Navigation test method, device, system and electronic equipment for launch vehicle

Abstract

The embodiment of the present application discloses a navigation test method, device, system and electronic equipment for a launch vehicle, and relates to the field of computer technology. The method includes: receiving a second pulse signal sent by a simulator, and synchronizing a local clock according to the second pulse signal; after synchronizing the local clock, sending a first time to the simulator, and sending a first navigation message to the simulator at a preset time interval, and determining a second time and a second navigation message corresponding to the second time according to the first navigation message received in each first time interval; sending the second navigation message to an onboard computer, and receiving the third navigation message and the second time sent by the onboard computer; determining the fourth navigation message corresponding to the second time, and determining the accuracy of the navigation test according to the information difference between the fourth navigation message and the third navigation message. The embodiment of the present application reduces the influence of the time drift of the host computer on the accuracy of the navigation test, and improves the credibility of the navigation test.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and more specifically, to a navigation test method, device, system and electronic equipment for a launch vehicle. Background Art

[0002] The navigation system is an important component of the launch vehicle and is used to measure the motion information of the launch vehicle in real time. Real-time kinematic (RTK) technology is a high-precision differential satellite navigation and positioning method. Applying this technology to the integrated navigation of the recovery flight phase of reusable launch vehicles has been an important research direction for reusable launch vehicle navigation in recent years.

[0003] However, in the related art, when testing the navigation system of a launch vehicle based on RTK technology, the time accuracy of the test is low, which becomes a problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a navigation test method, device, system and electronic equipment for a launch vehicle to solve the problem of low test time accuracy when testing the navigation system of a launch vehicle based on RTK technology in the related art.

[0005] According to a first aspect of an embodiment of the present application, a navigation test method for a launch vehicle is provided, the method being applied to a navigation test system, the test system comprising a host computer, a satellite navigation signal simulator, and an onboard computer;

[0006] The method is executed by the host computer, and the method includes:

[0007] Receiving a pulse-per-second signal sent by the simulator, and synchronizing a local clock according to the pulse-per-second signal;

[0008] After synchronizing the local clock, a first time is sent to the simulator, and first navigation information is sent to the simulator at a preset time interval, so that the simulator takes the first time as the starting time and determines the first navigation information received in each first time interval; and according to the first navigation information received in each first time interval, determines the second time and the second navigation information corresponding to the second time, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval;

[0009] Receive the third navigation information and the second time sent by the on-board computer; determine the fourth navigation information corresponding to the second time, and determine the accuracy of the launch vehicle navigation test based on the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the on-board computer based on the second navigation information.

[0010] As an optional implementation manner, the host computer is deployed with a mathematical model of the launch vehicle or preset test data;

[0011] The first navigation information is determined by:

[0012] Acquiring a first position and a first speed of the launch vehicle according to the mathematical model or the preset test data;

[0013] The first position and first speed of the carrier rocket, and the second position and second speed of the reference station are used as the first navigation information; wherein the second position and second speed of the reference station are preset.

[0014] As an optional implementation manner, the second navigation information is obtained by interpolating the first navigation information received within the first time interval, including:

[0015] Interpolate the first position and the first speed of the first navigation information received within the first time interval to obtain a third position and a third speed of the launch vehicle corresponding to the second time;

[0016] The third position and the third speed of the launch vehicle and the second position and the second speed of the reference station are used as the second navigation information.

[0017] As an optional implementation, the test system further includes an arrow receiver and a reference station receiver;

[0018] The third navigation information is determined by the arrow computer according to the second navigation information; and includes:

[0019] The on-arrow computer receives a first positioning result sent by the on-arrow receiver and a second positioning result sent by the reference station receiver;

[0020] Performing a differential operation on the first positioning result and the second positioning result to obtain a fourth position and a fourth speed of the carrier rocket at the second time;

[0021] Obtaining a fifth position and a fifth speed of the strapdown inertial navigation; performing least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain a sixth position and a sixth speed of the launch vehicle as the third navigation information, and sending the third navigation information to the host computer;

[0022] Among them, the first positioning result is obtained by the on-arrow receiver after positioning and solving according to the third position and the third speed, and the third position and the third speed are sent to the on-arrow receiver by the simulator; the second positioning result is obtained by the base station receiver after positioning and solving according to the second position and the second speed, and the second position and the second speed are sent to the base station receiver by the simulator.

[0023] As an optional implementation manner, the determining the fourth navigation information corresponding to the second time includes:

[0024] Determining two first navigation information closest to the second time according to the mathematical model or the preset test data;

[0025] interpolating the first positions and the first speeds of the two first navigation information respectively to determine a seventh position and a seventh speed corresponding to the second time;

[0026] The seventh position and the seventh speed of the carrier rocket are used as the fourth navigation information.

[0027] As an optional implementation manner, determining the accuracy of the navigation test of the launch vehicle according to the information difference between the fourth navigation information and the third navigation information includes:

[0028] Determining a position error of the navigation test according to a difference between the sixth position and the seventh position; determining a speed error of the navigation test according to a difference between the sixth speed and the seventh speed;

[0029] The accuracy of the navigation test of the launch vehicle is determined based on the position error and the velocity error.

[0030] According to a second aspect of an embodiment of the present application, a navigation test method for a launch vehicle is provided, the method being applied to a navigation test system, the test system comprising a host computer, a satellite navigation signal simulator, and an onboard computer;

[0031] The method is performed by the simulator, and comprises:

[0032] Sending a pulse-per-second signal to a host computer so that the host computer synchronizes a local clock according to the pulse-per-second signal;

[0033] Receiving a first time sent by the host computer and first navigation information sent at a preset interval;

[0034] Taking the first time as the starting time, determining the first navigation information received in each first time interval; determining the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval.

[0035] As an optional implementation, the system further includes an onboard receiver and a base station receiver; the first navigation information includes a first position and a first speed of the launch vehicle, and a second position and a second speed of the base station; the second navigation information includes a third position and a third speed of the launch vehicle, and a second position and a second speed of the base station;

[0036] The determining of the second time and the second navigation information corresponding to the second time further includes:

[0037] Sending the third position and the third speed to an on-arrow receiver, so that the on-arrow receiver determines a first positioning result according to the third position and the third speed, and sends the first positioning result to the on-arrow computer;

[0038] as well as,

[0039] Sending the second position and the second speed to a reference station receiver, so that the reference station receiver determines a second positioning result according to the second position and the second speed, and sends the second positioning result to the on-arrow computer;

[0040] Among them, the on-board computer performs a differential operation based on the first positioning result and the second positioning result to obtain the fourth position and the fourth speed of the carrier rocket at the second time; obtains the fifth position and the fifth speed of the strapdown inertial navigation; performs least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain the sixth position and the sixth speed of the carrier rocket as the third navigation information, and sends the third navigation information to the host computer.

