A small portable human-controlled rendezvous and docking on-orbit training system

Abstract

A small portable human-controlled rendezvous and docking on-orbit training system comprises an attitude control handle, a translation control handle, a handle mounting bracket, a computer, a handle acquisition box and a rendezvous and docking on-orbit training software module. The attitude control handle and the translation control handle are real products and are fixed through the handle mounting bracket. The handle acquisition box provides power supply for the attitude control handle and the translation control handle, acquires output voltages of the two handles and outputs the voltages to the computer. The rendezvous and docking on-orbit training software module is stored in the computer and is used to complete training scene configuration, training process control, handle instruction sending, remote operation camera image simulation, instrument parameter display, dynamics simulation, attitude orbit simulation, data transmission and exchange, training process data video recording and video playback.

Description

TECHNICAL FIELD

[0001] The present application relates to a small portable manned rendezvous and docking on-orbit training system, which is suitable for spacecraft model tasks with manned rendezvous and docking function, supports astronauts for long-term on-orbit training, and can also be used for rapid training and simulation verification on the ground. BACKGROUND

[0002] Astronauts can have reliable and stable operation ability of manned rendezvous and docking and withdrawal through ground training, but with the increase of astronauts' on-orbit flight time, their forgetting effect is inevitable, and astronauts need to be trained on-orbit in time. The traditional rendezvous and docking training system generally belongs to a large training system, which is fixed in place and limited to a specific environment for rendezvous and docking training, and needs to be equipped with corresponding hardware products to form a semi-physical test platform, which only has rendezvous and docking training for astronauts at fixed ground locations. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the difficulties of uplink cargo weight constraint, on-orbit deployment environment constraint, limited operation space, weightless environment operation, and to solve the on-orbit training problem of manned rendezvous and docking by applying the known limited conditions of on-orbit space station cabin environment.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A small portable manned rendezvous and docking on-orbit training system, comprising an attitude control handle, a translation control handle, a handle mounting bracket, a computer, a handle acquisition box and a rendezvous and docking on-orbit training software module.

[0006] The attitude control handle and the translation control handle are real products and are fixed through the handle mounting bracket.

[0007] The handle acquisition box provides power supply for the attitude control handle and the translation control handle, and acquires the output voltage of the two handles and outputs to the computer.

[0008] The rendezvous and docking on-orbit training software module is stored in the computer, and is used to complete training scene configuration, training process control, handle instruction sending, remote operation camera image simulation, instrument parameter display, dynamics simulation, attitude orbit simulation, data transmission and exchange, training process data video recording and video playback.

[0009] Preferably, the handle mounting bracket comprises a handle bracket and a rotation stopping plate; the handle bracket is in the shape of an integral sheet, the exposed edges are rounded, the upper end is provided with a mounting screw for fixing the handle, and the lower end is provided with an exposed screw and a wing nut for mounting to the workbench surface; the bottom of the handle bracket is provided with a boss and a rivet screw, and the top is reserved with a handle mounting screw hole; the rotation stopping plate is reserved with a groove and cooperates with the handle bracket; the rotation stopping plate is in the shape of an integral cuboid, and the exposed edges are rounded.

[0010] Preferably, the on-orbit training system allows the trainee to set the initial conditions of the on-orbit training by himself, and can randomly set within the normal initial condition range; the initial conditions generally include initial relative position, relative velocity, and relative attitude.

[0011] Preferably, in order to adapt to the initial condition setting for convenient training, the set initial conditions are analyzed and converted to input conditions that can be directly processed by the dynamics model and the control model.

[0012] Preferably, the on-orbit rendezvous and docking training software module includes a user registration and login module, a training scene configuration module, a training process control module, a handle instruction acquisition module, a dynamics module, an instrument display module, and a data recording and playback module.

[0013] The user registration and login module is used to distinguish the training records of different trainees, so that they can create training tasks, train special subjects, manage their own training data, playback their own training data, and modify passwords.

[0014] The training scene configuration module is used to create a training scene.

[0015] The training process control module is used to control the running state, pause state, and stop state of the current training task.

[0016] The handle instruction acquisition module is used to transmit the handle voltage signal feedback by the handle acquisition box to the dynamics module.

[0017] The dynamics module is used for controller simulation and dynamics simulation, and is used to truly respond to the response of the tracker to the handle, the control strategy of the tracker attitude and orbit control subsystem, and the kinematics and dynamics model of the real spacecraft.

