Multi-mode rendezvous and docking space-ground parallel digital twin simulation system

Abstract

The application provides a multi-mode rendezvous and docking space-parallel digital twin simulation system, a plurality of simulation models are obtained by modeling the constituent components of an on-orbit spacecraft, the plurality of simulation models are connected to obtain a digital twin spacecraft of the on-orbit spacecraft, on-orbit flight data of the on-orbit spacecraft is acquired by using a space-parallel heterogeneous data analysis subsystem, the on-orbit flight data is loaded as an initial state into the simulation model of the digital twin spacecraft, so that the simulation model can perform super-real-time simulation based on the true on-orbit data of the on-orbit spacecraft, thereby improving the accuracy of the simulation result, and then a flight state prediction process is generated based on the super-real-time simulation data by using a flight state prediction subsystem, and whether the rendezvous and docking task meets the expectation is judged according to the prediction process by using a flight task decision subsystem, so that flight control instructions are output to the on-orbit spacecraft according to the judgment result, so as to ensure that the rendezvous and docking task can be successfully implemented.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of spacecraft control technology, and in particular to a multi-mode rendezvous and docking ground-ground parallel digital twin simulation system. Background Art

[0002] With the completion of the space station construction phase, rendezvous and docking missions are increasing. Furthermore, the scenarios, modes, and methods for these missions are subject to change depending on the station's configuration and operational model. Currently, rendezvous and docking simulations are all offline, with spacecraft rendezvous and docking missions controlled based on the simulated rendezvous and docking methods. However, the real-time nature of offline simulations is limited for some critical flight missions, and their results may deviate from the actual flight process, impacting the rendezvous and docking control process. Summary of the Invention

[0003] An embodiment of the present invention provides a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system, which can realize online simulation during the spacecraft rendezvous and docking process, so as to improve the accuracy of the simulation results during the spacecraft rendezvous and docking process, thereby more effectively supporting the implementation of on-orbit rendezvous and docking flight missions.

[0004] In a first aspect, an embodiment of the present invention provides a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system, comprising: a digital twin spacecraft subsystem, a rapid simulation verification subsystem, a ground-to-space parallel heterogeneous data analysis subsystem, a flight status prediction subsystem, and a flight mission decision subsystem;

[0005] The digital twin spacecraft subsystem includes a digital twin spacecraft obtained by connecting multiple simulation models; the multiple simulation models are modeled for components of the on-orbit spacecraft; the multiple simulation models perform ultra-real-time simulation based on initial states under the scheduling of the fast simulation verification subsystem to predict ultra-real-time simulation data;

[0006] The ground-to-space parallel heterogeneous data analysis subsystem is used to obtain on-orbit flight data of the on-orbit spacecraft and load the on-orbit flight data as the initial state into the simulation model of the digital twin spacecraft;

[0007] The fast simulation verification subsystem is used to generate a super real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, and schedule the simulation model of the digital twin spacecraft to perform super real-time simulation according to the super real-time simulation task;

[0008] The flight state prediction subsystem is used to generate a prediction process of future flight states based on the ultra-real-time simulation data predicted by the digital twin spacecraft subsystem;

[0009] The flight mission decision subsystem is used to judge whether the expectations of the rendezvous and docking mission are met based on the prediction process sent by the flight status prediction subsystem, and output flight control instructions to the on-orbit spacecraft based on the judgment result.

[0010] In a second aspect, an embodiment of the present invention further provides a simulation method based on any of the above-mentioned multi-mode rendezvous and docking ground-ground parallel digital twin simulation systems, comprising:

[0011] Acquire on-orbit flight data of an on-orbit spacecraft using the ground-ground parallel heterogeneous data analysis subsystem, and load the on-orbit flight data as an initial state into a simulation model of the digital twin spacecraft;

[0012] The fast simulation verification subsystem is used to generate an ultra-real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, and the simulation model of the digital twin spacecraft is scheduled to perform ultra-real-time simulation according to the ultra-real-time simulation task. The multiple simulation models are scheduled by the fast simulation verification subsystem to perform ultra-real-time simulation based on the initial state to predict and obtain ultra-real-time simulation data.

[0013] generating a prediction process of future flight states using the flight state prediction subsystem based on ultra-real-time simulation data predicted by the digital twin spacecraft subsystem;

[0014] The flight mission decision subsystem is used to judge whether the expectations of the rendezvous and docking mission are met according to the prediction process sent by the flight status prediction subsystem, and a flight control instruction is output to the on-orbit spacecraft according to the judgment result.