[0041] According to a third aspect of an embodiment of the present application, a navigation test device for a launch vehicle is provided, the device being applied to a host computer, and the device comprising:

[0042] A local clock synchronization module, used for receiving the pulse-per-second signal sent by the simulator and synchronizing the local clock according to the pulse-per-second signal;

[0043] A navigation information sending module, used for sending a first time to the simulator after synchronizing a local clock, and sending first navigation information to the simulator at a preset time interval, so that the simulator takes the first time as a starting time, determines the first navigation information received in each first time interval; and determines a second time and second navigation information corresponding to the second time according to the first navigation information received in each first time interval, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval;

[0044] A navigation accuracy determination module is used to receive the third navigation information and the second time sent by the onboard computer; determine the fourth navigation information corresponding to the second time, and determine the accuracy of the launch vehicle navigation test based on the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the onboard computer based on the second navigation information.

[0045] According to a fourth aspect of an embodiment of the present application, a navigation test device for a launch vehicle is provided, the device being applied to a satellite navigation signal simulator, the device comprising:

[0046] A pulse-per-second signal sending module, used for sending a pulse-per-second signal to a host computer, so that the host computer synchronizes a local clock according to the pulse-per-second signal;

[0047] A navigation information receiving module, used for receiving a first time sent by the host computer and first navigation information sent at a preset interval;

[0048] a navigation information determination module, configured to determine the first navigation information received within each first time interval with the first time as the starting time; and to determine the second navigation information corresponding to the second time and the second time according to the first navigation information received within each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received within the first time interval.

[0049] According to a fifth aspect of an embodiment of the present application, a navigation test system for a launch vehicle is provided, the test system comprising a host computer, a simulated satellite navigation signal simulator, and an onboard computer;

[0050] Wherein, the simulator sends a pulse-per-second signal to the upper computer;

[0051] The host computer receives the pulse-per-second signal sent by the simulator and synchronizes the local clock according to the pulse-per-second signal; after synchronizing the local clock, the host computer sends the first time to the simulator and sends the first navigation information to the simulator at a preset time interval;

[0052] The simulator receives the first time sent by the host computer and the first navigation information sent at a preset interval; takes the first time as the starting time, determines the first navigation information received in each first time interval; determines the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval;

[0053] The arrow computer determines the third navigation information according to the second navigation information, and sends the third navigation information and the second time to the host computer; wherein the second time is determined by the first time and the first time interval;

[0054] The host computer determines fourth navigation information corresponding to the second time, and determines the accuracy of the navigation test of the carrier rocket according to the information difference between the fourth navigation information and the third navigation information.

[0055] According to a sixth aspect of an embodiment of the present application, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in any one of the first aspect and the second aspect.

[0056] According to a seventh aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any one of the first aspect and the second aspect are implemented.

[0057] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0058] In the embodiment of the present application, the host computer receives the second pulse signal periodically sent by the satellite navigation signal simulator, and synchronizes the local clock according to the second pulse signal. Since the clock accuracy of the satellite navigation signal is very high and much higher than the clock accuracy of the host computer, the local clock of the host computer can be maintained within an extremely small error range, thereby overcoming the problem of low accuracy of the navigation test of the launch vehicle due to the large clock accuracy error of the host computer in the prior art, reducing the system error of the navigation test of the launch vehicle, and effectively improving the credibility of the navigation test of the launch vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0060] Figure 1a A schematic diagram of the system architecture of a navigation test method for a launch vehicle provided in an embodiment of the present application;

[0061] Figure 1b A schematic diagram of electrical connections of a navigation test system for a launch vehicle provided in an embodiment of the present application;

[0062] Figure 2 A flowchart of a navigation test method applied to a host computer provided in an embodiment of the present application;

[0063] Figure 3 A flowchart of a navigation test method applied to a satellite navigation signal simulator provided in an embodiment of the present application;

[0064] Figure 4 A schematic diagram of the structure of a navigation test device applied to a host computer provided in an embodiment of the present application;

[0065] Figure 5 A structural schematic diagram of a navigation test device applied to a satellite navigation signal simulator provided in an embodiment of the present application;

[0066] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0068] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation as other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" may be implemented as "A", or as "B", or as "A and B".

[0069] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0070] In order to make the purpose, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0071] In the related art, the time accuracy of the navigation test of the launch vehicle based on RTK technology is not high, which leads to large errors in the position and speed of the launch vehicle when the dynamic range of the launch vehicle is large, and cannot meet the reliability of the navigation test of the launch vehicle under high flight dynamics. Therefore, solving the problem of large errors and low reliability in the navigation test of the launch vehicle under high flight dynamics has become a top priority.

[0072] The navigation test method, device, system and electronic equipment for a launch vehicle provided in this application are intended to solve the above-mentioned technical problems of the prior art.

[0073] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0074] Figure 1a A schematic diagram of the system architecture of the navigation test method for a launch vehicle provided in an embodiment of the present application; Figure 1a As shown, the system architecture diagram includes: a host computer 101, a satellite navigation signal simulator 102, a base station receiver 103, an arrow receiver 104, a ground station 105, an arrow data link terminal 106, and an arrow computer 107.

[0075] Specifically, the host computer receives the second pulse signal sent by the satellite navigation signal simulator, and synchronizes the local clock according to the received second pulse signal; after synchronizing the local clock, the host computer sends the first time to the satellite navigation signal simulator, and sends initial navigation information (hereinafter referred to as the first navigation information) to the satellite navigation signal simulator at a preset time interval. It should be noted that the host computer in the embodiment of the present application is also called a simulation computer, which usually refers to a computer or test equipment that directly issues control commands in a monitoring system or a control system; the main function of the host computer is to receive data sent from the satellite navigation signal simulator and the computing computer, process and analyze these data, and send control commands to the satellite navigation signal simulator according to preset logic or operator instructions. Furthermore, in the embodiment of the present application, the host computer is deployed with simulation software for launch vehicle navigation testing, and the navigation test of the launch vehicle can be simulated through the simulation software.

