Satellite and constellation fault simulation and emulation system, related methods and storage medium

Abstract

The embodiment of the application relates to the technical field of satellites, and provides a satellite and constellation fault simulation and simulation system, related methods and a storage medium, the system comprising: a constellation simulation analysis component, a satellite simulation simulation component, a satellite ground measurement and control simulation component, a data interaction and processing component, a hardware support device and a man-machine interaction interface. The constellation simulation analysis component can independently perform simulation analysis, or jointly form a fault simulation and simulation capability of a component on a satellite to an entire satellite to a system with the satellite simulation simulation component and the satellite ground measurement and control simulation component. The hardware support device is used for performing computing power guarantee and deploying the fault simulation and simulation system. The man-machine interaction interface is used for realizing system man-machine interaction guarantee system availability. By adopting the system, fault can be conducted from a component to a subsystem and other subsystems, integrated to form an entire satellite task capability, and then transmitted from the entire satellite to a constellation system, so that constellation and satellite fault simulation and simulation can be realized, a satellite development cycle can be shortened, satellite ground simulation simulation capability can be improved, satellite and constellation system fault simulation difficulty can be reduced, and satellite and constellation system test simulation capability can be improved.

Description

Technical Field

[0001] This application relates to the field of satellite design technology, including satellite and constellation fault simulation and modeling systems, related methods, and storage media. Background Technology

[0002] A satellite consists of two parts: the payload and the satellite platform. The payload performs the mission, while the satellite platform ensures the payload's mission is supported. The satellite platform has a certain degree of versatility. Generally, a satellite platform mainly consists of a structural and mechanical subsystem, a data management subsystem, an attitude and control subsystem, a power supply subsystem, a thermal control subsystem, a telemetry and control subsystem, and a telemetry and control subsystem. Among these, faults in the structural and mechanical subsystem are generally analyzed only as a whole satellite.

[0003] In the process of researching and practicing existing technologies, the inventors of the embodiments of this application discovered that current satellite simulations generally involve independent simulation and testing of each subsystem, with only certain joint testing conducted at the desktop state of the entire satellite. This results in high hardware requirements for simulation testing and a long development cycle for the entire satellite. Furthermore, there is insufficient sufficiency in system-level simulation verification; that is, fault transmission between individual units and subsystems is concentrated within the subsystem, and no fault transmission channels are established between onboard subsystems, between subsystems and the entire satellite, or between the entire satellite and the constellation system. Therefore, it is evident that the existing satellite simulation capabilities for system-level joint simulation and fault simulation need further improvement. Summary of the Invention

[0004] This application provides a satellite and constellation fault simulation and simulation system, related methods and storage media, which can realize the transmission of faults from components to subsystems and other subsystems, integrate them to form the overall satellite mission capability, and then transmit them from the whole satellite to the constellation system, thereby realizing constellation and satellite fault simulation.

[0005] Firstly, embodiments of this application provide a fault simulation and modeling system. The method is used in satellite and satellite constellation simulation systems. It should be noted that the functions implemented by each component, part, or module in this fault simulation and modeling system can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware. Embodiments of this application do not limit this. The fault simulation and modeling system includes:

[0006] The constellation simulation analysis component is used to acquire payload parameters and the first satellite status within a historical period; the payload parameters or overall satellite availability are adjusted in each time unit to input the satellite status into the constellation system index calculation to obtain constellation performance simulation data of the second satellite status within a preset time period;

[0007] The payload parameters include communication beam angle, long-term satellite attitude, and available satellite payload range. The constellation performance simulation data includes instantaneous coverage of the target area, cumulative coverage within the historical time period, and coverage interval of the target area. The target area is a portion of the global ground grid points. Multiple group leader satellite statuses are sent to the satellite simulation component. The historical time period includes at least one time unit.

[0008] The satellite simulation component is used to simulate the states of the multiple group leader satellites; within each time unit, it generates the second satellite state for the next time unit based on the first satellite state, sets the second satellite state as the initial calculation state; and sends satellite indicators and telemetry data to the satellite ground telemetry and control simulation component.

[0009] The satellite ground control simulation component is used to analyze the satellite indicators and telemetry data, and generate ground control management simulation data, including remote control commands, satellite mission planning and management; and to simulate on-orbit ground control station failures under various preset abnormal modes.

[0010] In some implementations, the constellation simulation analysis component includes a ground grid division module, a satellite-to-ground visibility calculation module, a ground visibility module, a constellation performance index calculation module, and a constellation grouping management module;

[0011] The constellation grouping management module deploys a grouping model, which is used to group the satellite constellation into multiple star groups. Each star group has a leader star, and the status of the leader star is synchronized to all stars in the group.

[0012] In some implementations, the constellation simulation analysis component is used for:

[0013] Each group leader satellite was converted into a digital model and embedded with satellite simulation components.

[0014] In some embodiments, the satellite simulation component includes a satellite digital model and a processing and solving module. The satellite digital model includes a single-machine simulation layer, a subsystem simulation layer, and a space environment simulation layer. The single-machine simulation layer, the subsystem simulation layer, the space environment simulation layer, and the processing and solving module exchange parameter status based on a shared database.