[0018] The instrument display module is used for hand control instruction sending management, attitude vector diagram display, and remote operation camera image display.

[0019] The data recording and playback module is used to manage training data, which can be exported for playback, and the training software can also directly perform playback.

[0020] Preferably, the training scene configuration module sets different initial conditions according to the difficulty level, including relative position, relative velocity, relative attitude, delay time, and lighting conditions, which can be selected and added according to the training purpose.

[0021] Preferably, in order to adapt to the initial condition setting for convenient training, the on-orbit rendezvous and docking training software module can analyze and convert the initial condition settings of the trainee to input conditions that can be directly processed by the dynamics model and the control model; including:

[0022] According to the relative attitude, a relative attitude conversion matrix of the tracker body relative to the target body is calculated;

[0023] According to the target orbit six elements and the target orbit system attitude, an inertial system attitude and an attitude matrix of the target are calculated;

[0024] The target orbit elements are converted into an inertial system position and velocity;

[0025] According to the relative attitude, the inertial system attitude of the target and the attitude matrix, the inertial system attitude of the tracker is obtained;

[0026] According to the relative attitude, the relative distance and the relative velocity in the docking port system, the relative distance and the relative velocity in the inertial system are solved;

[0027] According to the target inertial position, the relative distance and the relative velocity in the inertial system, the inertial system position and velocity of the tracker are solved;

[0028] According to the inertial system position and velocity of the tracker, the orbit six elements of the tracker are solved;

[0029] According to the inertial system attitude matrix of the tracker, the orbit system attitude of the tracker is solved.

[0030] Preferably, in the training scene configuration module, a preset typical target configuration is combined according to the target configuration rule, that is, the rear, radial, four-quadrant and two-quadrant docking ports are combined in different configurations for the trainees to select; the trainees also set the spacecraft for each docking port of the target according to the predetermined rule.

[0031] Preferably, in the training scene configuration module, according to the set target configuration, the dynamics module calls the corresponding target model and outputs it to the teleoperation camera simulator to configure the teleoperation camera image to match the current training working condition.

[0032] Preferably, the rendezvous and docking on-orbit training software module sets a fault handling training subject, so that the fault can be specified and randomly put into the function to detect the ability to master the fault mode and handling strategy.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] (1) In order to meet the on-orbit training support needs of the rendezvous and docking astronauts, the present application extracts the key elements in the human-controlled rendezvous and docking system and integrates them in the control loop to form a minimum system that can be used for human-controlled rendezvous and docking verification and training. The astronaut's control of the attitude handle and the translation handle in the human-controlled rendezvous and docking task is realized intuitively and truly, and the hand control instruction sending interface, the visual image, the graphic display and the parameter information are simulated according to the real technical state.

[0035] (2) The system hardware architecture of the present application is refined, the software configuration is flexible, various requirements such as the starting point of astronaut training, different difficulty levels are met, the flexibility and simplicity of the on-orbit training system are fully improved, and the integrity of the system and the authenticity of the training are maximized.

[0036] (3) The present application system carries out multiple on-orbit training tests, and the reaction is good; for other manned rendezvous and docking type tasks, the training system can also be used for on-orbit training of manned rendezvous and docking.

[0037] (4) The present application system is small, portable and easy to install, fully considering the characteristics of uplink cargo weight constraints, on-orbit deployment environment constraints, limited operation space, weightless environment operation, etc., facilitating the convenient installation and disassembly of astronauts, and can cope with on-orbit dynamic adjustment of training plans, and is flexible and practical.

[0038] (5) The training effect of the present application system is complete and real, integrating the three display screens of the astronaut space station cabin on-orbit interpretation into one interface, which can maximize a single page according to the training needs, fully improving the flexibility and simplicity of the on-orbit training system, while also ensuring the integrity of the interpretation of the participants and the authenticity of the training effect.

[0039] (6) The software of the present application system supports flexible expansion and upgrading, can expand multiple aircraft dynamics models, and increase the flexibility and comprehensiveness of target and tracker configuration, fully improving the expandability of the system. At the same time, the software has on-orbit maintenance and upgrading capability, supports quick upgrade of installation package, and is convenient to operate.