[0076] In some embodiments, the satellite navigation signal simulator sends a second pulse signal to the host computer so that the host computer synchronizes the local clock according to the received second pulse signal. The satellite navigation signal simulator receives the first time sent by the host computer and the first navigation information sent by the host computer at a preset time interval, and determines the second time and the second navigation information corresponding to the second time according to the first navigation information, and the second navigation information includes the navigation information of the launch vehicle and the navigation information of the reference station. Further, the satellite navigation signal simulator sends a reference station simulated radio frequency signal to the reference station receiver, wherein the reference station simulated radio frequency signal includes the navigation information of the reference station and the second time; in addition, the satellite navigation signal simulator also sends a rocket body simulated radio frequency signal to the receiver on the arrow, wherein the rocket body simulated radio frequency signal includes the navigation information of the launch vehicle and the second time.

[0077] In some embodiments, the base station receiver obtains the base station navigation information from the base station analog radio frequency signal, performs positioning and solving on the base station navigation information, obtains the base station positioning data, and sends the base station positioning data and the second time to the onboard data link terminal through the ground station, and then the onboard data link terminal sends the base station positioning data and the second time to the onboard computer. The onboard receiver obtains the launch vehicle navigation information from the rocket body analog radio frequency signal, performs positioning and solving on the launch vehicle navigation information, obtains the rocket body positioning data, and sends the rocket body positioning data and the second time to the onboard computer.

[0078] In some embodiments, the onboard computer performs a differential operation on the received base station positioning data and the rocket body positioning data to obtain navigation information of the launch vehicle, performs a least squares operation on the navigation information obtained by the differential operation and the navigation information given by the strapdown inertial navigation system to obtain composite navigation information of the launch vehicle (hereinafter referred to as the third navigation information), and sends the third navigation information and the second time to the host computer.

[0079] In some embodiments, after receiving the second time, the host computer determines the position and speed of the carrier rocket at the second time according to the mathematical model of the carrier rocket or preset test data as the fourth navigation information, and obtains the position difference and speed difference of the carrier rocket at the second time according to the third navigation information and the fourth navigation information; and determines the accuracy of the carrier rocket navigation test based on the position difference and the speed difference.

[0080] Figure 1b A schematic diagram of the electrical connection of a navigation test system for a launch vehicle provided in an embodiment of the present application; as shown in the figure, a communication optical fiber and a PPS synchronization cable are used to connect a host computer and a satellite navigation signal simulator, the communication optical fiber is used to transmit initial navigation information, and the PPS synchronization cable is used to transmit PPS second pulses; the satellite navigation signal simulator and the base station receiver are connected by a radio frequency cable for transmitting the base station simulated radio frequency signal; the satellite navigation signal simulator and the onboard receiver are connected by a rocket body simulated radio frequency signal for transmitting the rocket body simulated radio frequency signal; the base station receiver and the ground station are connected by a communication cable for transmitting the base station positioning data; the ground station and the onboard data link terminal are connected by a communication cable for transmitting the base station positioning data; the onboard data link terminal and the onboard computer are connected by a communication cable for transmitting the base station positioning data; the onboard receiver and the onboard computer are connected by a communication cable for transmitting the rocket body positioning data; the onboard computer and the host computer are connected by a communication cable for transmitting composite navigation information. In the embodiment of the present application, the base station receiver, the arrow receiver and the ground station are also connected to the ground power supply through the power supply cable, and the ground power supply supplies power to the base station receiver, the arrow receiver and the ground station.

[0081] The following describes the solution in the embodiment of the present application with the host computer as the execution entity.

[0082] Figure 2 A flowchart of a navigation test method applied to a host computer provided in an embodiment of the present application is provided. The method is applied to a navigation test system, the test system comprising a host computer, a satellite navigation signal simulator and an arrow computer; the method is executed by the host computer, such as Figure 2 As shown, the method includes:

[0083] S201, receiving a pulse-per-second signal sent by a simulator, and synchronizing a local clock according to the pulse-per-second signal.

[0084] In the present application embodiment, combined Figure 1a and Figure 1b , the host computer and the satellite navigation signal simulator establish a communication connection after power-on, the simulator sends a second pulse signal to the host computer, and the host computer synchronizes the local clock according to the received second pulse signal; it should be noted that the clock accuracy of the satellite navigation signal simulator in the embodiment of the present application is much higher than the clock accuracy of the host computer, therefore, when the host computer receives the second pulse signal, it will synchronize the local clock so that the local time remains the same as the time of the satellite navigation signal simulator. Furthermore, since the period of the second pulse signal is one second, the host computer synchronizes with the clock of the satellite navigation signal simulator once every second, so that the time drift of the host computer is kept within a very small range.

[0085] For example: the crystal oscillator of the satellite navigation signal simulator can reach a stability of 100 seconds. seconds, that is, after one second, the time drift of the satellite navigation signal simulator is seconds; the crystal oscillator of the host computer is usually stable for seconds, that is, after one second, the time drift of the host computer is seconds; it can be seen that the clock accuracy of the satellite navigation signal simulator is much higher than that of the host computer. After the host computer synchronizes the local clock according to the received second pulse signal, the time drift of the local clock is kept at Within seconds.

[0086] S202. After synchronizing the local clock, send a first time to the simulator, and send a first navigation message to the simulator at a preset time interval, so that the simulator takes the first time as the starting time, determines the first navigation message received in each first time interval; and determines a second time and second navigation message corresponding to the second time according to the first navigation message received in each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation message is obtained by interpolating the first navigation message received in the first time interval.

[0087] In an embodiment of the present application, after synchronizing the local clock, the host computer sends a trigger signal to the simulator, and sends the first navigation information to the simulator at a preset time interval; wherein the trigger signal includes a first time, and the trigger signal is used to instruct the simulator to use the first time as the start time of the navigation test; the trigger signal is also used to instruct the simulator to determine the second time according to the first time and the first time interval, and determine the second navigation information corresponding to the second time according to the time of the first navigation information received within the first time interval, and send the second navigation information to the arrow computer. For example: the simulator determines the time of each received first navigation information according to the first time and the number of received first navigation information. Since the second time and the time of the received first navigation information are not necessarily exactly the same, the first navigation information received within the first time interval can be interpolated to determine the second navigation information corresponding to the second time, and send the second navigation information to the arrow computer.

[0088] S203, receiving the third navigation information and the second time sent by the onboard computer; determining the fourth navigation information corresponding to the second time, and determining the accuracy of the launch vehicle navigation test based on the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the onboard computer based on the second navigation information.