[0015] The processing and calculation module is used to characterize different types of fault modes by adjusting the single-machine simulation layer and the subsystem simulation layer based on the shared database.

[0016] Based on the shared database, the parameter states of each simulation are transmitted between the single-machine simulation layer, the subsystem simulation layer, and the space environment simulation layer to establish single-machine level digital models, subsystem level digital models, and full-star level digital models, respectively.

[0017] The processing and calculation module, the single-machine simulation layer, the subsystem simulation layer, and the space environment simulation layer, respectively, update and calculate the satellite status at fixed intervals based on the single-machine level digital model, the subsystem level digital model, and the whole-satellite digital model, simulating the control cycle of the satellite service software and the telemetry data transmission cycle in the real state of the on-orbit satellite.

[0018] In some implementations, the processing and solving module is further configured to: send payload application constraints and satellite state constraints to the constellation simulation analysis component;

[0019] The constellation simulation analysis component is also used to adjust the payload parameters or overall satellite availability in each time unit according to the payload application constraints and the satellite state constraints, so as to input the satellite state into the constellation system index calculation and obtain the constellation performance simulation data.

[0020] In some implementations, the constellation simulation analysis component is also used for:

[0021] The beam parameters of the working on-board sensors are converted into the beam shape of the on-board sensors, the satellite attitude is converted into angle constraints, and the satellite-to-ground relationship is converted into single-satellite coverage and multi-satellite coverage.

[0022] In the constellation performance analysis process, satellite-to-ground visibility is calculated. If the satellite-to-ground connection is within the angular constraint range, the satellite-to-ground visibility is valid. Based on the grid visibility solution results and the time unit used for the solution, ground visibility data is generated.

[0023] In the calculation of constellation performance indicators, the constellation performance simulation data is obtained based on the ground visibility data.

[0024] In some embodiments, the system further includes a human-computer interaction interface; the subsystem simulation layer includes an on-board structure model, a whole-satellite model, an orbital dynamics model, and an attitude dynamics model.

[0025] The on-board structure model is used to visualize the human-computer interaction interface, provide shape and quality parameters of the satellite in various states, and introduce the on-board installation matrix of various sensitive devices and actuators.

[0026] In some implementations, the single-machine simulation layer includes on-board mechanisms, attitude sensing devices, attitude actuators, power components, telemetry and control components, and mission payload modules.

[0027] The on-board mechanism is used to introduce the product status corresponding to the target satellite into the product working status according to the target satellite status, so as to generate product working output parameters and incorporate them into the whole satellite calculation process. The target satellite status includes the solar array deployment status, the solar array drive device working status, the on-board antenna mechanism deployment status, and the power on / off status and main performance index parameters of each individual product on the satellite.

[0028] Secondly, embodiments of this application provide a fault simulation and modeling method, which has the function of realizing each component, module or assembly in the fault simulation and modeling system provided in the first aspect above.

[0029] Establish a satellite constellation and divide it into multiple star groups, and select a leader star for each star group;

[0030] Each group leader satellite was converted into a digital model and incorporated into satellite simulation components;

[0031] Set the initial state of the satellite and the initial state on board;

[0032] According to the preset satellite service logic, the satellites in the satellite constellation are initiated to enter orbit, the solar array deployment operation is performed, and the corresponding fault handling method is selected according to the solar array deployment operation result.

[0033] Based on the satellite attitude, solar array temperature model, and illumination angle of each solar array, the solar array current is calculated.

[0034] The temperatures of various products on the satellite were calculated based on the overall satellite thermal model and the solar array thermal model.

[0035] The bus current and voltage are obtained based on the solar array current, the on-board product power-on / off status, and the battery pack voltage within the historical time unit.

[0036] Switch the leader satellite to on-orbit status, enabling the satellites to carry out on-orbit work according to the preset mission logic, and the satellites in the group replicate the status of the leader satellite;

[0037] Based on the power-on / off status of each product on the satellite, the bus current and bus voltage, etc., the satellite safety mode judgment logic is introduced to determine whether to start the satellite safety mode for the faulty satellite group. In the satellite safety mode, the status of the leader star of the target leader star of the faulty satellite group is updated to satellite payload unavailable, and the satellite payload of the faulty satellite group is no longer introduced when calculating the constellation performance index.

[0038] The target area network visibility status table is updated based on the original status that all satellites are valid, and the satellite visibility data of the faulty satellite group is removed from the visibility status table.

[0039] Thirdly, embodiments of this application provide a computer-readable storage medium having functions corresponding to the components, modules, or parts in the fault simulation and modeling system provided in the first aspect above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functions, and the modules can be software and / or hardware. Specifically, the computer-readable storage medium stores multiple instructions adapted for loading by a processor to execute the steps of the first aspect or any embodiment of the first aspect in this application.