[0040] (7) The present application system has high fusion degree, can be connected with the cabin information system, can facilitate uplink and downlink, and is convenient for data transmission to the ground for operation evaluation and data recording; the present application system can be connected with the star system, and can be directly connected with the real handle equipped on the star, which can be used for verifying the effectiveness of the handle, and the handle of the present application system and the handle on the star can be used as backup for each other.

[0041] (8) The present application system has wide application occasions, in addition to being able to effectively support on-orbit training, considering its small and portable characteristics, it can be deployed on the ground flight control, ground verification and other occasions in time for simulation training or testing. At the same time, it can be popularized and extended to other tasks with manned rendezvous and docking functions. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a schematic diagram of the composition principle of the present application system.

[0043] Figure 2 It is a software module composition diagram of the manned rendezvous and docking on-orbit training system.

[0044] Figure 3 is a workbench.

[0045] Figure 4 is a stop plate.

[0046] Figure 5 is a handle support.

[0047] Figure 6 is a handle installation schematic diagram.

[0048] Figure 7 is a docking result data output display diagram.

[0049] Figure 8 is a system composition diagram. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0051] The present application analyzes the characteristics and functional requirements of the manned control rendezvous and docking system, extracts the key elements in the manned control rendezvous and docking system from the human-computer interaction function, and integrates them in the control loop to form a minimum system that can be used for manned control rendezvous and docking verification and training. The rendezvous and docking on-orbit training system is designed, which includes an attitude control handle, a translation control handle, a handle mounting support, a notebook computer, a handle acquisition box and a rendezvous and docking on-orbit training software, as shown in Figure 8 .

[0052] The on-orbit training system software runs in the notebook computer to complete the training scene configuration, training process control, handle instruction sending, remote operation camera image simulation, instrument parameter display, dynamics simulation, attitude orbit simulation, data transmission and exchange, training process data video recording and video playback and other functions. The on-orbit training system software controls the handle acquisition card through the notebook computer USB interface to realize data acquisition of the attitude control handle and the translation control handle; the notebook computer USB interface outputs power to the handle acquisition box to power the attitude control handle and the translation control handle.

[0053] The manned control rendezvous and docking on-orbit training system software mainly includes a user registration login module, a training scene configuration module, a training process control module, a handle instruction acquisition module, a dynamics simulation, an instrument display module, a data recording and playback module and other functions.

[0054] The software is based on the purpose of manned control rendezvous and docking training, and the interactive interface, internal operation model and the like of the software are designed to be as close to the real manned control rendezvous and docking state as possible, so as to develop each module and function of the software.

[0055] The handle instruction acquisition module and the dynamics module are background running modules. This part is programmed and verified according to the response of the tracker to the handle, the control strategy of the tracker attitude and orbit control subsystem, and the attitude and orbit dynamics.

[0056] The user interface part, in which the instruction sending management of the instrument display module, the attitude vector diagram display and the visual display are designed and developed according to the requirements of the human-controlled rendezvous and docking interactive interface and the real human-controlled rendezvous and docking interactive interface, and the real scene is restored as much as possible.

[0057] The software training scene configuration needs to have the following two points: convenient use and editing of each training input item. The training scene configuration module is designed with these two points as the target.

[0058] The software manages the training data by distinguishing astronauts. The training data can be exported for playback.

[0059] Embodiment:

[0060] As shown in Figure 1 The small portable human-controlled rendezvous and docking on-orbit training system provided by the application comprises an attitude control handle, a translation control handle, a handle mounting bracket, a notebook computer, a handle acquisition box and a rendezvous and docking on-orbit training software.

[0061] In this paper, the characteristics and functional requirements of the human-controlled rendezvous and docking system are analyzed. Starting from the human-computer interaction function, the key elements in the human-controlled rendezvous and docking system are extracted and integrated in the control loop to form a minimum system that can be used for human-controlled rendezvous and docking verification and training. The rendezvous and docking on-orbit training system is designed.

[0062] The hardware system comprises an attitude control handle, a translation control handle, a handle mounting bracket, a notebook computer and a handle acquisition box.

[0063] 1) The attitude control handle and the translation control handle are real products. As shown in Figure 6 They are fixed through the handle mounting bracket. The handle acquisition box provides a power supply voltage, and at the same time, the output voltage of the handle is collected by the handle acquisition box. The handle has the same interface as the real product and can be used as a backup piece of the real product when necessary and replaced with the real product.