[0089] In the embodiment of the present application, the third navigation information is determined by the onboard computer and can be regarded as the actual navigation data of the launch vehicle at the second time; since the host computer is equipped with the mathematical model of the launch vehicle or the offline test data of the circular flight, the fourth navigation information determined by the host computer can be regarded as the theoretical navigation data of the launch vehicle at the second time. Based on the information difference between the third navigation information and the fourth navigation information, the difference between the actual navigation data and the theoretical navigation data of the launch vehicle at the second time can be determined, and the accuracy of the launch vehicle navigation test can be determined based on the difference.

[0090] In the embodiment of the present application, the host computer receives the second pulse signal sent by the satellite navigation signal simulator and synchronizes the local clock locally once per second, so that the time drift of the host computer is maintained within a very small range, thereby reducing the error caused by the time drift of the host computer, effectively reducing the impact of the error caused by time drift on the navigation test accuracy, and improving the credibility of the launch vehicle navigation test.

[0091] Based on the above embodiments, as an optional embodiment, the host computer is deployed with a mathematical model of the launch vehicle or preset test data;

[0092] The first navigation information is determined by:

[0093] Acquiring a first position and a first speed of the launch vehicle according to a mathematical model or preset test data;

[0094] The first position and first speed of the carrier rocket, and the second position and second speed of the reference station are used as first navigation information; wherein the second position and second speed of the reference station are preset.

[0095] The embodiment of the present application simulates the launch vehicle by deploying a mathematical model or circular flight offline test data on the host computer; wherein the mathematical model can calculate the position and speed of the launch vehicle in real time, and the circular flight offline test data stores the position and speed of the launch vehicle. Therefore, through the mathematical model of the launch vehicle or the circular flight offline test data, the position and speed of the launch vehicle at preset time intervals can be obtained. Furthermore, the reference station is a ground fixed observation station that conducts long-term continuous observation of satellite navigation signals, and transmits the observation data to the data center in real time or at a fixed time by communication facilities. Since the reference station is a fixed observation station, after the reference station is selected, the second position and second speed of the reference station are also determined.

[0096] Based on the above embodiments, as an optional embodiment, the second navigation information is obtained by interpolating the first navigation information received within the first time interval, including:

[0097] Interpolate the first position and the first speed of the first navigation information received within the first time interval to obtain a third position and a third speed of the launch vehicle corresponding to the second time;

[0098] The third position and the third speed of the launch vehicle and the second position and the second speed of the reference station are used as the second navigation information.

[0099] In the embodiment of the present application, the second time is obtained by adding the first time and the first time interval. Considering that the first time interval is not necessarily an integer multiple of the preset time interval, as well as factors such as transmission delay and system overhead, the second time and the time of the received first navigation information are not the same. Therefore, the simulator needs to interpolate based on the first navigation information received in each first time interval, so as to obtain the navigation information of the launch vehicle and the base station at the second time as the second navigation information.

[0100] For example: The first assumption is , the preset time interval for the host computer to send the first navigation information is 10ms. The simulator can determine the time when the host computer sends the first navigation information according to the first time and the preset time interval, as shown in the following formula (1):

[0101]

[0102] It should be noted that The time when the host computer sends the first navigation information. Represents the number of first navigation messages received by the simulator. 0.01 means the preset time interval is 10ms. When the simulator receives the first first navigation message, for , when the simulator receives the second first navigation information, for , and so on, the sending time of each first navigation information can be determined.

[0103] Assuming that the first time interval is 100 ms, the second time is the sum of the first time and the first time interval, and the calculation formula of the second time is shown in the following formula (2):

[0104]

[0105] It should be noted that For the second time, represents the first time interval, 0.1 represents the first time interval of 100ms; from this formula, we can know that the first second time is , the second second time is , and so on, each second time can be determined.

[0106] It can be seen from the above formula that when the first time interval is greater than the preset time interval, the simulator will receive multiple first navigation information in each first time interval. Since the second time and the time of the received first navigation information are not necessarily exactly the same, it is necessary to interpolate the first navigation information received in the first time interval to obtain the second navigation information corresponding to the second time.

[0107] In order to help those skilled in the art to more clearly understand how to obtain the second navigation information corresponding to the second time through interpolation, an example is used for description below.

[0108] For example, assuming that two first navigation messages are received within the first time interval, the corresponding times are and , the second time is ,in, is the first time; since the second time and the time corresponding to the first navigation information are not the same, it is impossible to directly obtain the second navigation information corresponding to the second time; at this time, the second navigation information corresponding to the second time can be obtained according to and The first navigation information is used to determine the slope of the speed and position of the carrier rocket on the coordinate axis, and the position and speed of the carrier rocket at the second time are determined according to the slope; the position and speed of the carrier rocket at the second time, as well as the position and speed of the reference station, are used as the second navigation information corresponding to the second time. It should be noted that since the reference station is a ground stationary observation station, the position and speed of the reference station can be regarded as fixed. Therefore, when interpolating the first navigation information, it is only necessary to perform linear interpolation on the position and speed of the carrier rocket.

[0109] Based on the above embodiments, as an optional embodiment, the test system further includes an arrow receiver and a reference station receiver;

[0110] The third navigation information is determined by the arrow computer according to the second navigation information; and includes:

[0111] The on-arrow computer receives the first positioning result sent by the on-arrow receiver and the second positioning result sent by the base station receiver;

[0112] Performing a differential operation on the first positioning result and the second positioning result to obtain a fourth position and a fourth speed of the launch vehicle at the second time;

[0113] Obtaining a fifth position and a fifth speed of the strapdown inertial navigation; performing least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain a sixth position and a sixth speed of the launch vehicle as third navigation information, and sending the third navigation information to the host computer;

[0114] Among them, the first positioning result is obtained by the on-arrow receiver after positioning and solving according to the third position and the third speed, and the third position and the third speed are sent to the on-arrow receiver by the simulator; the second positioning result is obtained by the base station receiver after positioning and solving according to the second position and the second speed, and the second position and the second speed are sent to the base station receiver by the simulator.

[0115] In the embodiment of the present application, the simulator obtains the second navigation information corresponding to the second time by interpolating the first navigation information, wherein the second navigation information includes the third position and third speed of the carrier rocket, and the second position and second speed of the reference station. The simulator sends the third position and third speed of the carrier rocket to the on-arrow receiver through the rocket body simulated radio frequency signal, so that the on-arrow receiver performs positioning and solution on the third position and third speed of the carrier rocket, and obtains the first positioning result; at the same time, the simulator also sends the second position and second speed of the reference station to the base station receiver through the base station simulated radio frequency signal, so that the base station receiver performs positioning and solution on the second position and second speed of the base station, and obtains the second positioning result.

