Comprehensive electronic information system for detecting floating on surface of golden star

Abstract

The invention discloses a comprehensive electronic information system for detecting floating on the surface of a golden star. The comprehensive electronic information system comprises a central processing module, a navigation processing module, a multi-load supporting module and a remote control processing module. The invention provides an intersecting circle floating track positioning calculation method capable of completing self-positioning of a floater under the condition of high-speed and non-directional golden star surface atmospheric motion interference, and solves the problem that the floating device cannot be automatically positioned under the conditions of no real-time teleoperation and limited channels on the basis of the position and attitude information autonomously determined on the floater in real time. And a load autonomous detection sequence generation function for distinguishing spatial positions and a load data playback function based on spatial-temporal position playback are provided, so that a more convenient platform service is provided for the load.

Description

Technical Field

[0001] The invention belongs to the technical field of Venus floating detectors, and in particular relates to a comprehensive electronic information system for floating detection on the surface of Venus. Background Art

[0002] As deep space exploration continues to deepen, deep space probes are flying towards farther into outer space. It has become difficult for the ground to complete real-time control of deep space probes. The method of autonomously generating payload detection sequences on board to obtain payload detection data has become an indispensable function of deep space probes.

[0003] Due to the harsh climate on the surface of Venus, the existing probes that enter the atmosphere of Venus have a short lifespan and carry a relatively simple payload. For example, the Venus floaters carried by the Vega 1 and Vega 2 probes survived for 46 hours, and the longest-lived lander, the Venera 13 lander, had a lifespan of only 127 minutes. The detection equipment carried was a temperature detector, a camera, etc., so it did not have a more complex autonomous payload detection sequence generation function and data selection and downlink function. As high-temperature resistant electronic devices and components are successively introduced into aerospace applications, future Venus floaters will surely be able to survive longer in the atmosphere of Venus and carry more diverse payloads. The resulting demand is for a comprehensive electronic information system with autonomous control capabilities and data comprehensive processing capabilities, just as the research direction described in this article.

[0004] The spatiotemporal position and attitude of the deep space probe's payload detection moment constitute mandatory constraints on the generation of detection strategies and the subsequent inversion of payload data. The generation of existing autonomous payload detection sequences for deep space probes is mostly done by ground expert systems that predict the probe's position in advance, convert the predicted position detection strategy into a time-based payload detection strategy, and inject it into the probe in advance. The probe autonomously generates and completes the payload detection sequence and generates payload detection data based on the time-based detection strategy and real-time health information. During the downlink of payload detection data, the playback data is selected by selecting the storage address for playback, selecting the time for playback, and selecting the data generation device.

[0005] The Venus floater is different from the previous planetary exploration using landers or rovers. Since the Venus floater floats on the surface of Venus' atmosphere without autonomous power, its spatial position has great uncertainty and is difficult to predict. Therefore, there are the following problems:

[0006] The ground expert system predicts the position of the probe and generates a payload detection strategy marked by time-based non-position information, which facilitates the autonomous sequence generation of existing deep space probes. However, since the Venus floating probe moves unpowered with the atmosphere, its position is difficult to predict. Therefore, the ground expert system predicts the position of the probe and generates a payload detection strategy marked by time-based non-position information is not applicable to the Venus floating probe.

[0007] Compared with Earth mapping, it is difficult for Venus floating exploration to use Beidou, GPS and other space-based navigation equipment for precise positioning; compared with lunar exploration and Mars exploration, due to the low atmospheric visibility on the surface of Venus, it is difficult to use the topographic features of the surface of Venus to form precise positioning information based on topographic image comparison or star sensitivity; due to the high wind speed and uncertain direction on the surface of Venus, the floater moves with the wind, which poses a greater challenge to determining the position of the floater than the relatively fixed rovers and landers; therefore, the existing positioning methods are difficult to meet the real-time positioning of floating probes on the surface of Venus. Summary of the invention

[0008] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a comprehensive electronic information system for floating detection on the surface of Venus, which has the function of completing the autonomous positioning of the floater under the conditions of high-speed, non-directional atmospheric motion interference on the surface of Venus, and based on the position and attitude information determined autonomously and in real time on the floater, to solve the problem of providing a function of generating an autonomous detection sequence for a payload that distinguishes spatial positions and a function of replaying payload data based on time-space position playback under the conditions of no real-time remote operation and limited channels, so as to provide a more convenient platform service for the payload.