[0064] 2) The handle mounting bracket is used to fix the attitude control handle and the translation control handle.

[0065] The on-orbit training system needs to reduce weight and volume as much as possible and can adapt to the workbench already possessed by the space station in the on-orbit cabin. At the same time, it needs to meet the astronaut efficiency design.

[0066] Only two mounting through holes are provided on the workbench, as shown inFigure 3 In this case, the application provides a handle mounting bracket suitable for this kind of workbench surface, and the bracket is designed to be lightweight.

[0067] Specific design: In order to reduce the size of the bracket device, the bracket device is divided into a "handle bracket" ( Figure 4 ) and a "rotation stop plate" ( Figure 5 ). The handle bracket is in the shape of a whole sheet, with rounded exposed edges. The upper end is designed with mounting screws for fixing the handle, and the lower end is designed with exposed screws and wing nuts for mounting to the workbench surface. The bottom of the bracket is designed with a boss and a rivet, and the top is reserved with a handle mounting screw hole. The rotation stop plate is reserved with a groove for cooperation with the handle bracket. The rotation stop plate is in the shape of a whole cuboid, with rounded exposed edges. In a weightless environment, in order to avoid the scattering of multiple screws and make it more convenient for astronauts to operate with one hand, the screws are installed in the opposite direction. When installing the handle, one screw can be removed each time, and after installation in the positive direction, the other screws are removed, effectively avoiding the scattering of parts.

[0068] Installation method:

[0069] Hang the hook of the rotation stop plate to the inner side of the workbench surface, and align the mounting hole with the through hole of the workbench surface;

[0070] Remove the wing nut on the handle bracket, and install the boss at the bottom of the handle bracket into the groove of the rotation stop plate,

[0071] and pass through the through holes of the rotation stop plate and the workbench surface;

[0072] Use the wing nut from below the workbench surface to fix the handle bracket to the workbench surface, and tighten the wing nut to fix the handle bracket and the rotation stop plate;

[0073] Remove the two fixing screws on the handle bracket in turn;

[0074] Install the handle to the handle bracket through the two fixing screws.

[0075] 3) The handle collection box outputs power through the USB interface of the notebook computer, supplies power to the attitude control handle and the translation control handle, and at the same time, the handle collection box collects the output voltage of the handle and inputs it to the human-controlled rendezvous and docking on-orbit training system software through the USB interface of the notebook computer;

[0076] 4) The notebook computer is used to run the on-orbit training system software, and connects the handle collection box through two USB interfaces. The first USB interface is used to provide output power to the handle collection box, and the other USB interface is used to receive the voltage feedback of the handle collection box.

[0077] The in-orbit training system software runs in the notebook computer to complete functions such as training scene configuration, training process control, handle instruction sending, remote operation camera image simulation, instrument parameter display, dynamics simulation, attitude orbit simulation, data transmission and exchange, training process data video recording and video playback. The in-orbit training system software controls the handle acquisition card through the notebook computer USB interface to realize data acquisition of the attitude control handle and the translation control handle; the notebook computer USB interface outputs power to the handle acquisition box to power the attitude control handle and the translation control handle.

[0078] As shown in Figure 2 The human-controlled rendezvous and docking in-orbit training system software is based on the purpose of human-controlled rendezvous and docking training, and the interactive interface and internal operation model thereof are developed with the goal of being as close as possible to the real human-controlled rendezvous and docking state. The software modules and functions mainly include user registration and login module, training scene configuration module, training process control module, handle instruction acquisition module, dynamics module, instrument display module, data recording and playback module and the like.

[0079] 1) User registration and login module: mainly used to distinguish the training records of different astronauts, for training personnel to create training tasks, training special subjects, manage their own training data, playback their own training data, modify passwords and the like;

[0080] 2) Training scene configuration module: mainly used to create training scenes, for example, two training subjects, "remote operation docking training special subject" and "remote operation separation training special subject", different initial conditions can be set according to the difficulty level, including different options such as relative position, relative velocity, relative attitude, delay time, lighting conditions, which can be selected and added according to the training purpose.