[0116] It should be noted that, in the embodiment of the present application, the rocket simulator radio frequency signal and the reference station simulated radio frequency signal also include the second time. Therefore, the first positioning result and the second positioning result are positioning results corresponding to the second time.

[0117] Furthermore, the on-arrow receiver sends the first positioning result to the on-arrow computer, and the base station receiver sends the second positioning result to the on-arrow computer; it should be noted that the base station receiver is not directly connected to the on-arrow computer, so the base station receiver needs to send the second positioning result to the on-arrow data link terminal through the ground station; after the on-arrow data link terminal receives the second positioning result, it sends the second positioning result to the on-arrow computer. The on-arrow computer performs a differential operation on the received first positioning result and the second positioning result to obtain the fourth position and fourth speed of the launch vehicle at the second time;

[0118] In the embodiment of the present application, the reference station is usually a station with known precise coordinates, which receives the radio frequency signal from the simulator and calculates its own position. Due to various errors (such as satellite clock error, ephemeris error, ionosphere error, troposphere error, etc.), there will be a certain difference between the position calculated by the reference station and the actual position. However, these errors are common to the reference station and the launch vehicle, so their influence can be eliminated or weakened by differential operations.

[0119] After obtaining the fourth position and fourth speed of the launch vehicle, the onboard computer obtains the fifth position and fifth speed of the strapdown inertial navigation; the fourth position and the fifth position, as well as the fourth speed and the fifth speed are respectively calculated by the least squares method to obtain the sixth position and sixth speed of the launch vehicle as the third navigation information.

[0120] In order to help those skilled in the art to more clearly understand how to obtain the sixth position and sixth speed of the launch vehicle by using the least squares method, an example is used below to illustrate.

[0121] Assume that the onboard computer calculates the strapdown inertial navigation position and velocity every 10 ms, and records a total of 300 sets of data for 3 seconds, as shown in the following formula (3):

[0122]

[0123] in, represents the time of the i-th strapdown inertial navigation, represents the i-th strapdown inertial navigation position, Represents the speed of the i-th strapdown inertial navigation; the value range of i is [1,300].

[0124] Assume that the onboard computer obtains the satellite navigation result differential positioning result every 100ms, and the differential positioning result includes the fourth position of the launch vehicle And the fourth speed , where; the strapdown inertial navigation position at the second time is obtained by linear interpolation calculation and speed , that is, the fifth position and the fifth speed, the interpolation calculation formula is shown in the following formula (4):

[0125]

[0126] in, For the second time, the interp() function is used to interpolate the strapdown inertial navigation position and speed Perform linear interpolation.

[0127] Furthermore, the fourth position and the fourth speed of the second time differential positioning are subtracted from the fifth position and the fifth speed given by the strapdown inertial navigation to obtain the position deviation and speed deviation , position deviation The calculation formula is shown in the following formula (5):

[0128]

[0129] Speed ​​deviation The calculation formula is shown in the following formula (6):

[0130]

[0131] Since the onboard computer obtains the satellite navigation result differential positioning result every 100 ms, 100 sets of deviations can be accumulated after 10 seconds. The 100 sets of deviations are shown in the following formula (7):

[0132]

[0133] Where j represents the group number of the deviation, and its value range is [1,100].

[0134] Based on these 100 sets of position deviations and speed deviations, calculate the least squares estimation coefficients and , the calculation formula is shown in the following formula (8) and formula (9):

[0135]

[0136]

[0137] in, is the matrix of time in 100 sets of deviations, Represents the transposed matrix of matrix X; A matrix representing the positions of the 100 sets of deviations; A matrix representing the speed of 100 sets of deviations.

[0138] The expression of matrix X is shown in the following formula (10):

[0139]

[0140] in, represents the time in the first set of deviations, represents the time in the second set of deviations, and so on. Represents the time in the 100th set of deviations.

[0141] matrix The expression of is shown in the following formula (11):

[0142]

[0143] in, is the position in the first set of deviations, is the position in the second set of deviations, and so on. is the position in the 100th set of deviations.

[0144] matrix The expression of is shown in the following formula (12):

[0145]

[0146] in, is the speed in the first set of deviations, is the speed in the second set of deviations, and so on. is the speed in the 100th set of deviations.

[0147] Calculate the current correction value by the least squares estimation coefficient to get the position correction value and speed correction , the calculation formula is shown in the following formula (13) and formula (14):

[0148]

[0149]

[0150] in, The calculation formula is shown in the following formula (15):

[0151]

[0152] When obtaining the position correction and speed correction Afterwards, the sixth position and sixth speed of the launch vehicle can be calculated, and the calculation formulas are shown in the following formulas (16) and (17):

[0153]

[0154]

[0155] In an embodiment of the present application, after the sixth position and sixth speed of the launch vehicle are obtained, the sixth position and sixth speed are used as third navigation information, and the third navigation information and the second time are sent to the host computer.

[0156] Based on the above embodiments, as an optional embodiment, determining the fourth navigation information corresponding to the second time includes:

[0157] Determine two first navigation information closest to the second time according to the mathematical model or preset test data;

[0158] interpolating the first positions and the first speeds of the two first navigation information respectively to determine a seventh position and a seventh speed corresponding to the second time;

[0159] The seventh position and the seventh speed of the launch vehicle are used as the fourth navigation information.

[0160] In an embodiment of the present application, after receiving the third navigation information and the second time, the upper computer determines the two first navigation information closest to the second time based on a mathematical model or preset test data, and performs linear interpolation processing on the two first navigation information closest to the second time to obtain the seventh position and seventh speed of the carrier rocket at the second time.

[0161] It should be noted that, for any second time, the embodiment of the present application adopts a linear interpolation method to obtain the seventh position and the seventh speed of the launch vehicle at the second time, and the calculation formula is shown in the following formula (18):

[0162]

[0163] in, For the second time, The seventh position of the launch vehicle at the second time. is the seventh speed of the launch vehicle at the second time, is the time corresponding to the first navigation information, is the position of the launch vehicle in the first navigation information, is the speed of the launch vehicle in the first navigation information, and interp() is an interpolation function used to perform linear interpolation on the first navigation information.

[0164] For example: The second time is The times of the two first navigation information closest to the second time are and , then the second time is exactly the middle value of the time of the two first navigation information, then the position and speed of the carrier rocket in the two first navigation information can be averaged to obtain the seventh position and seventh speed of the carrier rocket at the second time.