[0015] An embodiment of the present invention provides a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system, which obtains multiple simulation models by modeling the components of an on-orbit spacecraft, and connects the multiple simulation models to obtain a digital twin spacecraft of the on-orbit spacecraft. A ground-to-space parallel heterogeneous data analysis subsystem is used to obtain the on-orbit flight data of the on-orbit spacecraft, and the on-orbit flight data is loaded into the simulation model of the digital twin spacecraft as the initial state, so that the simulation model can perform ultra-real-time simulation based on the actual on-orbit data of the on-orbit spacecraft, thereby improving the accuracy of the simulation results, and then using the flight status prediction subsystem to generate a prediction process of the future flight status based on the ultra-real-time simulation data, and using the flight mission decision subsystem to judge whether the expectations of the rendezvous and docking mission are met according to the prediction process, and outputting flight control instructions to the on-orbit spacecraft according to the judgment result to ensure the successful implementation of the rendezvous and docking mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is an architecture diagram of a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system provided by one embodiment of the present invention;

[0018] Figure 2 This is a flow chart of a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation method provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] Please refer to Figure 1 , an embodiment of the present invention provides a multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system, including: a digital twin spacecraft subsystem, a rapid simulation verification subsystem, a ground-to-space parallel heterogeneous data analysis subsystem, a flight status prediction subsystem, and a flight mission decision subsystem;

[0021] The digital twin spacecraft subsystem includes a digital twin spacecraft obtained by connecting multiple simulation models; the multiple simulation models are modeled for components of the on-orbit spacecraft; the multiple simulation models perform ultra-real-time simulation based on initial states under the scheduling of the fast simulation verification subsystem to predict ultra-real-time simulation data;

[0022] The ground-to-space parallel heterogeneous data analysis subsystem is used to obtain on-orbit flight data of the on-orbit spacecraft and load the on-orbit flight data as the initial state into the simulation model of the digital twin spacecraft;

[0023] The fast simulation verification subsystem is used to generate a super real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, and schedule the simulation model of the digital twin spacecraft to perform super real-time simulation according to the super real-time simulation task;

[0024] The flight state prediction subsystem is configured to generate a prediction process of future flight states according to the super real-time simulation data predicted by the digital twin spacecraft subsystem.

[0025] The flight task decision subsystem is configured to determine whether the rendezvous and docking task is expected according to the prediction process sent by the flight state prediction subsystem, and output flight control instructions to the on-orbit spacecraft according to the determination result.

[0026] In the embodiment of the present application, a plurality of simulation models are obtained by modeling the constituent components of the on-orbit spacecraft, the digital twin spacecraft of the on-orbit spacecraft is obtained by connecting the plurality of simulation models, the on-orbit flight data of the on-orbit spacecraft is obtained by using the parallel heterogeneous data analysis subsystem, the on-orbit flight data is loaded as an initial state into the simulation model of the digital twin spacecraft, the simulation model can be simulated in super real-time based on the true on-orbit data of the on-orbit spacecraft, thereby improving the accuracy of the simulation result, and then the flight state prediction subsystem is used to generate a prediction process of future flight states based on the super real-time simulation data, and the flight task decision subsystem is used to determine whether the rendezvous and docking task is expected according to the prediction process, so as to output flight control instructions to the on-orbit spacecraft according to the determination result, so as to ensure that the rendezvous and docking task can be successfully implemented.

[0027] Each subsystem in the above-mentioned multi-mode rendezvous and docking parallel digital twin simulation system will be described below.

[0028] First, the digital twin spacecraft subsystem

[0029] In the embodiment of the present application, the constituent components of the on-orbit spacecraft, the installation position, the installation angle, the performance parameters and the like are determined according to the requirements of the rendezvous and docking task and the configuration information of the constituent components of the on-orbit spacecraft, so as to model each constituent component of the on-orbit spacecraft, obtain a plurality of simulation models, each simulation model can reflect the function that should be played by the spacecraft constituent component in the rendezvous and docking task and the performance index that should be achieved, and the plurality of simulation models are virtually connected in the form of a unified data interface according to the real physical connection mode of each constituent component, to form a digital twin spacecraft of the on-orbit spacecraft, which is a closed-loop simulation system and can be simulated in real time and super real time.

[0030] In the embodiment of the present application, the plurality of simulation models can at least include a space environment simulation model, a relative orbit attitude dynamics model, a relative measurement sensor model, a spacecraft controller model and an actuator model.

