, data source, fault settings, QV: initial angle value, rotation coefficient, data source, electric propulsion: thrust, cylinder pressure, working mode, fault settings.

[0111] The dynamic data simulation model includes, star sensitive A / B / C / D: attitude quaternion, internal time, gyroscope A / B / C / D: three-axis angular velocity, magnetometer A / B / C / D: three-axis magnetic field strength, flywheel A / B / C / D / E / F: feedback speed, torque, working mode, Taimin A / B / C / D / E / F: battery current, magnetic bar A / B / C / D / E / F: feedback current size and direction, SADAA / B: drive data, QVA / B: drive data, GNSS: position, time, speed, satellite orbit data, satellite attitude data, control environment parameters. The sensor interface simulation model includes the telemetry package of star-sensing A / B / C / D, the telemetry package of gyro A / B / C / D, the telemetry package of magnetometer A / B / C / D, the telemetry package of Taimin, the telemetry package of GNSS, the telemetry package of flywheel A / B / C / D / E / F, the telemetry package of magnetic bar, the telemetry package of motor drive module 1 / 2, and the telemetry package of electric thrust analysis package 1 / 2. The simulation model of magnetometer 485 interface includes the telemetry package of magnetometer, the simulation model of star-sensing 422 interface includes the telemetry package of star-sensing, the simulation model of gyro 422 interface includes the gyro telemetry package, the simulation model of flywheel 422 interface includes the flywheel telemetry package, and the simulation model of telemetry interface includes dynamic telemetry data.

[0112] like Fig.10As shown, the satellite computer establishes a UDP connection with the actuator interface simulation model, sends a control instruction to the actuator interface simulation model, and the actuator interface simulation model parses the control instruction to obtain control data and transmits it to the dynamic data simulation model. The actuator interface simulation model performs simulation test according to the control data, and the obtained stand-alone data is transmitted to the telemetry interface simulation model. The remote control component establishes a UDP connection with the remote control interface simulation model, sends a remote control instruction to the remote control interface simulation model, and the remote control interface simulation model parses the remote control instruction to obtain remote control data, and transmits the remote control data to the dynamic data simulation model, the sensor interface simulation model, the star sensor 422 interface simulation model, the gyroscope 422 interface simulation model, and the flywheel 422 interface simulation model, and the remote control interface simulation model can perform simulation test according to the remote control data to obtain stand-alone state data, and transmit the stand-alone state data to the telemetry interface simulation model.

[0113] The dynamic data simulation model receives the control data output by the actuator interface simulation model and the remote control data output by the remote control interface simulation model, performs simulation testing according to the control data and the remote control data, obtains the single-machine status data, and transmits the single-machine status data to the sensor interface simulation model, the magnetometer 485 interface simulation model, the star sensor 422 interface simulation model, the gyroscope 422 interface simulation model, the flywheel 422 interface simulation model and the telemetry interface simulation model respectively.

[0114] The telemetry interface simulation model collects the single-machine data and single-machine status data, and transmits them to the telemetry database server through UDP connection. The sensor interface simulation data returns the single-machine telemetry package to the onboard computer through UDP, and the magnetometer 485 interface simulation model, star sensor 422 interface simulation model, gyroscope 422 interface simulation model, and flywheel 422 interface simulation model return the single-machine telemetry package to the onboard computer through the 422 / 485 serial port.

[0115] The simulation test platform provided by the embodiment of this specification can get rid of the test system development mode of adapting a single test system to a single satellite model, and has the advantage of platformization. It only needs to configure parameters in the stand-alone configuration interface provided by the simulation test platform to adapt to new satellite models. In addition, the stand-alone model and quantity of the simulation test platform are compatible with all satellite models. The reconstruction of the number and model of the stand-alone can be completed through a simple interface configuration, without entering the underlying model development, which greatly reduces the development difficulty of the simulation test platform and improves the development efficiency. In addition, the hardware interface simulation layer of the interface simulation model of the simulation test platform can be reused. When the simulation test platform introduces a new stand-alone model, it only needs to perform communication protocol simulation and expand the communication protocol sub-model corresponding to the new stand-alone model, which greatly reduces the redundancy and development difficulty of the dynamic model. Secondly, the simulation test platform is no longer restricted by the communication interface address of the device. The dynamic simulation model can be deployed to the simulation test platform of any communication interface address. The communication interface address can be changed in the communication interface configuration interface provided by the simulation test platform, without entering the underlying model development, simplifying the development steps of the simulation test platform. Furthermore, the number of remote control commands of the simulation test platform is greatly optimized, and it has strong compatibility and is suitable for testing different satellite models. That is, the embodiment of this specification provides a universal simulation test platform for satellite GNC system, which sets the number and model of single machines, remote control commands, algorithm models, etc. The simulation test platform can be compatible with the differences in single machine models between satellite models, thereby simplifying the development link of the simulation test platform, reducing the development difficulty of the simulation test platform, and improving the development efficiency of the simulation test platform.