[0165] Based on the above embodiments, as an optional embodiment, determining the accuracy of the launch vehicle navigation test according to the information difference between the fourth navigation information and the third navigation information includes:

[0166] Determine the position error of the navigation test according to the difference between the sixth position and the seventh position; determine the speed error of the navigation test according to the difference between the sixth speed and the seventh speed;

[0167] The accuracy of the launch vehicle's navigation test is determined based on the position error and velocity error.

[0168] In the embodiment of the present application, the third navigation information is determined by the onboard computer and can be regarded as the actual navigation data of the launch vehicle at the second time; the fourth navigation information is determined by the mathematical model of the launch vehicle or the circular flight offline test data and can be regarded as the theoretical navigation data of the launch vehicle at the second time. Therefore, by subtracting the sixth position and the sixth speed of the launch vehicle in the third navigation information from the seventh position and the seventh speed of the launch vehicle in the fourth navigation information, the difference between the theoretical data of the navigation test and the actual navigation data can be obtained, and the accuracy of the launch vehicle navigation test can be determined based on the difference.

[0169] Specifically, the launch vehicle navigation test position error is , the speed error is , and The calculation formulas are shown in the following formulas (19) and (20):

[0170]

[0171]

[0172] in, The seventh position of the launch vehicle. The seventh speed for launch vehicles; The sixth position of the launch vehicle. It is the sixth speed of the launch vehicle.

[0173] In the embodiment of the present application, after obtaining the launch vehicle navigation test position error of and the speed error is Afterwards, the accuracy of the navigation test can be calculated based on the position error and speed error. , that is, the time drift after 1 second is approximately seconds, the crystal oscillator in the satellite navigation simulator is stable for According to the above method, the time calculated by the host computer only drifts between the rising edges of two second pulses, and the drift is corrected after synchronizing with the simulator once every 1 second, so the maximum drift time of the host computer does not exceed The maximum speed of the launch vehicle during the recovery flight phase is about 150 m / s, so the maximum position error caused by time drift is As shown in the following formula (21):

[0174]

[0175] in, is the maximum speed of the launch vehicle during the recovery flight phase, The maximum drift time of the host computer is approximately Seconds, put into the above formula, we can know that The value is about 0.15mm. If the host computer does not synchronize the clock, after 1000 seconds, the maximum drift time of the host computer can reach 1000 times Seconds, that is: Seconds, put into the above formula, we can know that The value is about 1.5cm.

[0176] In the related technology, the error of the launch vehicle navigation test includes the error caused by dynamic differential positioning and the error caused by time drift, among which the typical error of dynamic differential positioning is at the centimeter level; if the error caused by time drift is 0.15mm, the ratio of the error caused by time drift to the error caused by dynamic differential positioning is 0.15mm / 10mm=1.5%, and the error caused by time drift of the host computer is much smaller than the error caused by dynamic differential positioning; therefore, the influence of time drift error on the accuracy of the launch vehicle navigation test can be ignored; if the host computer does not have a clock synchronized with the satellite navigation signal simulator, when the launch vehicle navigation test runs to 1000 seconds, the ratio of the error caused by time drift to the error caused by dynamic differential positioning is 1.5cm / 10mm=150%, and the error caused by time drift has exceeded the error caused by differential positioning, seriously affecting the assessment of the dynamic differential accuracy of the launch vehicle; and as the navigation test time goes on, the error caused by time drift will have an increasingly greater impact on the dynamic differential accuracy.

[0177] The following describes the solution in the embodiment of the present application using a satellite navigation signal simulator as the execution body.

[0178] Figure 3 A flowchart of a navigation test method applied to a satellite navigation signal simulator provided in an embodiment of the present application is provided. The method is applied to a navigation test system, and the test system includes a host computer, a satellite navigation signal simulator, and an arrow computer; the method is executed by the satellite navigation signal simulator, such as Figure 3 As shown, the method includes:

[0179] S301. Send a pulse-per-second signal to a host computer, so that the host computer synchronizes a local clock according to the pulse-per-second signal.

[0180] In the embodiment of the present application, the clock accuracy of the satellite navigation signal simulator is much higher than the clock accuracy of the host computer. When the host computer and the satellite navigation signal simulator are powered on, a communication connection is established. The simulator sends a second pulse signal to the host computer, so that the host computer synchronizes the local clock according to the received second pulse signal. Furthermore, since the second pulse signal sent by the satellite navigation signal simulator has a period of one second, the clocks of the host computer and the satellite navigation signal simulator are synchronized once per second, so that the time drift of the host computer is kept within a very small range.

[0181] S302: Receive a first time sent by a host computer and first navigation information sent at a preset interval.

[0182] In an embodiment of the present application, the simulator receives a first time sent by a host computer, and sends first navigation information to the simulator at a preset time interval; wherein the first time is the start time of the navigation test; the first navigation information includes a first position and a first speed of the launch vehicle, and a second position and a second speed of the base station.

[0183] S303, taking the first time as the starting time, determining the first navigation information received in each first time interval; determining the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval.

[0184] In the embodiment of the present application, the simulator can determine the time when the host computer sends each first navigation information based on the first time and the preset time interval; at the same time, the simulator determines the second time based on the first time and the first time interval. Since the first time interval is larger than the preset time interval, multiple first navigation information will be received in each first time interval, that is, multiple first navigation information will be received in the second time. Since the second time and the first navigation information generated by the host computer are not the same, it is necessary to interpolate the first navigation information received in the first time interval to obtain the second navigation information corresponding to the second time. It should be noted that in the embodiment of the present application, linear interpolation can be used to interpolate the first navigation information.

[0185] In the embodiment of the present application, the clock accuracy of the satellite navigation signal simulator is very high. By sending a second pulse signal to the host computer, the host computer can synchronize the clock of the simulator; and the second pulse signal is sent once per second, so the time drift of the host computer is maintained within a very small range, reducing the error caused by time drift of the host computer during the launch vehicle navigation test, effectively reducing the impact of the error caused by time drift on the navigation test accuracy, and improving the credibility of the launch vehicle navigation test.