[0040] Compared to existing technologies, the solution provided in this application mainly designs: a constellation simulation analysis component, a satellite simulation component, and a satellite ground telemetry and control simulation component. The constellation simulation analysis component can perform simulation analysis independently, or it can be combined with the satellite simulation component and the satellite ground telemetry and control simulation component to form a fault simulation capability from upper-level components to the entire satellite and the system. Hardware support equipment is used to ensure computing power and deploy the fault simulation system. A human-computer interaction interface is used to realize human-computer interaction and ensure system availability. By using this system, faults can be transmitted from components to subsystems and other subsystems, comprehensively forming the overall satellite mission capability, and then transmitted from the entire satellite to the constellation system, thereby realizing constellation and satellite fault simulation, shortening the satellite development cycle, improving satellite ground simulation capabilities, reducing the difficulty of satellite and constellation system fault simulation, and improving satellite and constellation system testing and simulation capabilities. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a satellite and satellite constellation simulation system in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of a constellation analysis process in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of internal data transmission in the fault simulation and simulation system as described in this application embodiment;

[0044] Figure 4 This is a schematic diagram of a task within adjacent time units in an embodiment of this application;

[0045] Figure 5 This is a flowchart illustrating a fault simulation and modeling method in an embodiment of this application. Detailed Implementation

[0046] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects (for example, the first satellite state and the second satellite state in the embodiments of this application represent different satellite states with the same attributes), and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not necessarily limited to those explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products, or devices. The module divisions appearing in the embodiments of this application are merely logical divisions; in actual applications, there may be other division methods. For example, multiple modules may be combined into or integrated into another system, or some features may be ignored or not performed. In addition, the shown or discussed mutual couplings or direct couplings or communication connections may be through some interfaces, and the indirect couplings or communication connections between modules may be electrical or other similar forms, none of which are limited in the embodiments of this application. Moreover, the modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed among multiple circuit modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of this application.

[0047] In related technologies, satellite simulations commonly involve independent simulation and testing of each subsystem, with joint testing only conducted at the desktop state of the entire satellite. This results in high hardware requirements for simulation testing and a long development cycle for the entire satellite. Furthermore, there is insufficient sufficiency in system-level simulation verification; fault propagation between individual units and subsystems is concentrated within the subsystem itself, and no fault propagation channels are established between onboard subsystems, between subsystems and the entire satellite, or between the entire satellite and the constellation system. Existing satellite simulation technologies generally have limited system-level joint simulation and fault simulation capabilities. Therefore, this application's embodiments will combine... Figures 1-5 The technical solutions of the embodiments of this application will be described by way of example.

[0048] See Figure 1 A satellite and satellite constellation simulation system is provided, which is applied in the field of satellite design. The satellite fault simulation system mainly includes a constellation simulation analysis component 101, a satellite simulation component 102, a satellite ground telemetry and control simulation component 103, a data interaction and processing component 104, hardware support equipment 105, and a human-computer interaction interface 106.

[0049] The constellation simulation analysis component 101 can perform simulation analysis independently, or it can be combined with the satellite simulation component 102 and the satellite ground telemetry and control simulation component 103 to form a fault simulation capability from upper-level components to the entire satellite and system. Hardware support equipment is used to ensure computing power and deploy the fault simulation system. The human-computer interaction interface 106 is used to realize human-computer interaction and ensure system availability. These are described in detail below:

[0050] I. Regarding constellation simulation analysis components

[0051] The constellation simulation analysis component 101 is used to acquire payload parameters and the first satellite status within a historical period; adjust the payload parameters or overall satellite availability in each time unit to input the satellite status into the constellation system index calculation, and obtain constellation performance simulation data of the second satellite status within a preset time period.

[0052] The payload parameters include the communication beam angle, the long-term attitude of the satellite, and the available range of the satellite payload. The constellation performance simulation data includes the instantaneous coverage of the target area, the cumulative coverage within the historical period, and the coverage interval of the target area. The target area is a portion of the global ground grid points. Multiple group leader satellite statuses are sent to the satellite simulation component. The historical period includes at least one time unit.

[0053] The constellation simulation analysis component is also used to adjust the payload parameters or overall satellite availability in each time unit according to the payload application constraints and the satellite state constraints, so as to input the satellite state into the constellation system index calculation and obtain the constellation performance simulation data.

[0054] For example, the satellite orbits of constellation simulation analysis components can be obtained through numerical integration using an orbital dynamics model influenced by the higher-order Earth's gravitational field and atmospheric drag, combined with an RKF7 / 8 integrator, an orbital dynamics model, or an SGP4 model. By numerically simulating the onboard payload capabilities, these can be simplified into functional onboard sensor beam parameters: that is, converting satellite attitude into onboard sensor beam shape and angular constraints, transforming the satellite-to-ground relationship into single-satellite and multi-satellite coverage relationships, and converting satellite coverage into the visibility judgment of grid points to the satellites.

[0055] For reference, please see below. Figure 2 This illustrates a constellation performance analysis workflow. Satellite fault scenarios are introduced into the constraint solution. To facilitate satellite state control within the constellation, a grouping model is introduced, with a different group leader satellite assigned to each group. The state of the group leader satellite is synchronized to all satellites within the group. The state of the group leader satellite is simulated using a satellite simulation component.

[0056] During constellation system performance simulation, the satellite state is incorporated into the constellation system performance calculation by adjusting payload capabilities (such as communication beam angle, satellite long-term attitude, and satellite payload availability) or overall satellite availability in each time slice, thereby realizing the calculation of constellation system performance under the new state.

