Man-machine cooperation satellite control platform and control method

Abstract

The present application relates to B64G1 / 24, and particularly to a man-machine cooperation satellite control platform and a control method. The platform comprises an aerial remote sensing unit and a ground control unit. The platform enables a satellite remote control personnel to monitor satellite task execution in real time, greatly accelerates the satellite task response rate, and improves the satellite on-orbit observation capability.

Description

Technical Field

[0001] This invention relates to B64G1 / 24, and more specifically to a human-machine collaborative satellite control platform and control method. Background Technology

[0002] With the development of satellite technology in my country, remote sensing satellites have been widely used due to their advantages such as easy image acquisition, especially targeted remote sensing microsatellites have developed rapidly.

[0003] Patent CN201410283960.3 describes a dual-loop satellite attitude tracking control device and method that combines high-precision steady-state control and high-precision attitude tracking control by setting up an inner loop and an outer loop to form an attitude control closed loop.

[0004] Patent CN201510683409.2 describes a human-in-the-loop satellite control system and its control method, which achieves flexible control of the satellite and continuous tracking and monitoring of important targets by the user through the cooperation of satellite camera device, ground receiving / transmitting device, computer device and control device.

[0005] However, existing satellite control systems place a heavy burden on remote control personnel, have poor response capabilities, and low on-orbit observation efficiency, thus failing to fully leverage the advantages of satellites. Summary of the Invention

[0006] To address the aforementioned technical problems, the first aspect of this invention provides a human-machine collaborative satellite control platform, comprising an airborne remote sensing unit and a ground control unit.

[0007] The aerial remote sensing unit is mainly used to realize real-time monitoring of targets and control satellite attitude, thereby improving the efficiency of satellite observation.

[0008] Preferably, the aerial remote sensing unit includes a monitoring module and an attitude control module.

[0009] The monitoring module is mainly used to acquire video of the target object, perform imaging processing on the video, and extract the movement trajectory of the target object, thereby achieving real-time monitoring of the target object.

[0010] Preferably, the monitoring module includes a video camera module, an image processing module, and a target extraction module.

[0011] The video camera module is mainly used to acquire video of the target object, so as to realize real-time monitoring of the target object.

[0012] The imaging processing module is mainly used to perform noise reduction processing on the video acquired by the video camera module, convert the video into a video sequence, and decompose it into video sequences of different frequency bands. By extracting and amplifying the weak video signal, the amplified weak video signal is superimposed on the original video signal, thereby improving the visualization of the weak video signal, obtaining a clearer, more accurate, and effective image, and improving monitoring efficiency.

[0013] The target extraction module is mainly used to detect moving targets in the video in real time and identify the moving targets to form the target's motion trajectory.

[0014] The attitude control module is mainly used to adjust the satellite's attitude, maintain the satellite's attitude stability, and realize the satellite's orbit change, orbit maintenance, attitude control, repositioning, and deorbiting.

[0015] Preferably, the attitude control module includes a velocity feedback loop and a position feedback loop.

[0016] The velocity feedback loop mainly integrates the angular velocity increment of the attitude measurement module, and uses the sum of the integral of the angular velocity increment and the integral of the angular velocity command from the position feedback loop as the velocity loop command for feedback control.

[0017] Preferably, the velocity feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module.

[0018] The delay control module is mainly used to achieve time synchronization. When the airborne remote sensing unit and the ground control unit transmit information, the information transmitted through the satellite channel is different from that transmitted through other channels. The delay control module can achieve delay compensation for receiving satellite signals and receiving ground reference signals.

[0019] The attitude measurement module is mainly used to measure various data for satellite attitude control. Preferably, the attitude measurement module includes a single-axis fiber optic gyroscope sensor.

[0020] The filtering module is mainly used to reduce the error caused by noise in the attitude measurement module, and to prevent the satellite installation matrix from changing when the motion is too small, so that the constructed measurement model will introduce unknown coordinate transformations and errors.

[0021] The torque control module is mainly used to convert the output torque into a magnetic torque control quantity and generate control commands to drive the magnetic torque to control the satellite's three-axis angular rate.

[0022] The momentum control module is mainly used in conjunction with the torque control module to achieve attitude control in the four main stages after satellite-launch separation: despinning, solar capture, solar orientation, and Earth remote sensing, as well as attitude maneuver control between the solar orientation and Earth remote sensing stages. The momentum control module includes a momentum wheel assembly.