[0081] The remote operation rendezvous and docking training generally starts from within 200 meters of the parking point, supports astronauts to set the initial conditions of in-orbit training by themselves, and can be randomly set within the normal initial condition range. The initial conditions generally include target vehicle initial position and velocity, initial relative position, relative velocity, relative attitude and the like, which can facilitate the understanding and evaluation of the trainees and instructors. However, there is a lack of direct input conditions for the tracker dynamics model. Therefore, in order to adapt to the setting of the initial conditions of the training, these conditions need to be analyzed and converted into input conditions that can be directly processed by the tracker dynamics model and control model.

[0082] Initial conditions: target vehicle orbit six elements; relative distance (dx, dy, dz) of docking interface; relative velocity (vx, vy, vz) of docking interface; target vehicle orbit attitude; relative attitude of tracker and target vehicle;

[0083] 1. According to the target spacecraft's orbit system attitude, the relative attitude between the chaser and the target spacecraft, the relative attitude transformation matrix of the chaser body relative to the target body is calculated.

[0084] 2. According to the target spacecraft's orbit six elements and the target spacecraft's orbit system attitude, the target spacecraft's inertial system attitude and attitude matrix are calculated, including Cbi, Cbo, Coi, etc.

[0085] 3. The target spacecraft's orbit elements are converted into inertial system position and velocity (xT, yT, zT), (vxT, vyT, vzT).

[0086] 4. According to the relative attitude, the target spacecraft's inertial system attitude and attitude matrix, the chaser's inertial system attitude is obtained.

[0087] 5. According to the relative attitude, the docking interface system relative distance (dx, dy, dz), and the docking interface system relative velocity (vx, vy, vz), the relative distance and relative velocity in the inertial system are solved.

[0088] 6. According to the target spacecraft's inertial position, the relative distance and relative velocity in the inertial system, the chaser's inertial system position and velocity are solved.

[0089] 7. According to the chaser's inertial system position and velocity, the chaser's orbit six elements are solved.

[0090] 8. According to the chaser's inertial system attitude matrix, the chaser's orbit system attitude is solved.

[0091] Accordingly, from the target spacecraft information and the relative information, the input conditions of the chaser's dynamic model are converted, and the simulation calculation conditions are provided.

[0092] Compared with the previous rendezvous and docking simulation system which only has a single type of chaser for docking, the present system supports docking functions of multiple chasers, including but not limited to cargo spacecraft, Shenzhou spacecraft, space station test cabin, optical cabin, and other spacecraft with active docking functions. Before the training begins, different spacecraft can be selected, and the software can automatically switch and call the corresponding spacecraft's dynamic module and control algorithm software to simulate the dynamic model characteristics of different spacecraft, so that the trainees can familiarize themselves with the operation process while mastering the operation characteristics of various chasers. At the same time, the system supports on-orbit upgrading, and for subsequent chaser models that may be supplemented, incremental upgrading can be performed without changing the original system framework.

[0093] In the initialization setting, the configuration of the target spacecraft is no longer single, and the present system supports customization of the target spacecraft configuration. The benefits of this are:

[0094] When simulating different target configurations, the remote camera output images are different, and the trainees need to train their observation and adaptation abilities for different target configurations.

[0095] When simulating different target configurations, the attitude disturbance caused by the plume of the thruster engine to the target is different, and the trainees need to train their control and adaptation abilities for different target configurations.

[0096] Specifically,

[0097] 1. Set the target configuration:

[0098] Two setting methods:

[0099] 1) Software pre-set typical target configuration, that is, the back, radial, four-quadrant, and two-quadrant docking interfaces are configured in different configurations according to the target configuration rules for trainees to select.

[0100] 2) Through the software interface, the back, radial, four-quadrant, and two-quadrant docking interfaces are sequentially customized, and the following aircrafts are selected according to the list.

[0101] 0: No aircraft, which is the docking interface that the visiting aircraft can choose

[0102] 1: Manned spacecraft

[0103] 2: Cargo spacecraft

[0104] 3: Experiment cabin I

[0105] 4: Experiment cabin II

[0106] 5: Optical cabin

[0107] During the selection process, the software needs to shield impossible configurations, such as the four-quadrant cannot appear manned spacecraft, so "1: Manned spacecraft" cannot be selected when selecting the type of four-quadrant docking interface. After configuring the aircrafts of each docking interface, the configuration is passed to the background software, and the software performs interpolation matching to obtain the current target configuration.

[0108] 2. According to the set target configuration, the dynamics module calls the corresponding target model and outputs it to the remote camera simulator to configure the remote camera image matching the current training condition.