[0057] Figure 2 In this process, a global grid of points is generated for a specified ground area to facilitate the calculation.

[0058] (1) Regarding ground grid division

[0059] Global and ground target areas are represented using irregular ground regions enclosed by spherical polygons, and the mesh accuracy is adjusted by changing the number of subdivisions. The spherical polygons are closed curves; the sphere is divided into two regions, and the smaller area is selected as the irregular ground region enclosed by the spherical polygon. The global mesh uses an icosahedral subdivision method. The mesh point generation algorithm based on the icosahedral subdivision has the advantages of uniform subdivision area, small deformation of the subdivision shape, and uniform distance between mesh points. New points are added on top of the icosahedron as the midpoints of each edge of the icosahedron. The target region can be represented as a portion of the global mesh points.

[0060] (2) Regarding the solution of satellite-to-ground visibility

[0061] A designated point is selected within the grid as its representative. Substituting the payload's operational characteristics, onboard installation location, and payload-ground relationship (such as communication link calculation results, ground elevation angle, inter-satellite communication capabilities, and other application constraints), the payload's effective range is transformed into sensor-operable angular constraints. If the satellite-ground connection is within these angular constraints, the satellite and ground are considered visible; otherwise, they are considered invisible.

[0062] (3) Regarding the ground visibility table

[0063] Based on the grid visibility calculation results, combined with the calculation time slice, a ground visibility table is generated, and the visible satellite numbers are recorded.

[0064] (4) Calculation of constellation performance indicators

[0065] Based on the definition of the indicators, they can be obtained through numerical calculations using a ground visibility table as a foundation, such as instantaneous coverage of the target area, cumulative coverage over a period of time, and coverage interval of the target area. Constellation performance indicators are defined according to different application requirements, and given calculation definitions, then numerical calculations are performed.

[0066] II. Regarding satellite simulation components

[0067] The satellite simulation component 102 is used to receive satellite status setting parameters and fault setting parameters, and output satellite indicators and telemetry data. Specifically, it can be used to simulate the status of the multiple group of satellites; within each time unit, it generates a second satellite status for the next time unit based on the first satellite status, and sets the second satellite status as the initial calculation state; and it sends satellite indicators and telemetry data to the satellite ground control simulation component.

[0068] In some implementations, the satellite simulation component includes a satellite digital model and a processing and solving module. The satellite digital model includes a single-machine simulation layer, a subsystem simulation layer, and a space environment simulation layer. The single-machine simulation layer, the subsystem simulation layer, the space environment simulation layer, and the processing and solving module exchange parameter status based on a shared database.

[0069] The processing and calculation module is used to characterize different types of fault modes by adjusting the single-machine simulation layer and the subsystem simulation layer based on the shared database; and to establish single-machine level digital models, subsystem level digital models and full-star level digital models by exchanging the simulated parameter states between the single-machine simulation layer, the subsystem simulation layer and the space environment simulation layer based on the shared database.

[0070] The processing and calculation module, the single-machine simulation layer, the subsystem simulation layer, and the space environment simulation layer can update and calculate the satellite status at fixed intervals based on the single-machine level digital model, the subsystem level digital model, and the whole-satellite digital model, respectively, to simulate the control cycle of the satellite service software and the telemetry data transmission cycle in the real state of the on-orbit satellite.

[0071] In other embodiments, the processing and solving module is also used to send payload application constraints and satellite state constraints to the constellation simulation analysis component.

[0072] In some implementations, the subsystem simulation layer includes an on-board structure model, a whole-satellite model, an orbital dynamics model, and an attitude dynamics model.

[0073] The on-board structure model is used to visualize the human-computer interaction interface, provide shape and quality parameters of the satellite in various states, and introduce the on-board installation matrix of various sensitive devices and actuators.

[0074] In some implementations, the single-machine simulation layer includes on-board mechanisms, attitude sensing devices, attitude actuators, power components, telemetry and control components, and mission payload modules.

[0075] The on-board mechanism is used to introduce the product status corresponding to the target satellite into the product working status according to the target satellite status, so as to generate product working output parameters and incorporate them into the whole satellite calculation process. The target satellite status includes the solar array deployment status, the solar array drive device working status, the on-board antenna mechanism deployment status, and the power on / off status and main performance index parameters of each individual product on the satellite.

[0076] Specifically, the satellite simulation component is capable of receiving satellite status setting parameters and fault setting parameters, and outputting satellite indicators and telemetry data. The satellite simulation component can divide the satellite digital model into a single-unit layer, a subsystem layer, and a space environment layer, and incorporate on-board processing and calculations. Different types of fault conditions are characterized by adjusting the mathematical models of the single-unit and subsystems. Single-unit, subsystem, and space environment layers, along with processing and calculations, are established separately for each layer, resulting in single-unit, subsystem, and full-scale satellite digital models. Parameter status transfer between different modules is achieved by sharing a database with other subsystems.

[0077] Single-machine level faults are introduced through the single-machine digital model, causing the single-machine output parameters to change according to the single-machine working principle. The single-machine parameters are then introduced into the attitude and track control subsystem, power supply subsystem, etc., causing changes in the subsystem-level parameters.