[0009] The object of the present invention is achieved through the following technical solutions: an integrated electronic information system for floating exploration of the surface of Venus, comprising: a central processing module, a navigation processing module, a multi-payload support module and a remote control processing module; wherein the central processing module: receives uplink instructions, processes the uplink instructions, combines the working mode, autonomously generates a multi-payload combination exploration task sequence, and sends the decomposed instructions in the multi-payload combination exploration task sequence to the multi-payload support module; receives compressed exploration data and telemetry data sent by the multi-payload support module, and judges the health status of the Venus floating probe according to the compressed exploration data and telemetry data; the navigation processing module: receives the ... The navigation processing module receives the orbit information, time information and ranging information of the orbiter, integrates the solar sensor information and inertial device information, and completes the positioning of its own position on Venus; the multi-payload support module receives the decomposition instructions in the multi-payload combination detection task sequence, distributes the decomposition instructions in the multi-payload combination detection task sequence to each payload terminal, and collects the detection data and telemetry data of each payload, compresses the detection data to obtain compressed detection data, and transmits the compressed detection data and telemetry data to the central processing module; the remote control processing module receives the uplink instruction, and transmits the uplink instruction to the central processing module.

[0010] The above-mentioned integrated electronic information system for floating detection on the surface of Venus also includes: a power supply and distribution management module; wherein the power supply and distribution management module completes the conversion of the power supply voltage of the Venus floating detector, power management, and equipment power distribution function execution.

[0011] In the above-mentioned integrated electronic information system for floating detection on the surface of Venus, the integrated electronic information system identifies the detection mode that the Venus floating detector needs to switch to through the changes in the position of the Venus floating detector; wherein, the integrated electronic information system detects that the floating detector is in a first preset position at the first time, and performs detection in the first detection mode, and at the second time moves with the atmosphere to a second preset position. After the integrated electronic information system detects that the floating detector enters the second preset position, it switches to the second detection mode for detection.

[0012] In the above-mentioned integrated electronic information system used for floating detection of the surface of Venus, the integrated electronic information system recognizes according to time that the Venus floating detector needs to switch from the previous detection mode to another detection mode; wherein, the integrated electronic information system detects that the Venus floating detector is in the first preset time, performs detection in the first detection mode, and after the time data reaches the second preset time, switches to the second detection mode for detection.

[0013] In the above-mentioned integrated electronic information system for floating exploration of the surface of Venus, the integrated electronic information system identifies the energy situation of the Venus floating probe based on the power generation information of the solar array. If the power generation of the solar array is higher than the preset threshold, the detection mode is switched to the full-load working mode.

[0014] In the above-mentioned integrated electronic information system for floating detection on the surface of Venus, the integrated electronic information system identifies the energy status of the Venus floating detector based on the battery meter information. If the battery meter information is lower than a preset threshold, the detection mode is switched to the minimum energy mode.

[0015] In the above-mentioned integrated electronic information system for floating detection of the surface of Venus, the integrated electronic information system identifies the remaining storage space of the Venus floating detector based on the information on the amount of stored data, and switches the detection mode to a low data consumption mode after the amount of stored data is greater than a preset threshold.

[0016] In the above-mentioned integrated electronic information system for floating detection of the surface of Venus, the central processing module can also store compressed detection data and telemetry data, namely payload data. While storing the payload data, the time and space information, attitude information, and device identification number of the payload data generation time are stored in the payload data header at the same time; while storing the payload detection data information, the payload data generation list is stored and dynamically maintained; wherein the list information includes: the payload data generation time, the time and space information of the Venus floating probe when the payload data is generated, the device number of the data payload, and the starting storage address and ending storage address of the payload file.

[0017] In the above-mentioned integrated electronic information system for floating detection on the surface of Venus, the central processing module transmits the payload data; wherein, the transmission scheduling method includes: selecting time for playback, selecting storage address for playback, selecting device number for playback, selecting longitude for playback, and selecting latitude for playback; wherein, one to three of the above playback conditions are selected, and if two or more playback conditions are selected, the logical relationship between the playback conditions is an AND operation, and the ground generates a list based on the payload data to complete the payload data transmission.