[0109] 3) The training process control module is used to control the running state, pause state, and stop state of the current training task.

[0110] 4) The handle instruction acquisition module is used to transmit the handle voltage signal feedback by the handle acquisition box to the dynamics module.

[0111] 5) Dynamics module, this part is used to do controller simulation and dynamics simulation, depending on the type of spacecraft applied, the response of the real reaction tracker to the handle, the control strategy of the tracker attitude and orbit control subsystem, and the writing and verification of the kinematics and dynamics model of the real reaction spacecraft.

[0112] In order to improve the emergency and fault handling ability of the trainees, the system integrates fault mode and disposal plan, adds fault mode simulation that astronauts can perceive, participate and handle, designs specified input and random input functions of faults, and sets up fault handling training subjects. It effectively expands the difficulty range of fault training settings, from specified fault flight control exercises to random fault exercises, fully examines the adaptability of trainees, and is used to find and correct deficiencies.

[0113] Fault classification:

[0114] 1. Handle fault: handle command sending anomaly; no handle output, handle polarity error;

[0115] 2. Remote control camera fault: no image, light adjustment fault, image ghost, light column, etc.

[0116] 3. System control fault: attitude oscillation, platform instability;

[0117] Implementation scheme of specified fault input:

[0118] 1. In the control software, a fixed fault ID number is pre-set for the fault;

[0119] 2. When configuring the training scene, check the "specified input fault" mode;

[0120] 3. When configuring the training scene, set the time of input fault, and the system accumulates the training time after the training starts to judge whether the fault input time is reached;

[0121] 4. When configuring the training scene, select the corresponding fault through the visible fault name in the interface;

[0122] 5. Pass the ID number of the fault to the control software through the background of the software;

[0123] 6. The control software executes the corresponding fault phenomenon simulation according to the fault ID number after the fault time arrives;

[0124] 7. Wait for the trainees to handle the fault.

[0125] Implementation scheme of random fault input:

[0126] 1. In the control software, a fixed fault ID number is pre-set for the fault;

[0127] 2. When configuring the training scene, check the "randomly input fault" mode, and the control software randomly configures the time of input fault;

[0128] 3. During the training process, when reaching the randomly configured fault time, the control software randomly selects a fault phenomenon from the fault ID library to simulate;

[0129] 4. Wait for the fault disposal of the trainees.

[0130] The docking process and summary data are particularly important for the technical summary and improvement of the trainees. To assist in judging the training effect, the system designs a judgment link for the success or failure of docking, and outputs and displays docking training summary data at the end of training, as shown in the following table: Figure 7

[0131] 1. Docking success flag:

[0132] Docking success: the contact axial distance is reached, and the docking speed and lateral distance at the contact time meet the initial conditions of docking;

[0133] Docking failure: the contact axial distance is reached, and the docking speed and lateral distance at the contact time do not meet the initial conditions of docking;

[0134] 2. Docking accuracy index: the relative position and speed of the chaser and the target at the target's docking port, and the relative attitude and attitude angular velocity of the two devices;

[0135] 3. Total time length of remote operation: if the docking is successful, the total time length is from the time when the human control allows the command to be sent to the time when the docking is contacted; if the docking fails, the total time length is from the time when the human control allows the command to be sent to the time when the axial distance meets the contact distance;

[0136] 4. Fuel consumption: the total weight of fuel consumed by the engine from the time when the human control allows the command to be sent to the time when the docking result is given;

[0137] At the same time, the system supports comparison of multiple training results, and the trainees can summarize the docking experience of remote operation through review and comparison of the training results, and improve their ability.

[0138] 6) The instrument display module is used for hand control command sending management, attitude vector diagram display, and remote operation camera image display. The three display screens for on-orbit interpretation are integrated into one interface. According to the requirements of the human control rendezvous and docking interactive interface, as well as the real human control rendezvous and docking interactive interface, the system is designed and developed to restore the real scene as much as possible.

[0139] ​7) Data recording and playback module is used to manage training data, which can be exported for playback, and the training software can also be directly played back. Since the notebook computer can be connected with the cabin information system and has network transmission function, data and software can be conveniently transmitted upward and downward, and the data after downward transmission can also be played back and evaluated by the ground.