[0031] The space environment simulation model at least includes an atmospheric drag model varying with the orbit height and a 64x64 order earth gravity field model.

[0032] The relative orbit attitude dynamics model, based on the rendezvous and docking mission scenario, includes at least two separate orbit and attitude dynamics models for each spacecraft (the tracking spacecraft and the target spacecraft in the rendezvous and docking mission). Based on these two orbit and attitude dynamics models, the relative motion state of the two spacecraft in the required coordinate system can be calculated using the relative kinematic equations; this relative motion state may include: relative position velocity, relative attitude, and relative angular velocity;

[0033] The relative measurement sensor model generates measurement data in each spacecraft's measurement coordinate system based on the relative motion state of the two spacecraft output by the relative orbit attitude dynamics model, packages the measurement data according to the interface requirements of the onboard controller model, and sends the packaged measurement data to the onboard controller model;

[0034] The onboard controller model receives the measurement data sent by the relative measurement sensor model and performs navigation calculations to obtain the onboard estimate of the relative motion state of the two spacecraft. It then performs guidance calculations according to the rendezvous and docking mission, generates and outputs control instructions for the spacecraft execution architecture model.

[0035] Actuator model: According to the control instructions output by the onboard controller model, the actuator model is driven to produce corresponding control actions to output control force and control torque.

[0036] In one embodiment of the present invention, the digital twin spacecraft subsystem can perform at least the following two simulation tasks:

[0037] The first one is real-time simulation;

[0038] The second type is super real-time simulation.

[0039] Real-time simulation is a synchronous simulation based on the initial state and the rendezvous and docking mission of the on-orbit spacecraft, so that the digital twin spacecraft and the on-orbit spacecraft's flight status are synchronized. Super real-time simulation simulates the future flight status of the on-orbit spacecraft based on the initial state and the rendezvous and docking mission of the on-orbit spacecraft. The initial state is the on-orbit flight data of the on-orbit spacecraft.

[0040] It should be noted that, in addition to the above two simulation methods, other simulations can also be performed, such as simulations of rendezvous and docking missions in other modes.

[0041] Further, a fault mode library can also be constructed in advance, the fault mode library including a plurality of fault conditions, each fault condition being injected into the digital twin spacecraft subsystem, the digital twin spacecraft subsystem simulating each fault condition in the fault mode library, so that the reaction state of the digital twin spacecraft to the simulated fault condition can be obtained, and the reaction state of the simulated fault condition is updated to the fault mode library. The updated fault mode library can include a mapping relationship between the fault condition and the reaction state. In this way, according to the reaction state in the fault mode library, when the on-orbit flight data of the on-orbit spacecraft satisfies any one of the reaction states in the fault mode library, it can be determined that the on-orbit spacecraft has a fault, and the fault condition of the on-orbit spacecraft is the fault condition corresponding to the satisfied reaction state in the fault mode library.

[0042] It can be seen that by constructing a fault mode library and then injecting faults into the digital twin spacecraft subsystem, the reaction state of the fault condition can be simulated, thereby serving as a basis for fault identification of the on-orbit spacecraft.

[0043] Second, the parallel heterogeneous data analysis subsystem on earth

[0044] In the embodiment of the application, the parallel heterogeneous data analysis subsystem on earth can obtain the on-orbit flight data of the on-orbit spacecraft, and has data cleaning and heterogeneous data fusion functions, so that the accuracy of low-confidence data can be judged by using high-confidence data. By analyzing the on-orbit flight data of the on-orbit spacecraft, the current flight state of the on-orbit spacecraft can be obtained, and the current flight state is loaded as an initial state into the simulation model of the digital twin spacecraft, so that the digital twin spacecraft can perform real-time simulation based on the initial state.

[0045] The on-orbit flight data can include attitude measurement data, absolute navigation data, relative measurement data and system running state data. Then, the initial state can include the relative position, relative velocity, relative attitude, relative attitude angular velocity of the on-orbit spacecraft and the GNC (including spacecraft guidance parameters, navigation parameters and control parameters) state data of the on-orbit spacecraft. Specifically, the relative position, relative velocity, relative attitude and relative attitude angular velocity can be loaded into the relative orbit attitude dynamics model of the digital twin spacecraft, and the GNC state data of the on-orbit spacecraft can be loaded into the on-board controller model of the digital twin spacecraft.