[0078] Individual unit power-on / off status and other indicators are incorporated into both the power supply and thermal control subsystems for subsystem calculations. Simultaneously, the status of individual onboard units is controlled by the onboard mission logic, thereby simulating the satellite's on-orbit operational status. Data transmission within the system is as follows: Figure 3 As shown.

[0079] In this embodiment, the satellite simulation component can update and calculate the satellite state at a fixed cycle, simulating the control cycle of the satellite administration software and the telemetry data transmission cycle in the actual state of the on-orbit satellite. Simultaneously, it includes acceleration and deceleration operations and has the capability to divide time slices in seconds, thereby simulating on-board operational logic. Within each time unit, based on the state settings of the previous time unit, and using the time unit as the step size, the on-board product model is input for processing and calculation, incorporating on-board logic to generate the satellite state parameters for the next time unit. The tasks of adjacent time units are illustrated as follows... Figure 4 As shown. When the initial state T0 is the initial power-on state of the satellite, the on-board state is the default state of the satellite. As the space environment and on-board logic are applied, the satellite updates its on-board state. Figure 4 The work within time unit T2 is the same as that within time unit T1. The whole satellite state obtained from the calculation within time unit T1 is used as the initial state for calculation.

[0080] 1) Spatial environment

[0081] The influence of the space dynamics environment on the orbit is introduced through an orbital recursive model. The space attitude environment disturbance torques mainly include gravity gradient torque, aerodynamic torque, solar pressure torque, and remanent magnetization torque. These are introduced into the attitude control algorithm in a rectangular form representing the environmental disturbance forces. The space magnetic model parameters are taken from the SPACE WEATHER DATA model parameters, serving as the environment for the magnetic torque converter and the magnetometer measurement environment to support whole-satellite magnetic measurements and magnetic despinning. A space thermal environment thermal control simulation analysis software is established, and the calculation results are output and incorporated into the system after thermal control calculations are completed. Solar arrays are conventionally installed with thermal insulation and their thermal environment is calculated independently. A program for calculating the positions of the sun and moon is built into the system to determine the relative positions of the satellite and the Earth, and between the satellite and the sun and moon. The GPS and BeiDou constellation systems are also integrated into the system to support the assessment of the availability of onboard GNSS components.

[0082] 2) Structure and Mechanism

[0083] The onboard structure primarily ensures visualization of the satellite's human-machine interface, provides shape and quality parameters for each satellite state, and imports the onboard installation matrices for various sensitive and actuator devices. The satellite model employs a model injection method, and its state is incorporated into the overall satellite parameter adjustment management. The mechanical components, based on the target satellite's state, mainly include the solar array deployment state, the solar array drive unit operational state, and the onboard antenna mechanism deployment state. The corresponding product states are imported into their respective operational states, generating product operational output parameters, thereby incorporating them into the overall satellite calculation process.

[0084] 3) Thermal control subsystem

[0085] The satellite attitude of the thermal control subsystem is calculated by the onboard attitude and orbit control subsystem; the onboard mechanism state is given by the structure and mechanism subsystem; the power on / off state is given by the power supply subsystem; and the on-orbit position is obtained by orbit extrapolation. Onboard thermal simulation is achieved by pre-importing the basic thermal model and adjusting state parameters. A software call scheme is adopted, based on the dynamic link library TDComConnectAcad64.dll provided by the Thermal Desktop software. The program calls this interface to realize the input and output of symbol parameters (Symbols) of the Thermal Desktop model. All variables are pre-defined using the Symbol and Logic manager in the TD software for parameter transfer with external interfaces, fully utilizing the analysis and calculation capabilities of the thermal control software.

[0086] 4) Attitude and Orbit Control Subsystem

[0087] The attitude sensing devices in the attitude and orbit control subsystem mainly include star sensors, digital sun sensors, 01 sun sensors, digital horizon instruments, fiber optic gyroscopes, and magnetometers. Attitude actuators are flywheels and magnetic torque converters, and propulsion systems (attitude control). Onboard orbit and time sensors are spaceborne GNSS, and the orbit control system is the propulsion system (orbit control). All sensor models incorporate measurement noise, mounting matrices, and various fault injection models. Comprehensive faults are also included, such as sensor data invariance, data out-of-bounds errors, data jumps, and compatibility faults between different sensors. The actuator models mainly include flywheel dynamics models, magnetic torque converter models, and propulsion system dynamics models. The flywheel dynamics model converts the target rotational speed of the real flywheel (when connected to a mathematical flywheel) into differential torque, introducing it into attitude dynamics for closed-loop control; the magnetic torque converter model converts the switching state of the magnetic torque converter into magnetic torque, introducing it into attitude dynamics for closed-loop control. The orbit extrapolation model incorporates the thrust of the propulsion system, equipping orbit-changing capabilities with both continuous and pulsed thrust. It also introduces variations in thrust magnitude, direction, and skew, and includes noise to characterize thrust instability. Furthermore, the attitude and orbit control subsystem calculations incorporate solar array current analysis to comprehensively determine satellite attitude.