[0186] Based on the above embodiments, as an optional embodiment, the system further includes an onboard receiver and a base station receiver; the first navigation information includes a first position and a first speed of the launch vehicle, and a second position and a second speed of the base station; the second navigation information includes a third position and a third speed of the launch vehicle, and a second position and a second speed of the base station;

[0187] Determining the second time and the second navigation information corresponding to the second time, and then further comprising:

[0188] Sending the third position and the third speed to the on-arrow receiver, so that the on-arrow receiver determines a first positioning result according to the third position and the third speed, and sends the first positioning result to the on-arrow computer;

[0189] as well as,

[0190] Sending the second position and the second speed to the base station receiver, so that the base station receiver determines a second positioning result according to the second position and the second speed, and sends the second positioning result to the onboard computer;

[0191] Among them, the on-board computer performs a differential operation based on the first positioning result and the second positioning result to obtain the fourth position and fourth speed of the carrier rocket at the second time; obtains the fifth position and fifth speed of the strapdown inertial navigation; performs least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain the sixth position and sixth speed of the carrier rocket as the third navigation information, and sends the third navigation information to the host computer.

[0192] In an embodiment of the present application, the simulator interpolates the first navigation information to obtain the second navigation information corresponding to the second time, wherein the second navigation information includes the third position and third speed of the carrier rocket, and the second position and second speed of the reference station. The simulator sends the third position and third speed of the carrier rocket to the arrow receiver through the rocket body simulation radio frequency signal, so that the arrow receiver performs positioning and solving the third position and third speed of the carrier rocket to obtain the first positioning result; at the same time, the simulator also sends the second position and second speed of the reference station to the reference station receiver through the reference station simulation radio frequency signal, so that the reference station receiver performs positioning and solving the second position and second speed of the reference station to obtain the second positioning result. It should be noted that in an embodiment of the present application, the rocket body simulator radio frequency signal and the reference station simulation radio frequency signal also include the second time. Therefore, the first positioning result and the second positioning result are the positioning results corresponding to the second time.

[0193] Furthermore, the arrow receiver sends the first positioning result to the arrow computer, and the base station receiver sends the second positioning result to the arrow computer; it should be noted that the base station receiver is not directly connected to the arrow computer, so the base station receiver needs to send the second positioning result to the arrow data link terminal through the ground station; after receiving the second positioning result, the arrow data link terminal sends the second positioning result to the arrow computer. The arrow computer performs a differential operation on the received first positioning result and the second positioning result to obtain the fourth position and fourth speed of the carrier rocket at the second time; at the same time, the arrow computer is also deployed with a strapdown inertial navigation system, and the fifth position and fifth speed are obtained according to the strapdown inertial navigation system; the fourth position and the fifth position, as well as the fourth speed and the fifth speed are respectively calculated by the least square method to obtain the sixth position and the sixth speed of the carrier rocket as the third navigation information.

[0194] Figure 4 A structural diagram of a navigation test device applied to a host computer provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the device may include: a local clock synchronization module 401, a navigation information sending module 402, and a navigation accuracy determination module 403.

[0195] The local clock synchronization module 401 is used to receive the pulse per second signal sent by the simulator and synchronize the local clock according to the pulse per second signal;

[0196] The navigation information sending module 402 is used to send the first time to the simulator after synchronizing the local clock, and send the first navigation information to the simulator at a preset time interval, so that the simulator takes the first time as the starting time, determines the first navigation information received in each first time interval; and determines the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval;

[0197] The navigation accuracy determination module 403 is used to receive the third navigation information and the second time sent by the onboard computer; determine the fourth navigation information corresponding to the second time, and determine the accuracy of the launch vehicle navigation test based on the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the onboard computer based on the second navigation information.

[0198] The navigation test device applied to the host computer in the embodiment of the present application can execute the navigation test method of the launch vehicle executed by the host computer provided in the embodiment of the present application, and the implementation principle is similar. The actions performed by each module in the navigation test device applied to the host computer in each embodiment of the present application correspond to the steps in the navigation test method executed by the host computer in each embodiment of the present application. For the detailed functional description of each module of the navigation test device applied to the host computer, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0199] Figure 5 A structural diagram of a navigation test device applied to a satellite navigation signal simulator provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the device may include: a pulse per second signal sending module 501, a navigation information receiving module 502 and a navigation information determining module 503.

[0200] The pulse-per-second signal sending module 501 is used to send a pulse-per-second signal to a host computer so that the host computer synchronizes a local clock according to the pulse-per-second signal;

[0201] The navigation information receiving module 502 is used to receive the first time sent by the host computer and the first navigation information sent at a preset interval;

[0202] The navigation information determination module 503 is used to determine the first navigation information received in each first time interval with the first time as the starting time; determine the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval.

[0203] The navigation test device applied to the satellite navigation signal simulator of the embodiment of the present application can execute the navigation test method of the launch vehicle performed by the satellite navigation signal simulator provided in the embodiment of the present application, and the implementation principle is similar. The actions performed by each module in the navigation test device applied to the satellite navigation signal simulator of each embodiment of the present application correspond to the steps in the navigation test method performed by the satellite navigation signal simulator of each embodiment of the present application. For the detailed functional description of each module of the navigation test device applied to the satellite navigation signal simulator, please refer to the description in the corresponding method shown in the previous text, which will not be repeated here.

[0204] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the electronic device 4000 includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0205] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0206] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0207] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0208] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0209] Among them, the electronic equipment package may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0210] The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented. Compared with the prior art, the following can be implemented:

[0211] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0212] The present application also provides a computer program product, including a computer program, which can implement the steps and corresponding contents of the above method embodiments when executed by a processor. Compared with the prior art, it can achieve:

[0213] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0214] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0215] The above are only optional implementation methods for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A navigation test method for a launch vehicle, characterized in that: The method is applied to a navigation test system, which includes a host computer, a satellite navigation signal simulator and an onboard computer; The method is executed by the host computer, and the method includes: Receiving a pulse-per-second signal sent by the simulator, and synchronizing a local clock according to the pulse-per-second signal; After synchronizing the local clock, a first time is sent to the simulator, and first navigation information is sent to the simulator at a preset time interval, so that the simulator takes the first time as the starting time and determines the first navigation information received in each first time interval; and according to the first navigation information received in each first time interval, determines the second time and the second navigation information corresponding to the second time, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval; receiving the third navigation information and the second time sent by the onboard computer; determining the fourth navigation information corresponding to the second time, and determining the accuracy of the launch vehicle navigation test according to the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the onboard computer according to the second navigation information; Wherein, the host computer is deployed with a mathematical model of the launch vehicle or preset test data; The first navigation information is determined by: Acquiring a first position and a first speed of the launch vehicle according to the mathematical model or the preset test data; Using the first position and first speed of the carrier rocket, and the second position and second speed of the reference station as the first navigation information; wherein the second position and second speed of the reference station are preset; The second navigation information is obtained by interpolating the first navigation information received within the first time interval, and includes: Interpolate the first position and the first speed of the first navigation information received within the first time interval to obtain a third position and a third speed of the launch vehicle corresponding to the second time; The third position and the third speed of the launch vehicle and the second position and the second speed of the reference station are used as the second navigation information.