[0046] In one embodiment of the present invention, since the simulation model in the digital twin spacecraft subsystem is pre-built, when the simulation model is used for real-time simulation, the simulation results may deviate from the real-time data of the on-orbit spacecraft. Therefore, in order to ensure the accuracy of the simulation results of the digital twin spacecraft, the digital twin spacecraft subsystem can send the generated real-time simulation data to the ground-ground parallel heterogeneous data analysis subsystem. The ground-ground parallel heterogeneous data analysis subsystem can correct the model parameters of the simulation model of the digital twin spacecraft based on the difference between the real-time simulation data and the on-orbit flight data in the same time period, so that the difference between the real-time simulation data generated by the digital twin spacecraft subsystem and the on-orbit flight data does not exceed the set difference threshold.

[0047] Specifically, the ground-ground parallel heterogeneous data analysis subsystem, when correcting model parameters of the simulation model of the digital twin spacecraft, specifically includes:

[0048] a data parsing module, configured to decode the on-orbit flight data to form telemetry physical quantities of various parameters, and parse simulated physical quantities of various parameters from real-time simulation data;

[0049] The data mapping module is used to establish a one-to-one mapping between the telemetered physical quantities and the simulated physical quantities with the same parameters according to the time series, thereby forming a plurality of data pairs arranged according to time; the data pairs include the telemetered physical quantities and the simulated physical quantities with the same parameters at the same time;

[0050] The data analysis module is used to correct the model parameters of the simulation model in the digital twin spacecraft subsystem based on the difference values ​​of physical quantities in multiple data pairs.

[0051] Among them, the model parameters include but are not limited to: IMU (inertial measurement unit) drift in the digital twin spacecraft, spacecraft center of mass, engine thrust and other parameters.

[0052] It should be noted that when the digital twin spacecraft is simulated for the first time, real-time simulation can be performed for a period of time, and the generated real-time simulation data can be sent to the ground-ground parallel heterogeneous data analysis subsystem. The ground-ground parallel heterogeneous data analysis subsystem can be used to correct the model parameters of the simulation model in the digital twin spacecraft, and then perform normal real-time simulation tasks or super real-time simulation tasks to ensure that real-time simulation tasks and super real-time simulation tasks are performed under accurate model parameters, thereby improving the accuracy of the simulation results.

[0053] Third, rapid simulation verification subsystem

[0054] In this embodiment of the present invention, the rapid simulation and verification subsystem can schedule and manage the various simulation models in the digital twin spacecraft subsystem. It can generate real-time and beyond-real-time simulation tasks based on the rendezvous and docking mission of the on-orbit spacecraft. It can also set a call cycle and call sequence for each simulation model based on the real-time and beyond-real-time simulation tasks. This allows the digital twin spacecraft to perform real-time and beyond-real-time simulations according to the set call cycle and call sequence through instruction injection in a timely manner. In other words, the digital twin spacecraft subsystem performs real-time and beyond-real-time simulations under the scheduling of the rapid simulation and verification subsystem.

[0055] Specifically, the rapid simulation verification subsystem may include the following modules:

[0056] A task scheduling module is used to generate a real-time simulation task or an ultra-real-time simulation task based on the rendezvous and docking task of the on-orbit spacecraft, set a call cycle and a call sequence for each simulation model according to the real-time simulation task and the ultra-real-time simulation task, and generate a time-arranged instruction set according to the set call cycle and call sequence;

[0057] The instruction processing module is used to send instructions to the preset instruction interface of the corresponding simulation model in the simulation time sequence based on the instruction set arranged in time, so as to drive the corresponding simulation model to produce the expected action according to the transmitted instructions;

[0058] The data storage module is used to store the interface data generated by the simulation model during the simulation process and the data output by the internal configuration of the simulation model, and form a data file after the simulation is completed.

[0059] As can be seen, the rapid simulation verification subsystem also has a data storage function for the simulation process. During the simulation process, it triggers the arranged instruction sequence on time and stores the simulation data generated by the digital twin spacecraft during the simulation process and the interface data between simulation models in the form of files. The storage method can be stored at set time intervals.

[0060] Fourth, flight status indication subsystem

[0061] In this embodiment of the present invention, the flight status prediction subsystem can generate a prediction process for future flight states based on ultra-real-time simulation data generated by the digital twin spacecraft subsystem. This system can predict key information such as relative motion trajectory, flight terminal accuracy, critical phase transition times, energy condition measurement and control range, and fuel consumption. This prediction process can be displayed numerically, graphically, or graphically based on data characteristics and mission requirements.