[0088] 5) Power supply subsystem

[0089] In the power control and distribution unit, the power distribution section is controlled by the entire satellite state control matrix. The efficiency of the power distribution to DC / DC conversion is considered, and typical faults such as circuit crosstalk and grounding deviation are introduced through PCDU quantification. The battery pack in the subsystem employs two modeling methods: equivalent circuit modeling and numerical fitting modeling based on charge-discharge curves. The model selection can be made according to specific circumstances. The PCDU digitizes the charge-discharge management circuit, primarily power distribution circuits, and establishes on-board product state functions for on-board product power supply status management. The solar array model independently calculates solar array temperature, incorporating temperature data into the battery circuit model.

[0090] 6) Measurement and Control Subsystem

[0091] During the simulation of the onboard telemetry, tracking, and command (TT&C) system, a link calculation formula is introduced based on the capabilities of the TT&C transponder and the ground station, and the equivalent beam angle of the TT&C subsystem is incorporated into the satellite simulation calculation. The operational capability of the satellite TT&C subsystem is characterized in real time by combining satellite attitude and ground station capabilities. For the TT&C subsystem itself, simulations of fault conditions such as reduced transmission power and random bit errors caused by interference are included.

[0092] 7) Payload

[0093] For various payloads, the focus is on payload application indicators based on the payload's operating principle, and the effective payload model is simplified. For remote sensing payloads, the focus is on payload availability, simplifying the payload to a rectangular field-of-view sensor. Fault modes such as temperature exceeding limits, payload bus communication anomalies, and payload service data transmission anomalies are established. For communication payloads, similar to the simulation of the telemetry, tracking, and command (TT&C) subsystem, payload simplification is completed. For complex communication systems, fault modes such as on-board routing function anomalies and payload overload are added. For laser communication payloads, targeted faults such as target satellite lock-on failure and solar radiation incident link interruption are added.

[0094] III. Regarding Satellite Ground Measurement and Control Simulation Components

[0095] The satellite ground telemetry and control simulation component 103 is used to analyze the satellite indicators and the telemetry data, and generate ground telemetry and control management simulation data, which includes remote control commands, satellite mission planning and management; and simulates the failure of the satellite's on-orbit ground telemetry and control station under various preset abnormal modes.

[0096] Specifically, this satellite ground control simulation component can be used to simulate ground control and management functions, mainly performing telemetry data reception and parsing, remote control command generation, and satellite mission planning and management. Designed independently, the ground control simulation component supports single-satellite and multi-satellite control. It incorporates various abnormal modes, including ground station tracking delay, ground station tracking failure, telemetry software parsing anomalies, command source code errors, command checksum errors, and command transmission failures, simulating on-orbit ground control station malfunctions.

[0097] In some implementations, the constellation simulation analysis component is also used for:

[0098] Each group leader satellite is converted into a digital model and embedded with satellite simulation components.

[0099] In some implementations, the constellation simulation analysis component is also used for:

[0100] The beam parameters of the working on-board sensors are converted into the beam shape of the on-board sensors, the satellite attitude is converted into angle constraints, and the satellite-to-ground relationship is converted into single-satellite coverage and multi-satellite coverage.

[0101] In the constellation performance analysis process, satellite-to-ground visibility is calculated. If the satellite-to-ground connection is within the angular constraint range, the satellite-to-ground visibility is valid. Based on the grid visibility solution results and the time unit used for the solution, ground visibility data is generated.

[0102] In the calculation of constellation performance indicators, the constellation performance simulation data is obtained based on the ground visibility data.

[0103] As can be seen, in this embodiment, the system is mainly designed with: a constellation simulation analysis component, a satellite simulation component, and a satellite ground telemetry and control simulation component. The constellation simulation analysis component can perform simulation analysis independently, or it can be combined with the satellite simulation component and the satellite ground telemetry and control simulation component to form a fault simulation capability from upper-level components to the entire satellite and the system. Hardware support equipment is used to ensure computing power and deploy the fault simulation system. The human-computer interaction interface is used to realize human-computer interaction and ensure system availability. By using this system, faults can be transmitted from components to subsystems and other subsystems, comprehensively forming the overall satellite mission capability, and then transmitted from the entire satellite to the constellation system, thereby realizing constellation and satellite fault simulation, shortening the satellite development cycle, improving satellite ground simulation capabilities, reducing the difficulty of satellite and constellation system fault simulation, and improving the satellite and constellation system testing and simulation capabilities.

[0104] To facilitate understanding, the following sections will explain in detail how to base our understanding on the above. Figures 1-4 The fault simulation and modeling system shown implements a fault simulation and modeling method, which includes:

[0105] 501. Establish a satellite constellation and divide it into multiple star groups, and select the leader star for each star group.

[0106] 502. Convert each group leader satellite into a digital model and incorporate it into the satellite simulation component.

[0107] 503. Set the initial state of the satellite and the initial state on the satellite.

[0108] For example, when the satellite's initial state is set to satellite-rocket separation, the satellite will automatically power on after separation. In the initial state, the satellite's onboard computer, telemetry and control transponder, and power control and distribution unit (PCDU) will be powered on, while other products on the satellite will be powered off.

[0109] 504. According to the preset satellite service logic, initiate the orbit insertion process for each satellite in the satellite constellation, execute the solar array deployment operation, and select the corresponding fault handling method based on the solar array deployment operation result.