[0116] Fig.11 A flowchart of a method for building a simulation test platform for a satellite GNC system provided in an embodiment of this specification is shown, which specifically includes the following steps:

[0117] Step 1102: Determine the simulated stand-alone machine model corresponding to each simulated stand-alone machine according to the satellite model, and generate a model spectrum based on the simulated stand-alone machine model.

[0118] It should be noted that the required simulation unit models for each satellite model and the quantity demanded for simulation units of each model can be counted, and the simulation unit models and quantities used by each satellite model can be listed in the model spectrum.

[0119] Step 1104: According to the model spectrum of each simulation unit, the corresponding simulation unit is configured in the dynamics simulation component, and the attribute information of each simulation unit is configured to obtain a completed simulation test platform.

[0120] The attribute information may include the model and quantity of the simulation unit, the communication interface address between the simulation test platform and other modules, etc.

[0121] In the embodiments of this specification, the number and model of the single machine of the simulation test platform can be flexibly configured in the single machine configuration interface, providing a basic and universal platform, reducing the difficulty of secondary development, so as to meet the goal of rapid development of satellite simulation test platforms with complex satellite types and short development cycles. As a universal basic development platform for simulation test of satellite GNC systems, the simulation test platform can integrate the commonalities and development requirements of different whole satellite model test systems, and simulation test of general satellite GNC systems can be developed on the basis of the simulation test platform.

[0122] It should be noted that the dynamics simulation model of the satellite GNC system can be built first. Specifically, the various simulation model parts of the dynamics simulation model shown in the previous article can be built, and the data transmission relationship of each simulation model part can be defined to form a complete dynamics simulation model. Then, the test environment of the satellite GNC system is built. The test environment consists of a dynamics simulator, a remote control component, a telemetry database server, and an onboard computer. The connection and communication relationship of each part is as follows: Fig. 9 After that, the built dynamics simulation model is deployed to the dynamics simulation component. Specifically, the dynamics model project is started in the remote control component, the basic configuration interface is opened, and the configuration of the single machine quantity, model, communication interface address and other attribute information is completed. The simulation test platform automatically builds the dynamics simulation model according to the configuration information, and then deploys it to the dynamics simulation component.

[0123] In an optional implementation of this embodiment, the dynamics simulation component includes an interface simulation model, and the attribute information includes a simulation stand-alone model; before configuring the attribute information of each simulation stand-alone, it also includes:

[0124] The interface simulation model is divided into a hardware interface simulation layer and a single-machine communication protocol simulation layer, wherein the single-machine communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each simulated single-machine model, and the hardware interface simulation layer includes a hardware interface simulation model of each simulated single-machine model.

[0125] It should be noted that the simulation test platform can be divided into an application layer and a development layer. Parameters are configured through the application layer, and various models required for simulation testing are configured through the development layer. Specifically, the simulation test platform can be divided into dynamic data simulation and interface simulation for a single machine within the model spectrum, and a single machine configuration interface is designed for single machine selection and quantity configuration, that is, the simulated single machine model is obtained through the single machine configuration interface provided by the simulation test platform. This design divides the simulation test platform into an application layer and a development layer, and the simulation test platform can be built through simple configuration operations at the application layer.

[0126] In actual applications, the interface simulation of a single machine in the model spectrum is divided into two parts: hardware interface simulation and communication protocol simulation. The important parameters of the hardware interface can be configured in the configuration interface provided by the application layer. It is compatible with all types of hardware interfaces of the single machine in the model spectrum, and there is no need to perform hardware interface simulation. A communication protocol simulation library is established to uniformly manage the communication protocol simulation of the single machine in the model spectrum, which is convenient for calling and expansion.