[0062] Specifically, the flight status prediction subsystem may include:

[0063] An algorithm calling module is configured to display rendezvous and docking relative motion control algorithms such as CW guidance and line-of-sight guidance according to a task requirement, determine initial values from in-orbit flight data of the in-orbit spacecraft or simulation data of the digital twin spacecraft, and recursively use the initial values to a configuration time to form flight prediction data, which can be relative motion state data of the two spacecrafts.

[0064] A curve display module is configured to perform curve display in a plane with a relative motion coordinate system as horizontal and vertical coordinates, and label state values at a starting end and a terminal end of the curve according to the flight prediction data generated by the algorithm calling module.

[0065] Suppose that the current flight state data of the in-orbit spacecraft includes three-axis relative positions (x, y, z) and relative velocities For Then, the relative motion state of the two spacecrafts after a fixed extrapolation step Δt seconds X(t0+Δt) = Φ(t0+Δt, t0)X(t0) + G(t0+Δt, t0)u(t0) is obtained, where the transfer matrix Φ(t0+Δt, t0) and G(t0+Δt, t0) are:

[0066]

[0067]

[0068] where u(t0) is an applied external control force, and ω is an orbital angular velocity.

[0069] The above recursive process is repeated to obtain a prediction process of future flight states of the two spacecrafts. Specifically, an in-plane flight state prediction process curve can be plotted with x as the horizontal axis and z as the vertical axis.

[0070] Fifth, a flight task decision subsystem

[0071] In the embodiment of the application, the flight task decision subsystem can have an expert knowledge base supporting multiple application scenarios and multiple mode rendezvous and docking tasks, so as to determine whether the current flight state and / or the future flight state meets the expectation of the rendezvous and docking task by using the in-orbit flight data of the in-orbit spacecraft provided by the earth-space parallel heterogeneous data analysis subsystem and the prediction process sent by the flight state prediction subsystem, if the expectation is met, the control instructions of the original rendezvous and docking task are output to the in-orbit spacecraft to make the in-orbit spacecraft perform interactive docking according to the original rendezvous and docking task, and if the expectation is not met, a diagnosis result and a decision suggestion of an abnormal state are given.

[0072] Specifically, the flight task decision subsystem can include:

[0073] A mission status assessment module is used to match the expectations of the rendezvous and docking mission with the current flight status or the predicted process of the future flight status in the on-orbit flight data of the on-orbit spacecraft, so as to output a judgment result on whether the current flight status or the predicted process can complete the expected interactive docking mission;

[0074] The fault plan automatic matching module is used to determine the current flight status or future flight status as an abnormal state when the judgment result does not meet expectations, and traverse the fault plan library based on the abnormal state to determine and output the fault plan for the abnormal state.

[0075] Among them, the fault plan library is generated according to the fault conditions in the fault mode library. Combined with the expert knowledge base, a fault plan for each fault condition can be obtained. Therefore, the fault plan library can include the correspondence between fault conditions and fault plans.

[0076] Specifically, when the flight mission decision subsystem determines the first fault condition corresponding to the current reaction state of the on-orbit spacecraft based on the on-orbit flight data of the on-orbit spacecraft and the fault mode library, it uses the pre-built fault plan library to determine the first fault plan corresponding to the first fault condition, and outputs the corresponding flight control instruction to the on-orbit spacecraft according to the first fault plan; or,

[0077] When the flight mission decision subsystem determines the second fault condition corresponding to the future flight state based on the prediction process and the fault mode library, it uses the pre-built fault plan library to determine the second fault plan corresponding to the second fault condition, and outputs the corresponding flight control instructions to the on-orbit spacecraft according to the second fault plan.

[0078] Assume that the relative position of the flight prediction terminal is (x, y, z), compare the relative position with the position limit of the current flight phase (LmtS is the small limit, LmtL is the large limit), if It is considered that the flight terminal accuracy requirements are met if If the Then give emergency evacuation or other flight decision instruction suggestions.

[0079] Please refer to Figure 2 An embodiment of the present invention provides a simulation method for the multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system based on any of the above embodiments, the method comprising:

[0080] Step 200: Acquire on-orbit flight data of an on-orbit spacecraft using the ground-ground parallel heterogeneous data analysis subsystem, and load the on-orbit flight data as an initial state into a simulation model of the digital twin spacecraft;

[0081] Step 202: Generate an ultra-real-time simulation task based on the rendezvous and docking mission of the on-orbit spacecraft using the fast simulation verification subsystem, and schedule the simulation model of the digital twin spacecraft to perform ultra-real-time simulation according to the ultra-real-time simulation task. The multiple simulation models perform ultra-real-time simulation based on the initial state under the scheduling of the fast simulation verification subsystem to predict and obtain ultra-real-time simulation data.