[0110] Specifically, the satellite will proceed with the normal, pre-set operational logic to enter the orbit insertion process, with onboard products being powered on sequentially and the solar array deployment operation executed. If the solar array deployment fails, the solar array deployment status will be monitored as not deployed. After this fault setting, the corresponding status will be transmitted to the individual solar array model, and the satellite's rotational inertia and the solar array's mounting matrix will be adjusted accordingly.

[0111] 505. The solar array current is calculated based on the satellite attitude, solar array temperature model, and illumination angle of each solar array wing.

[0112] Specifically, a new moment of inertia is incorporated into the satellite attitude calculation, and a new solar array installation matrix is ​​incorporated into the calculation of the illumination angle of each solar array. Combined with the solar array temperature model, the solar array current is calculated.

[0113] 506. Based on the overall satellite thermal model and the solar array thermal model, the temperatures of each product on the satellite were calculated.

[0114] Specifically, a thermal model of the undeployed state of the solar array is introduced into the overall satellite thermal model to calculate the temperature of each product on the satellite and give the on / off status of the heating belt.

[0115] 507. Based on the solar array current, the on-board product's power-on / off status, and the battery pack voltage within the historical time unit, the bus current and voltage are obtained.

[0116] Specifically, the charging and discharging status and voltage of the battery pack are calculated based on the solar array current, the on-board product switching status, and the battery pack voltage of the previous time slice, and then substituted into the PCDU model to obtain the bus current and voltage.

[0117] 508. Switch the leader satellite to on-orbit status, so that the satellite can carry out on-orbit work according to the preset mission logic, and the satellites in the group replicate the status of the leader satellite.

[0118] Specifically, the satellite maintains its solar panels in an undeployed state to complete despinning and establish its attitude. The satellite then enters on-orbit standby and testing mode and carries out on-orbit work according to the predetermined mission logic.

[0119] 509. Based on the power-on / off status of each product on the satellite, the bus current and bus voltage, etc., introduce on-board safety mode judgment logic to determine whether to start the satellite safety mode for the faulty satellite group. In the satellite safety mode, update the status of the target leader star of the faulty satellite group to satellite payload unavailable, and no longer introduce the satellite payload of the faulty satellite group when calculating the constellation performance index.

[0120] Simulated scenario: Due to the solar panels not deploying and insufficient sunlight over a long period, the satellite continues to discharge, resulting in low satellite bus voltage. This triggers the satellite's safety mode by introducing onboard mission management logic.

[0121] In the satellite safety mode, to conserve energy, the satellite shuts down its payload missions, and the satellite loses its payload mission capability. The status of the group leader satellite is updated to the satellite payload unavailable state according to the time slice, and the satellite payload of this group is no longer included in the constellation system performance calculation.

[0122] 510. Update the target area network visibility status table based on the original status that all satellites are valid, and remove the satellite visibility data of the faulty satellite group from the visibility status table.

[0123] Specifically, after updating the target group of satellites to a payload unavailable state, the target area network visibility status table is updated based on the original state that all satellites are valid. The visibility data of this group of satellites is removed or the visibility status table is recalculated based on the new state. The constellation performance index is calculated based on the visibility status table to obtain the constellation system performance index after the fault.

[0124] It is evident that the fault can be transmitted from the component to the subsystem and other subsystems, forming the overall satellite mission capabilities, and then from the entire satellite to the constellation system, thereby realizing constellation and satellite fault simulation.

[0125] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0126] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0127] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, apparatuses, or modules, and may be electrical, mechanical, or other forms.

[0128] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0130] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0131] The computer program product includes one or more computer instructions. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0132] The technical solutions provided in the embodiments of this application have been described in detail above. Specific examples have been used in the embodiments of this application to illustrate the principles and implementation methods of the embodiments of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of the embodiments of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of this application. Therefore, the content of this specification should not be construed as a limitation on the embodiments of this application.

Claims

1. A fault simulation and modeling system for satellite and satellite constellation simulation systems, characterized in that, include: constellation The simulation analysis component is used to obtain payload parameters and the first satellite status within a historical time period; The payload parameters or overall satellite availability are adjusted in each time unit to input the satellite status into the constellation system index calculation, thereby obtaining constellation performance simulation data under the second satellite status within a preset time period. The payload parameters include communication beam angle, long-term satellite attitude, and available satellite payload range. The constellation performance simulation data includes instantaneous coverage of the target area, cumulative coverage within the historical time period, and coverage interval of the target area. The target area is a portion of the global ground grid points. Multiple group leader satellite statuses are sent to the satellite simulation component. The historical time period includes at least one time unit. The satellite simulation component is used to simulate the states of the multiple group leader satellites; within each time unit, it generates the second satellite state for the next time unit based on the first satellite state, sets the second satellite state as the initial calculation state; and sends satellite indicators and telemetry data to the satellite ground telemetry and control simulation component. The satellite ground telemetry and control simulation component is used to analyze the satellite indicators and telemetry data, and generate ground telemetry and control management simulation data, including remote control commands, satellite mission planning and management; and to simulate on-orbit ground telemetry and control station failures under various preset abnormal modes. The constellation simulation analysis component includes a ground grid division module, a satellite-to-ground visibility calculation module, a ground visibility module, a constellation performance index calculation module, and a constellation grouping management module; The constellation grouping management module deploys a grouping model, which is used to group the satellite constellation into multiple star groups. Each star group has a leader star, and the status of the leader star is synchronized to all stars in the group.