[0127] In an optional implementation of this embodiment, the attribute information includes a communication interface address; according to the model spectrum of each simulation stand-alone machine, a corresponding simulation stand-alone machine is configured in the dynamics simulation component, and the attribute information of each simulation stand-alone machine is configured, including:

[0128] Display the communication interface configuration interface according to the model spectrum of each simulation stand-alone machine;

[0129] Configure the communication interface address between the dynamics simulation component and other devices through the communication interface configuration interface.

[0130] It should be noted that the communication interface address between the dynamics simulation component and other devices can also be configured in the configuration interface, that is, the communication interface address between the dynamics simulation component and other devices can be configured through the communication interface configuration interface provided by the simulation test platform, and can adapt to different test environments without the need for underlying development.

[0131] This manual provides a method for building a simulation test platform for a satellite GNC system. Through the stand-alone configuration interface provided by the simulation test platform, the simulation stand-alone models corresponding to different satellite models can be configured in the dynamic simulation component, so that the dynamic simulation component can adapt to the differences in simulation stand-alone models between satellite models. The simulation stand-alone models of the simulation test platform can be flexibly configured based on the configuration interface, which reduces the difficulty of secondary development and allows rapid development of simulation test platforms with complex satellite models and short development cycles. Secondly, the simulation test platform is no longer restricted by the communication interface address of the device. The dynamic simulation model can be deployed to a simulation test platform with any communication interface address. The communication interface address can be changed in the communication interface configuration interface provided by the simulation test platform without entering the underlying model development, simplifying the development steps of the simulation test platform.

[0132] The above is a schematic scheme of a method for building a simulation test platform for a satellite GNC system of this embodiment. It should be noted that the technical scheme of the method for building a simulation test platform for the satellite GNC system and the technical scheme of the simulation test platform for the satellite GNC system described above belong to the same concept, and the details not described in detail in the technical scheme of the method for building a simulation test platform for the satellite GNC system can be found in the description of the technical scheme of the simulation test platform for the satellite GNC system described above.

[0133] Fig.12FIG. 1 shows a structural block diagram of a device for building a simulation test platform for a satellite GNC system provided in an embodiment of the present specification, such as Fig.12 As shown, the simulation test platform is equipped with a remote control component and a dynamic simulation component. The equipment includes:

[0134] The determination module 1202 is used to determine the simulation stand-alone machine model corresponding to each simulation stand-alone machine according to the satellite model, and generate a model spectrum based on the simulation stand-alone machine model;

[0135] The configuration module 1204 is used to configure the corresponding simulation machines in the dynamics simulation component according to the model spectrum of each simulation machine, and configure the attribute information of each simulation machine to obtain a completed simulation test platform.

[0136] Optionally, the dynamics simulation component includes an interface simulation model, and the attribute information includes a simulation stand-alone model; the construction device also includes a partitioning module for:

[0137] The interface simulation model is divided into a hardware interface simulation layer and a single-machine communication protocol simulation layer, wherein the single-machine communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each simulated single-machine model, and the hardware interface simulation layer includes a hardware interface simulation model of each simulated single-machine model.

[0138] Optionally, the attribute information includes a communication interface address; the configuration module 1204 is further configured to:

[0139] Display the communication interface configuration interface according to the model spectrum of each simulation stand-alone machine;

[0140] Through the communication interface configuration interface, configure the standard communication interface address between the dynamics simulation component and other devices.

[0141] This manual provides a method for building a simulation test platform for a satellite GNC system. Through the stand-alone configuration interface provided by the simulation test platform, the simulation stand-alone models corresponding to different satellite models can be configured in the dynamic simulation component, so that the dynamic simulation component can adapt to the differences in simulation stand-alone models between satellite models. The simulation stand-alone models of the simulation test platform can be flexibly configured based on the configuration interface, which reduces the difficulty of secondary development and allows rapid development of simulation test platforms with complex satellite models and short development cycles. Secondly, the simulation test platform is no longer restricted by the communication interface address of the device. The dynamic simulation model can be deployed to a simulation test platform with any communication interface address. The communication interface address can be changed in the communication interface configuration interface provided by the simulation test platform without entering the underlying model development, simplifying the development steps of the simulation test platform.