[0082] Step 204: using the flight state prediction subsystem to generate a prediction process of future flight states based on the ultra-real-time simulation data predicted by the digital twin spacecraft subsystem;

[0083] Step 206: The flight mission decision subsystem is used to determine whether the expectations of the rendezvous and docking mission are met based on the prediction process sent by the flight status prediction subsystem, and a flight control instruction is output to the on-orbit spacecraft based on the determination result.

[0084] In one embodiment of the present invention, before using the fast simulation verification subsystem to generate an ultra-real-time simulation task based on the rendezvous and docking task of the on-orbit spacecraft, the following steps may also be included:

[0085] Utilizing the rapid simulation verification subsystem to generate a real-time simulation task according to the rendezvous and docking mission of the on-orbit spacecraft, and scheduling the simulation model of the digital twin spacecraft to perform real-time simulation according to the real-time simulation task, so that multiple simulation models perform real-time simulation based on the initial state, and sending the generated real-time simulation data to the ground-ground parallel heterogeneous data analysis subsystem;

[0086] The ground-ground parallel heterogeneous data analysis subsystem is used to correct the model parameters of the simulation model of the digital twin spacecraft based on the difference between the real-time simulation data and the on-orbit flight data in the same time period, so that the difference between the real-time simulation data generated by the digital twin spacecraft subsystem and the on-orbit flight data does not exceed the set difference threshold.

[0087] In one embodiment of the present invention, performing model parameter correction on the simulation model of the digital twin spacecraft includes:

[0088] Decoding the on-orbit flight data to form telemetry physical quantities of various parameters, and parsing the simulated physical quantities of various parameters from the real-time simulation data;

[0089] Establishing a one-to-one mapping between telemetered physical quantities and simulated physical quantities with the same parameters according to a time series to form a plurality of data pairs arranged according to time; the data pairs include telemetered physical quantities and simulated physical quantities with the same parameters at the same time;

[0090] Model parameters of the simulation model in the digital twin spacecraft subsystem are corrected based on the difference values ​​of the physical quantities in the multiple data pairs.

[0091] In one embodiment of the present invention, it may also include: using the digital twin spacecraft subsystem to simulate each fault condition in a pre-built fault mode library to obtain the reaction state of the digital twin spacecraft to the simulated fault condition, so as to update the reaction state of the simulated fault condition to the fault mode library.

[0092] In one embodiment of the present invention, the method may further include: generating a fault plan library according to the fault conditions in the fault mode library; the fault plan library includes a correspondence between the fault conditions and the fault plans;

[0093] It may also include: when a first fault condition corresponding to the current reaction state of the on-orbit spacecraft is determined based on the on-orbit flight data of the on-orbit spacecraft and the fault mode library, using the fault plan library to determine a first fault plan corresponding to the first fault condition, and outputting corresponding flight control instructions to the on-orbit spacecraft according to the first fault plan; or, when a second fault condition corresponding to the future flight state is determined based on the prediction process and the fault mode library, using a pre-built fault plan library to determine a second fault plan corresponding to the second fault condition, and outputting corresponding flight control instructions to the on-orbit spacecraft according to the second fault plan.

[0094] It should be noted that, in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical factors in the process, method, article or device comprising the elements.