[0023] The position feedback loop is mainly used to feed back the angular velocity command of the position loop based on the angular momentum information of the attitude measurement module.

[0024] Preferably, the position feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module.

[0025] The delay control module is mainly used to achieve time synchronization. When the airborne remote sensing unit and the ground control unit transmit information, the information transmitted through the satellite channel is different from that transmitted through other channels. The delay control module can achieve delay compensation for receiving satellite signals and receiving ground reference signals.

[0026] The attitude measurement module measures various data for satellite attitude control. Preferably, the attitude measurement module includes a star sensor and an analog sun sensor.

[0027] The filtering module reduces the error caused by noise from the attitude measurement module and avoids changes in the satellite installation matrix due to small movements, which introduces unknown coordinate transformations into the constructed measurement model and causes errors.

[0028] The torque control module is mainly used to convert the output torque into a magnetic torque control quantity and generate control commands to drive the magnetic torque to control the satellite's three-axis angular rate.

[0029] The momentum control module is mainly used in conjunction with the torque control module to achieve attitude control in the four main stages after satellite-launch separation: despinning, solar capture, solar orientation, and Earth remote sensing, as well as attitude maneuver control between the solar orientation and Earth remote sensing stages. The momentum control module includes a momentum wheel assembly.

[0030] The ground control unit is mainly used to control the aerial remote sensing unit. Preferably, the ground control unit includes a transmission module, a control module, and a measurement and control module.

[0031] The transmission module is mainly used to receive the transmission data from the aerial remote sensing unit.

[0032] The control module is mainly used by satellite remote control personnel to set tasks, analyze data transmitted by the airborne remote sensing unit, issue commands to control the satellite, analyze the satellite's status, prevent malfunctions, and extend the satellite's service life.

[0033] Preferably, the control module includes a tracking module, a fault diagnosis module, an analysis module, and a task setting module.

[0034] The tracking module is mainly used to determine whether to continue monitoring after the analysis module discovers and tracks the target. If so, it automatically generates a target tracking task, including the target's image, movement trajectory, relevant responsible persons, and the storage location of the target's subsequent information; otherwise, it stops monitoring and adjusts the task.

[0035] The fault diagnosis module is mainly used to analyze faults in the airborne satellite remote sensing unit, promptly detect satellite faults, adjust the satellite's operating mode, and prevent mission failure due to satellite faults. Preferably, the fault diagnosis module includes a system reconfiguration control mode.

[0036] The analysis module is mainly used to analyze and process the data transmitted back from the aerial remote sensing unit and the telemetry and control unit, extract relevant information, discover and track targets, and set tracking targets.

[0037] The task setting module is mainly used by satellite remote control personnel to set search tasks, search areas, and execution times. The airborne remote sensing unit can automatically perform monitoring according to the preset tasks, reducing the burden on satellite remote control personnel and improving detection efficiency.

[0038] The telemetry and control module is mainly used to monitor the satellite's operating status and transmit the task instructions input by the control module to the airborne remote sensing unit, enabling satellite operators to control the satellite.

[0039] Preferably, the telemetry and control module includes an instruction module, a satellite monitoring module, and an orbit prediction module.

[0040] The instruction module is mainly used to realize instruction transmission between the control module and the airborne remote sensing unit.

[0041] The satellite monitoring module is mainly used to monitor the satellite's motion status, control the satellite's attitude in a timely manner, avoid monitoring errors caused by the satellite's mounting matrix deflection during the satellite's motion, and unknown coordinate transformations, thereby improving the accuracy of monitoring.

[0042] The orbit prediction module is mainly used to predict the orbital trajectory in advance, avoid the influence of on-orbit environment such as jitter and vibration, realize satellite orbit prediction, and facilitate satellite remote control personnel to issue instructions in a timely manner and adjust the mission progress.

[0043] The second aspect of the present invention provides a control method for a human-machine collaborative satellite control platform, comprising the following steps: a satellite remote control operator sets a task and transmits the task command to an airborne sensing unit and monitors the satellite's operation; the airborne sensing unit continuously searches for a target by controlling and adjusting the satellite's attitude; after the target is found, the relevant information is transmitted to a ground control unit; the ground control unit analyzes and processes the data and determines whether to continue monitoring; if so, it generates a subsequent tracking task; otherwise, it stops and readjusts the task.