2. The fault simulation and modeling system according to claim 1, characterized in that, The constellation simulation analysis component is also used for: Each group leader satellite is converted into a digital model and embedded with satellite simulation components.

3. The fault simulation and modeling system according to claim 2, characterized in that, The satellite simulation component includes a satellite digital model and a processing and solving module. The satellite digital model includes a single-machine simulation layer, a subsystem simulation layer, and a space environment simulation layer. The single-machine simulation layer, the subsystem simulation layer, the space environment simulation layer, and the processing and solving module exchange parameters and statuses based on a shared database. The processing and calculation module is used to characterize different types of fault modes by adjusting the single-machine simulation layer and the subsystem simulation layer based on the shared database. Based on the shared database, the parameter states of each simulation are transmitted between the single-machine simulation layer, the subsystem simulation layer, and the space environment simulation layer to establish single-machine level digital models, subsystem level digital models, and full-star level digital models, respectively. The processing and calculation module, the single-machine simulation layer, the subsystem simulation layer, and the space environment simulation layer, respectively, update and calculate the satellite status at fixed intervals based on the single-machine level digital model, the subsystem level digital model, and the whole-satellite digital model, simulating the control cycle of the satellite service software and the telemetry data transmission cycle in the real state of the on-orbit satellite.

4. The fault simulation and modeling system according to claim 3, characterized in that, The processing and calculation module is also used to: send load application constraints and satellite state constraints to the constellation simulation analysis component; The constellation simulation analysis component is also used to adjust the payload parameters or overall satellite availability in each time unit according to the payload application constraints and the satellite state constraints, so as to input the satellite state into the constellation system index calculation and obtain the constellation performance simulation data.

5. The fault simulation and modeling system according to claim 4, characterized in that, The constellation simulation analysis component is also used for: The beam parameters of the working on-board sensors are converted into the beam shape of the on-board sensors, the satellite attitude is converted into angle constraints, and the satellite-to-ground relationship is converted into single-satellite coverage and multi-satellite coverage. In the constellation performance analysis process, the visibility of the satellite and the ground is calculated. If the line connecting the satellite and the ground is within the angular constraint range, the visibility of the satellite and the ground is valid. Ground visibility data is generated based on the grid visibility solution results and the time unit used for solution. In the calculation of constellation performance indicators, the constellation performance simulation data is obtained based on the ground visibility data.

6. The fault simulation and modeling system according to claim 5, characterized in that, The fault simulation and modeling system also includes a human-computer interaction interface; the subsystem simulation layer includes an on-board structure model, a whole satellite model, an orbital dynamics model, and an attitude dynamics model. The on-board structure model is used to visualize the human-computer interaction interface, provide shape and quality parameters of the satellite in various states, and introduce the on-board installation matrix of various sensitive devices and actuators.

7. The fault simulation and modeling system according to claim 6, characterized in that, The single-machine simulation layer includes on-board mechanisms, attitude sensing devices, attitude actuators, energy components, telemetry and control components, and mission payload modules: The on-board mechanism is used to introduce the product status corresponding to the target satellite into the product working status according to the target satellite status, so as to generate product working output parameters and incorporate them into the whole satellite calculation process. The target satellite status includes the solar array deployment status, the solar array drive device working status, the on-board antenna mechanism deployment status, and the power on / off status and main performance index parameters of each individual product on the satellite.

8. A fault simulation and modeling method, characterized in that, include: Establish a satellite constellation and divide it into multiple star groups, and select a leader star for each star group; Each group leader satellite was converted into a digital model and incorporated into satellite simulation components; Set the initial state of the satellite and the initial state on board; According to the preset satellite service logic, the satellites in the satellite constellation are initiated to enter orbit, the solar array deployment operation is performed, and the corresponding fault handling method is selected according to the solar array deployment operation result. Based on the satellite attitude, solar array temperature model, and illumination angle of each solar array, the solar array current is calculated. The temperatures of various products on the satellite were calculated based on the overall satellite thermal model and the solar array thermal model. The bus current and voltage are obtained based on the solar array current, the on-board product power-on / off status, and the battery pack voltage within the historical time unit. Switch the leader satellite to on-orbit status, enabling the satellites to carry out on-orbit work according to the preset mission logic, and the satellites in the group replicate the status of the leader satellite; Based on the power-on / off status of each product on the satellite, the bus current and bus voltage parameters, the satellite safety mode judgment logic is introduced to determine whether to start the satellite safety mode for the faulty satellite group. In the satellite safety mode, the status of the target leader star of the faulty satellite group is updated to satellite payload unavailable, and the satellite payload of the faulty satellite group is no longer introduced when calculating the constellation performance index. The target area network visibility status table is updated based on the original status that all satellites are valid, and the satellite visibility data of the faulty satellite group is removed from the visibility status table.

9. A computer-readable storage medium, characterized in that, It includes instructions that, when run on a computer, cause the computer to perform the method as described in claim 8.

Images