[0140] The human-controlled rendezvous and docking on-orbit training system is directed to a type with human-controlled rendezvous and docking function, and can be extended and upgraded for software, supplement a dynamic model, and expand a spacecraft type under the condition that a hardware product is unchanged.

[0141] The content not described in detail in the specification of the present application is the known technology of those skilled in the art.

[0142] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not depart from the content of the technical solutions of the present application, belongs to the protection scope of the technical solutions of the present application.

Claims

1. A small portable manned rendezvous and docking in-orbit training system, characterized in that, The device comprises a posture control handle, a translation control handle, a handle mounting bracket, a computer, a handle acquisition box and a rendezvous and docking on-orbit training software module. The posture control handle and the translation control handle are real products and are fixed through the handle mounting bracket. The handle acquisition box provides power supply for the posture control handle and the translation control handle and acquires output voltages of the two handles and outputs the voltages to the computer. The rendezvous and docking on-orbit training software module is stored in the computer and is used to complete training scene configuration, training process control, handle instruction sending, remote operation camera image simulation, instrument parameter display, dynamics simulation, attitude orbit simulation, data transmission and exchange, training process data video recording and video playback. The handle mounting bracket comprises a handle bracket and a rotation stopping plate. The rendezvous and docking on-orbit training software module comprises a user registration and login module, a training scene configuration module, a training process control module, a handle instruction acquisition module, a dynamics module, an instrument display module and a data recording and playback module. The user registration and login module is used to distinguish training records of different training personnel and is used for creating training tasks, training special subjects, managing own training data, playing back own training data and modifying passwords. The training scene configuration module is used to create a training scene. The training process control module is used to control running state, pause state and stop state of a current training task. The handle instruction acquisition module is used to transmit handle voltage signals fed back by the handle acquisition box to the dynamics module. The dynamics module is used to simulate a controller and dynamics and truly reflects responses of a tracker to handles, control strategies of a tracker attitude and orbit control system and kinematics and dynamics models of a real spacecraft. The instrument display module is used to send hand control instructions, display an attitude vector diagram and display remote operation camera images. The data recording and playback module is used to manage training data and the training data can be exported for playback and the training software can directly play back. In order to adapt to initial condition settings for convenient training, the rendezvous and docking on-orbit training software module can analyze and convert initial condition settings of training personnel into input conditions that can be directly processed by a dynamics model and a control model. According to relative attitude, a relative attitude conversion matrix of a tracker body relative to a target body is calculated. According to six elements of a target orbit and an orbit system attitude of a target, an inertia system attitude and an attitude matrix of the target are calculated. Elements of the target orbit are converted into an inertia system position and a velocity. According to relative attitude, an inertia system attitude of the target and an attitude matrix, an inertia system attitude of the tracker is obtained. According to relative attitude, a docking port system relative distance and a docking port system relative velocity, relative distance and relative velocity in the inertia system are solved. According to the inertial position of the target, the relative distance and the relative velocity in the inertial system, the inertial position and velocity of the tracker are solved; According to the inertial position and velocity of the tracker, the six elements of the orbit of the tracker are solved; According to the inertial attitude matrix of the tracker, the orbit attitude of the tracker is solved; In the training scene configuration module, the preset typical target configuration is combined according to the target configuration rule, that is, the rear, radial, four-quadrant and two-quadrant docking interfaces are configured in different configurations for the trainees to select; The trainees also set the spacecraft for each docking interface of the target according to the predetermined rule; In the training scene configuration module, according to the set target configuration, the dynamics module calls the corresponding target model, and outputs it to the remote operation camera simulator to configure the remote operation camera image to match the current training working condition; The rendezvous and docking on-orbit training software module sets a fault handling training subject, so that the fault can be specified and randomly put into function, to detect the ability to master the fault mode and handling strategy.

2. The on-rail training system of claim 1, wherein, The on-orbit training system allows trainees to set the initial conditions of on-orbit training by themselves, and can be randomly set within the normal initial condition range; The initial conditions generally include initial relative position, relative velocity and relative attitude.

3. The on-rail training system of claim 2, wherein, In order to adapt to the initial condition setting of convenient training, the set initial conditions are analyzed and converted to input conditions that can be directly processed by the dynamics model and control model.

4. The on-rail training system of claim 1, wherein, The training scene configuration module sets different initial conditions according to the difficulty, including relative position, relative velocity, relative attitude, delay time and lighting conditions, which can be selected and added according to the training purpose.

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