[0095] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system, characterized by: include: Digital twin spacecraft subsystem, rapid simulation verification subsystem, ground-ground parallel heterogeneous data analysis subsystem, flight status prediction subsystem, and flight mission decision subsystem; The digital twin spacecraft subsystem includes a digital twin spacecraft obtained by connecting multiple simulation models; the multiple simulation models are obtained by modeling components of the on-orbit spacecraft; The multiple simulation models perform ultra-real-time simulation based on the initial state under the scheduling of the fast simulation verification subsystem to predict ultra-real-time simulation data; The multiple simulation models include at least: a space environment simulation model, a relative orbit attitude dynamics model, a relative measurement sensor model, an onboard controller model and an actuator model; The ground-to-space parallel heterogeneous data analysis subsystem is used to obtain on-orbit flight data of the on-orbit spacecraft and load the on-orbit flight data as an initial state into the simulation model of the digital twin spacecraft; the initial state includes the relative position, relative velocity, relative attitude, relative attitude angular velocity and GNC state data of the on-orbit spacecraft; The fast simulation verification subsystem is used to generate a super real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, and schedule the simulation model of the digital twin spacecraft to perform super real-time simulation according to the super real-time simulation task; The rapid simulation verification subsystem includes the following modules: A task scheduling module is used to generate a real-time simulation task or an ultra-real-time simulation task based on the rendezvous and docking task of the on-orbit spacecraft, set a call cycle and a call sequence for each simulation model according to the real-time simulation task and the ultra-real-time simulation task, and generate a time-arranged instruction set according to the set call cycle and call sequence; The instruction processing module is used to send instructions to the preset instruction interface of the corresponding simulation model in the simulation time sequence based on the instruction set arranged in time, so as to drive the corresponding simulation model to produce the expected action according to the transmitted instructions; The data storage module is used to store the interface data generated by the simulation model during the simulation process and the data output by the internal configuration of the simulation model, and form a data file after the simulation is completed; The flight state prediction subsystem is used to generate a prediction process for future flight states based on the ultra-real-time simulation data predicted by the digital twin spacecraft subsystem, so as to achieve relative motion trajectory prediction, flight terminal accuracy prediction, key phase transition time prediction, and energy condition measurement and control range fuel consumption prediction; The flight state prediction subsystem includes an algorithm calling module for selecting a CW guidance or line-of-sight guidance rendezvous and docking relative motion control algorithm based on the rendezvous and docking mission displayed by the mission requirement, determining initial values ​​from the on-orbit flight data of the on-orbit spacecraft or the simulation data of the digital twin spacecraft, and using the initial values ​​to recursively generate flight prediction data to the configuration time, which is the relative motion state data of the two spacecraft; The flight mission decision subsystem is configured to determine whether the expectations of the rendezvous and docking mission are met based on the prediction process sent by the flight status prediction subsystem. If the expectations are met, the flight mission decision subsystem outputs the control instructions of the original rendezvous and docking mission to the on-orbit spacecraft, so that the on-orbit spacecraft performs interactive docking according to the original rendezvous and docking mission; if the expectations are not met, the flight mission decision subsystem outputs the abnormal status diagnosis result and decision suggestion; In the current flight status data of the on-orbit spacecraft, if the three-axis relative position (x, y, z) and relative speed of the two spacecraft are for Then the relative motion state of the two spacecraft after a fixed extrapolation step of Δt seconds is X(t0+Δt)=Φ(t0+Δt,t0)X(t0)+G(t0+Δt,t0)u(t0), where the transfer matrices Φ(t0+Δt,t0) and G(t0+Δt,t0) are: Where u(t0) is the applied external control force and ω is the orbital angular velocity.

2. The system according to claim 1, wherein: The digital twin spacecraft subsystem is further configured to perform real-time simulation based on the initial state under the scheduling of the rapid simulation verification subsystem, and send the generated real-time simulation data to the ground-ground parallel heterogeneous data analysis subsystem; The ground-to-space parallel heterogeneous data analysis subsystem is also used to correct the model parameters of the simulation model of the digital twin spacecraft based on the difference between the real-time simulation data and the on-orbit flight data in the same time period, so that the difference between the real-time simulation data generated by the digital twin spacecraft subsystem and the on-orbit flight data does not exceed a set difference threshold.

3. The system according to claim 2, characterized in that The ground-to-space parallel heterogeneous data analysis subsystem, when correcting model parameters of the simulation model of the digital twin spacecraft, specifically includes: a data parsing module, configured to decode the on-orbit flight data to form telemetry physical quantities of various parameters, and parse the simulated physical quantities of various parameters from the real-time simulation data; A data mapping module is used to establish a one-to-one mapping between telemetered physical quantities and simulated physical quantities with the same parameters according to a time series, thereby forming a plurality of data pairs arranged in time; the data pairs include telemetered physical quantities and simulated physical quantities with the same parameters at the same time; A data analysis module is used to correct model parameters of the simulation model in the digital twin spacecraft subsystem based on the difference values ​​of the physical quantities in the multiple data pairs.

4. The system according to claim 1, wherein: The digital twin spacecraft subsystem is also used to simulate each fault condition in a pre-built fault mode library to obtain the reaction state of the digital twin spacecraft to the simulated fault condition, so as to update the reaction state of the simulated fault condition to the fault mode library.