[0044] Beneficial effects:

[0045] 1) This invention achieves human-machine collaboration by setting up an airborne remote sensing unit, transmission module, control module, and telemetry and control module to work together. This allows satellite remote control personnel to monitor the satellite mission execution status in real time, significantly accelerating the satellite's mission response rate and improving its on-orbit observation capabilities.

[0046] 2) This invention achieves satellite attitude control by setting up velocity feedback loops and position feedback loops, thereby achieving high-precision steady-state control and high-precision attitude tracking control of the satellite. This avoids changes in the satellite mounting matrix when the motion is too small, preventing the construction of the measurement model from introducing unknown coordinate transformations and causing errors.

[0047] 3) By setting up a control module, a tracking module, an analysis module, a task setting module, and an airborne remote sensing unit, this invention achieves a "human-in-the-loop" system working mode. Satellite remote control personnel can quickly judge and select targets by setting, analyzing, and adjusting target tasks, reducing the randomness of satellite searches and improving tracking and monitoring efficiency.

[0048] 4) This invention achieves real-time monitoring of satellite operation through the cooperation of fault diagnosis module, analysis module and telemetry and control module, timely handling of satellite faults, and adjustment of satellite working mode through system reconfiguration control mode. It can give full play to the mutual substitution characteristics between different component units, improve the system's responsiveness under abnormal or fault conditions, and ensure that tracking and monitoring tasks can be carried out in a timely manner even if some satellite components fail. Attached image description:

[0049] Figure 1 A schematic diagram of the human-machine collaborative satellite control platform of this invention;

[0050] Figure 2 A schematic diagram of the control method of the human-machine cooperative satellite control platform of the present invention. Detailed Implementation

[0051] Example

[0052] A human-machine collaborative satellite control platform includes an airborne remote sensing unit and a ground control unit.

[0053] The aerial remote sensing unit includes a monitoring module and an attitude control module.

[0054] The monitoring module includes a video camera module, an image processing module, and a target extraction module.

[0055] The attitude control module includes a velocity feedback loop and a position feedback loop.

[0056] The velocity feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module.

[0057] The position feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module.

[0058] The ground control unit includes a transmission module, a control module, and a measurement and control module.

[0059] The control module includes a tracking module, a fault diagnosis module, an analysis module, and a task setting module.

[0060] The fault diagnosis module includes a system reconfiguration control mode.

[0061] The telemetry and control module includes an instruction module, a satellite monitoring module, and an orbit prediction module.

[0062] A control method for a human-machine collaborative satellite control platform includes the following steps: a satellite remote control operator sets a task and transmits the task instructions to an airborne sensing unit to monitor the satellite's operation; the airborne sensing unit continuously searches for targets by controlling and adjusting the satellite's attitude; after a target is found, the relevant information is transmitted to a ground control unit; the ground control unit analyzes and processes the information to determine whether to continue monitoring; if so, it generates a subsequent tracking task; otherwise, it stops and readjusts the task.

Claims

1. A human-machine collaborative satellite control platform, characterized in that, Includes aerial remote sensing units and ground control units; The aerial remote sensing unit includes a monitoring module and an attitude control module; The monitoring module includes a video camera module, an image processing module, and a target extraction module; The target extraction module is used to detect moving targets in the video in real time and identify the moving targets to form the target's motion trajectory; The attitude control module includes a velocity feedback loop and a position feedback loop; The velocity feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module. The position feedback loop includes a delay control module, an attitude measurement module, a filtering module, a torque control module, and a momentum control module. The ground control unit includes a transmission module, a control module, and a measurement and control module; The control module includes a tracking module, a fault diagnosis module, an analysis module, and a task setting module; The fault diagnosis module includes a system reconfiguration control mode; The task setting module is used by satellite remote controllers to set search tasks, search areas, and execution times.

2. The human-machine collaborative satellite control platform according to claim 1, characterized in that, The telemetry and control module includes an instruction module, a satellite monitoring module, and an orbit prediction module.

3. A control method for a human-machine collaborative satellite control platform according to any one of claims 1-2, characterized in that, Includes the following steps: The satellite remote controller sets the mission and transmits the mission instructions to the airborne sensor unit to monitor the satellite's operation. The airborne sensor unit continuously searches for the target by controlling and adjusting the satellite's attitude. Once the target is found, the relevant information is transmitted to the ground control unit. After analysis and processing, the ground control unit determines whether to continue monitoring. If so, it generates a subsequent tracking mission; otherwise, it stops and readjusts the mission.

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