2. The navigation test method of a launch vehicle according to claim 1, characterized in that: The test system also includes an on-arrow receiver and a reference station receiver; The third navigation information is determined by the arrow computer according to the second navigation information; and includes: The on-arrow computer receives a first positioning result sent by the on-arrow receiver and a second positioning result sent by the reference station receiver; Performing a differential operation on the first positioning result and the second positioning result to obtain a fourth position and a fourth speed of the carrier rocket at the second time; Obtaining a fifth position and a fifth speed of the strapdown inertial navigation; performing least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain a sixth position and a sixth speed of the launch vehicle as the third navigation information, and sending the third navigation information to the host computer; Among them, the first positioning result is obtained by the on-arrow receiver after positioning and solving according to the third position and the third speed, and the third position and the third speed are sent to the on-arrow receiver by the simulator; the second positioning result is obtained by the base station receiver after positioning and solving according to the second position and the second speed, and the second position and the second speed are sent to the base station receiver by the simulator.

3. The navigation test method of a launch vehicle according to claim 2, characterized in that: The determining the fourth navigation information corresponding to the second time includes: Determining two first navigation information closest to the second time according to the mathematical model or the preset test data; interpolating the first positions and the first speeds of the two first navigation information respectively to determine a seventh position and a seventh speed corresponding to the second time; The seventh position and the seventh speed of the carrier rocket are used as the fourth navigation information.

4. The navigation test method of a launch vehicle according to claim 3, characterized in that: Determining the accuracy of the launch vehicle navigation test according to the information difference between the fourth navigation information and the third navigation information includes: Determining a position error of the navigation test according to a difference between the sixth position and the seventh position; determining a speed error of the navigation test according to a difference between the sixth speed and the seventh speed; The accuracy of the navigation test of the launch vehicle is determined based on the position error and the velocity error.

5. A navigation test method for a launch vehicle, characterized in that: The method is applied to a navigation test system, which includes a host computer, a satellite navigation signal simulator and an onboard computer; The method is performed by the simulator, and comprises: Sending a pulse-per-second signal to a host computer so that the host computer synchronizes a local clock according to the pulse-per-second signal; Receiving a first time sent by the host computer and first navigation information sent at a preset interval; Taking the first time as the starting time, determining the first navigation information received in each first time interval; determining the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval; The system further comprises an onboard receiver and a base station receiver; the first navigation information comprises a first position and a first speed of the launch vehicle, and a second position and a second speed of the base station; the second navigation information comprises a third position and a third speed of the launch vehicle, and a second position and a second speed of the base station; The determining of the second time and the second navigation information corresponding to the second time further includes: Sending the third position and the third speed to an on-arrow receiver, so that the on-arrow receiver determines a first positioning result according to the third position and the third speed, and sends the first positioning result to the on-arrow computer; as well as, Sending the second position and the second speed to a reference station receiver, so that the reference station receiver determines a second positioning result according to the second position and the second speed, and sends the second positioning result to the on-arrow computer; Among them, the on-board computer performs a differential operation based on the first positioning result and the second positioning result to obtain the fourth position and the fourth speed of the carrier rocket at the second time; obtains the fifth position and the fifth speed of the strapdown inertial navigation; performs least squares calculation on the fourth position and the fifth position, and the fourth speed and the fifth speed, respectively, to obtain the sixth position and the sixth speed of the carrier rocket as the third navigation information, and sends the third navigation information to the host computer.

6. A navigation test device for a launch vehicle, characterized in that: The device is applied to a host computer, and the device is used to implement the steps of the method according to claim 1, and the device includes: A local clock synchronization module, used for receiving the pulse-per-second signal sent by the simulator and synchronizing the local clock according to the pulse-per-second signal; A navigation information sending module, used for sending a first time to the simulator after synchronizing a local clock, and sending first navigation information to the simulator at a preset time interval, so that the simulator takes the first time as a starting time, determines the first navigation information received in each first time interval; and determines a second time and second navigation information corresponding to the second time according to the first navigation information received in each first time interval, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval; A navigation accuracy determination module is used to receive the third navigation information and the second time sent by the onboard computer; determine the fourth navigation information corresponding to the second time, and determine the accuracy of the launch vehicle navigation test based on the information difference between the fourth navigation information and the third navigation information; wherein the third navigation information is determined by the onboard computer based on the second navigation information.

7. A navigation test device for a launch vehicle, characterized in that: The device is applied to a satellite navigation signal simulator, and the device is used to implement the steps of the method according to claim 5, and the device comprises: A pulse-per-second signal sending module, used for sending a pulse-per-second signal to a host computer, so that the host computer synchronizes a local clock according to the pulse-per-second signal; A navigation information receiving module, used for receiving a first time sent by the host computer and first navigation information sent at a preset interval; a navigation information determination module, configured to determine the first navigation information received within each first time interval with the first time as the starting time; and to determine the second navigation information corresponding to the second time and the second time according to the first navigation information received within each first time interval; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received within the first time interval.

8. A navigation test system for a launch vehicle, characterized in that: The test system comprises a host computer, a simulated satellite navigation signal simulator and an arrow computer; the test system is used to implement the steps of the method of claim 1; Wherein, the simulator sends a pulse-per-second signal to the upper computer; The host computer receives the pulse-per-second signal sent by the simulator and synchronizes the local clock according to the pulse-per-second signal; after synchronizing the local clock, the host computer sends the first time to the simulator and sends the first navigation information to the simulator at a preset time interval; The simulator receives the first time sent by the host computer and the first navigation information sent at a preset interval; takes the first time as the starting time, determines the first navigation information received in each first time interval; determines the second time and the second navigation information corresponding to the second time according to the first navigation information received in each first time interval, and sends the second navigation information to the arrow computer; wherein the second time is determined by the first time and the first time interval, and the second navigation information is obtained by interpolating the first navigation information received in the first time interval; The arrow computer determines the third navigation information according to the second navigation information, and sends the third navigation information and the second time to the host computer; wherein the second time is determined by the first time and the first time interval; The host computer determines fourth navigation information corresponding to the second time, and determines the accuracy of the navigation test of the carrier rocket according to the information difference between the fourth navigation information and the third navigation information.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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