[0142] The above is a schematic scheme of a device for building a simulation test platform for a satellite GNC system of this embodiment. It should be noted that the technical scheme of the device for building a simulation test platform for the satellite GNC system and the technical scheme of the simulation test platform for the satellite GNC system described above belong to the same concept, and the details not described in detail in the technical scheme of the device for building a simulation test platform for the satellite GNC system can be found in the description of the technical scheme of the simulation test platform for the satellite GNC system described above.

[0143] Fig.13 The block diagram of a computing device according to an embodiment of the present specification is shown. The components of the computing device 1300 include but are not limited to a memory 1310 and a processor 1320. The processor 1320 is connected to the memory 1310 via a bus 1330, and the database 1350 is used to store data.

[0144] The computing device 1300 also includes an access device 1340, which enables the computing device 1300 to communicate via one or more networks 1360. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1340 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0145] In one embodiment of the present specification, the above components of the computing device 1300 and Fig.13 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.13 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0146] Computing device 1300 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or PC. Computing device 1300 may also be a mobile or stationary server.

[0147] The processor 1320 is used to execute the following computer executable instructions to implement the steps of the method for building a simulation test platform for the satellite GNC system.

[0148] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the simulation test platform of the satellite GNC system mentioned above are of the same concept, and the details not described in detail in the technical scheme of the computing device can be found in the description of the technical scheme of the simulation test platform of the satellite GNC system mentioned above.

[0149] An embodiment of the present specification also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the steps of the method for building a simulation test platform for a satellite GNC system.

[0150] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the simulation test platform of the satellite GNC system mentioned above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the simulation test platform of the satellite GNC system mentioned above.

[0151] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0152] Computer instructions include computer program codes, which may be in source code form, object code form, executable files, or some intermediate form, etc. Computer readable media may include: any entity or device capable of carrying computer program codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROM), random access memories (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0153] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that this specification is not limited by the order of the actions described, because according to this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this specification.

[0154] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A simulation test platform for a satellite GNC system, characterized in that: The simulation test platform is configured with a remote control component and a dynamics simulation component, the dynamics simulation component is configured with at least one simulation stand-alone, each simulation stand-alone simulates at least one simulation stand-alone model, and the simulation stand-alone model is configured based on the satellite model, wherein the dynamics simulation component is provided with a dynamics simulation model, the dynamics simulation model includes a dynamics data simulation model and an interface simulation model, and the interface simulation model includes a sensor interface simulation model, a serial port stand-alone interface simulation model, a remote control interface simulation model, and a telemetry interface simulation model; The remote control component is used to send a remote control instruction to the dynamics simulation component, wherein the remote control instruction carries a simulation stand-alone identifier and remote control data, and the sending of the remote control instruction to the dynamics simulation component includes: sending the remote control instruction to the remote control interface simulation model; The dynamic simulation component is used to parse the remote control instruction, obtain the simulation unit identifier and the remote control data, and transmit the remote control data to the target simulation unit indicated by the simulation unit identifier, and the target simulation unit responds to the remote control data. The parsing of the remote control instruction, obtaining the simulation unit identifier and the remote control data, and transmitting the remote control data to the target simulation unit indicated by the simulation unit identifier includes: parsing the remote control instruction through the remote control interface simulation model, obtaining the simulation unit identifier and the remote control data, and transmitting the remote control data to the target simulation unit in the dynamic data simulation model, the sensor interface simulation model, the serial port unit interface simulation model, and the telemetry interface simulation model, respectively.

2. The simulation test platform of the satellite GNC system according to claim 1, characterized in that: The dynamic data simulation model is used to simulate the single machine data and satellite data of the satellite GNC system, and the interface simulation model is used to simulate the hardware interface, communication protocol and remote control and telemetry protocol of the simulated single machine.

3. The simulation test platform of the satellite GNC system according to claim 2, characterized in that: The simulation test platform is also configured with an onboard computer, and the interface simulation model also includes an actuator interface simulation model; The actuator interface simulation model is used to receive control instructions sent by the onboard computer, parse the control instructions to obtain control data, and send the control data to the dynamic data simulation model.