5. The system according to claim 4, characterized in that The flight mission decision subsystem is further configured to, when a first fault operating condition corresponding to a current reaction state of the on-orbit spacecraft is determined based on the on-orbit flight data of the on-orbit spacecraft and the fault mode library, determine a first fault pre-plan corresponding to the first fault operating condition using a pre-built fault pre-plan library, and output a corresponding flight control instruction to the on-orbit spacecraft according to the first fault pre-plan; or The flight mission decision subsystem is further configured to, when a second fault operating condition corresponding to the future flight state is determined based on the prediction process and the fault mode library, determine a second fault pre-plan corresponding to the second fault operating condition using a pre-built fault pre-plan library, and output a corresponding flight control instruction to the on-orbit spacecraft based on the second fault pre-plan; The fault plan library is generated according to the fault conditions in the fault mode library.

6. A simulation method based on the multi-mode rendezvous and docking ground-to-space parallel digital twin simulation system according to any one of claims 1 to 5, characterized in that: include: Acquire on-orbit flight data of an on-orbit spacecraft using the ground-ground parallel heterogeneous data analysis subsystem, and load the on-orbit flight data as an initial state into a simulation model of the digital twin spacecraft; The fast simulation verification subsystem is used to generate an ultra-real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, and the simulation model of the digital twin spacecraft is scheduled to perform ultra-real-time simulation according to the ultra-real-time simulation task. The multiple simulation models are scheduled by the fast simulation verification subsystem to perform ultra-real-time simulation based on the initial state to predict and obtain ultra-real-time simulation data. generating a prediction process of future flight states using the flight state prediction subsystem based on ultra-real-time simulation data predicted by the digital twin spacecraft subsystem; The flight mission decision subsystem is used to judge whether the expectations of the rendezvous and docking mission are met according to the prediction process sent by the flight status prediction subsystem, and a flight control instruction is output to the on-orbit spacecraft according to the judgment result.

7. The method according to claim 6, characterized in that Before using the fast simulation verification subsystem to generate an ultra-real-time simulation task according to the rendezvous and docking task of the on-orbit spacecraft, the method further includes: Utilizing the rapid simulation verification subsystem to generate a real-time simulation task according to the rendezvous and docking mission of the on-orbit spacecraft, and scheduling the simulation model of the digital twin spacecraft to perform real-time simulation according to the real-time simulation task, so that multiple simulation models perform real-time simulation based on the initial state, and sending the generated real-time simulation data to the ground-ground parallel heterogeneous data analysis subsystem; The ground-ground parallel heterogeneous data analysis subsystem is used to correct the model parameters of the simulation model of the digital twin spacecraft based on the difference between the real-time simulation data and the on-orbit flight data in the same time period, so that the difference between the real-time simulation data generated by the digital twin spacecraft subsystem and the on-orbit flight data does not exceed the set difference threshold.

8. The method according to claim 7, characterized in that Modifying model parameters of the simulation model of the digital twin spacecraft includes: Decoding the on-orbit flight data to form telemetry physical quantities of various parameters, and parsing the simulated physical quantities of various parameters from the real-time simulation data; Establishing a one-to-one mapping between telemetered physical quantities and simulated physical quantities with the same parameters according to a time series to form a plurality of data pairs arranged according to time; the data pairs include telemetered physical quantities and simulated physical quantities with the same parameters at the same time; Model parameters of the simulation model in the digital twin spacecraft subsystem are corrected based on the difference values ​​of the physical quantities in the multiple data pairs.

9. The method according to claim 6, characterized in that Also includes: The digital twin spacecraft subsystem is used to simulate each fault condition in a pre-built fault mode library to obtain the reaction state of the digital twin spacecraft to the simulated fault condition, so as to update the reaction state of the simulated fault condition to the fault mode library.

10. The method according to claim 9, characterized in that Also includes: Generate a fault plan library according to the fault conditions in the fault mode library; The fault plan library includes the corresponding relationship between fault conditions and fault plans; It also includes: when a first fault condition corresponding to the current reaction state of the on-orbit spacecraft is determined based on the on-orbit flight data of the on-orbit spacecraft and the fault mode library, the first fault plan corresponding to the first fault condition is determined using the fault plan library, and a corresponding flight control instruction is output to the on-orbit spacecraft according to the first fault plan; or, when a second fault condition corresponding to the future flight state is determined based on the prediction process and the fault mode library, a second fault plan corresponding to the second fault condition is determined using a pre-built fault plan library, and a corresponding flight control instruction is output to the on-orbit spacecraft according to the second fault plan.

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