4. The simulation test platform of the satellite GNC system according to claim 3, characterized in that: The simulation test platform is also configured with a telemetry database server, which establishes a communication connection with the telemetry interface simulation model; the telemetry interface simulation model is used to: Receiving telemetry data output by the dynamics data simulation model, the actuator interface simulation model, and the remote control interface simulation model; The telemetry data is packaged into a set format and transmitted to the telemetry database server, wherein the telemetry database server is used to receive, parse and store the telemetry data from the dynamics simulation component.

5. The simulation test platform of the satellite GNC system according to claim 3, characterized in that: The dynamic data simulation model is further used to: receive the control data, perform simulation according to the control data, and output the stand-alone simulation data generated by the simulation to the sensor interface simulation model and the serial port stand-alone interface simulation model respectively.

6. The simulation test platform of the satellite GNC system according to claim 5, characterized in that: The remote control interface simulation model is further used to control the target simulation stand-alone operation according to the remote control data, and output stand-alone state data to the sensor interface simulation model and the stand-alone interface simulation model respectively; The sensor interface simulation model is used to receive the single-machine simulation data transmitted by the dynamics data simulation model and the single-machine status data output by the remote control interface simulation model; Assembling the single-machine simulation data and the single-machine state data to obtain a first single-machine telemetry data packet, and sending the first single-machine telemetry data packet to the onboard computer; The serial port stand-alone interface simulation model is used to receive the stand-alone simulation data transmitted by the dynamics data simulation model and the stand-alone status data output by the remote control interface simulation model; The single-machine simulation data and the single-machine state data are assembled to obtain a second single-machine telemetry data packet, and the second single-machine telemetry data packet is sent to the onboard computer.

7. The simulation test platform of the satellite GNC system according to any one of claims 1 to 6, characterized in that: The interface simulation model includes a hardware interface simulation layer and a stand-alone communication protocol simulation layer, wherein the stand-alone communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each stand-alone model, and the hardware interface simulation layer includes a hardware interface simulation model of each stand-alone model; The target simulation stand-alone machine includes a target communication protocol simulation sub-model and the hardware interface simulation model, and the target communication protocol simulation sub-model corresponds to the model of the target simulation stand-alone machine.

8. The simulation test platform of the satellite GNC system according to any one of claims 1 to 6, characterized in that: The simulation stand-alone model is obtained through the stand-alone configuration interface provided by the simulation test platform; the communication interface address between the dynamic simulation component and other devices is configured through the communication interface configuration interface provided by the simulation test platform.

9. A method for building a simulation test platform for a satellite GNC system, characterized in that: The simulation test platform is configured with a remote control component and a dynamics simulation component, the dynamics simulation component includes a dynamics data simulation model and an interface simulation model, wherein the interface simulation model includes a sensor interface simulation model, a serial port stand-alone interface simulation model, a remote control interface simulation model and a telemetry interface simulation model, and the method includes: According to the satellite model, determine the simulation stand-alone machine model corresponding to each simulation stand-alone machine, and generate a model spectrum based on the simulation stand-alone machine model; According to the model spectrum of each simulation stand-alone machine, the corresponding simulation stand-alone machine is configured in the dynamics simulation component, and the attribute information of each simulation stand-alone machine is configured to obtain a completed simulation test platform.

10. The method for building a simulation test platform for a satellite GNC system according to claim 9, characterized in that: The dynamics simulation component includes an interface simulation model, and the attribute information includes a simulation stand-alone model; before configuring the attribute information of each simulation stand-alone, the method further includes: The interface simulation model is divided into a hardware interface simulation layer and a stand-alone communication protocol simulation layer, wherein the stand-alone communication protocol simulation layer includes a communication protocol simulation sub-model corresponding to each simulated stand-alone model, and the hardware interface simulation layer includes a hardware interface simulation model of each simulated stand-alone model.

11. The method for constructing a simulation test platform for a satellite GNC system according to claim 9 or 10, characterized in that: The attribute information includes a communication interface address; the corresponding simulation stand-alone is configured in the dynamics simulation component according to the model spectrum of each simulation stand-alone, and the attribute information of each simulation stand-alone is configured, including: According to the model spectrum of each simulation stand-alone machine, display the communication interface configuration interface; The communication interface address between the dynamics simulation component and other devices is configured through the communication interface configuration interface.

Images