[0018] In the above-mentioned integrated electronic information system for floating detection on the surface of Venus, the navigation processing module obtains its own position on Venus through the intersecting circle floating trajectory positioning calculation method according to orbit information, time information, ranging information, solar sensor information, and inertial device information; wherein,

[0019] The intersecting circle floating trajectory positioning calculation method includes: the intersecting circle floating trajectory positioning calculation method within the measurement and control arc segment, and the intersecting circle floating trajectory positioning calculation method outside the measurement and control arc segment.

[0020] The calculation method for positioning the floating trajectory of the intersecting circle in the measurement and control arc is briefly described as follows:

[0021] The integrated electronic information system obtains the following through its own detectors: the altitude of the floater, the direction of Venus' gravity, the direction angle of the sun, and the distance of the Venus floater relative to the orbiter. Through ground uplink data, it obtains: orbital data of the orbiter (the spatial coordinates of the orbiter are obtained through onboard calculations), and ground-based delayed positioning information caused by the round-trip delay of the measurement and control signal.

[0022] The integrated electronic information system obtains the position of the detector based on the intersection of the cone surface of the solar elevation angle in the direction of the sun and the spherical surface where the Venus floater is located. sun .

[0023] Based on the distance of the Venus floater relative to the orbiter and the spatial coordinates of the orbiter, the integrated electronic information system obtains the circular trajectory of the Venus surface that intersects the sphere with the orbiter as the center and the distance between the orbiter and the floater as the radius, which is referred to as the orbiter circular trajectory C. veh .

[0024] Circular path of the sun passing through the surface of Venus C sun and orbiter circular trajectory C veh The intersection of the two floats can be used to obtain the solution for the locations of the two floaters.

[0025] The ranging signal emitted by the floating probe is transmitted to the earth. The ground base calculates the ground positioning information of the floater through the ranging information, and then sends the information back to the Venus floating probe through the orbiter. The Venus probe obtains the coordinates of the ground-based delayed positioning point, and then obtains the error range W of the ground-based positioning information through the wind speed on the surface of Venus.

[0026] Based on the error range W of ground-based positioning information, the circular trajectory C of the sun sun and orbiter circular trajectory C veh The two intersection points are screened to obtain a single solution.

[0027] The calculation method of floating trajectory positioning of the intersecting circle outside the measurement and control arc segment is briefly described as follows:

[0028] The integrated electronic information system obtains through its own detectors: the altitude of the floater, the gravity direction of Venus, the direction angle of the sun, the distance of the Venus floater relative to the orbiter, and the ground-based delayed positioning information obtained through the last communication with the orbiter.

[0029] The location information P1 of the floating detector is extrapolated using the ground-based delayed positioning information and the inertial device measurement data within T seconds from the present time.

[0030] The inertial device data combined with the solar sensor measurement results are used to calculate the solar elevation angle and obtain the solar circular trajectory C at the location of the floater. sun .

[0031] Connect the position information P1 of the Venus floating probe with the center of the sun to obtain the circular trajectory C sun The intersection point P2 is taken, and the position coordinates of P1 and P2 are used as references to each other to obtain the position of Venus where the Venus floating probe is located.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention has the function of completing the autonomous positioning of the floater under the conditions of high-speed, non-directional atmospheric motion interference on the surface of Venus, and based on the position and attitude information determined autonomously and in real time on the floater, it solves the problem of providing the function of generating an autonomous detection sequence for the payload that distinguishes the spatial position and the function of replaying the payload data based on the playback of the time and space position under the conditions of no real-time remote operation and limited channels, so as to provide a more convenient platform service for the payload. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0035] Figure 1 This is a block diagram of the architecture of a comprehensive electronic information system for floating detection on the surface of Venus provided by an embodiment of the present invention;

[0036] Figure 2 is a navigation processing module architecture diagram provided by an embodiment of the present invention;

[0037] Figure 3 The present invention provides a method for calculating the floating trajectory of an intersecting circle under the condition of a measurement and control arc segment.

[0038] Figure 4 The present invention provides a method for calculating the floating trajectory of an intersecting circle without a measurement and control arc segment.

[0039] Figure 5 It is a flowchart of a load scheduling method based on adaptive state-based switching provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference. As described below:

[0042] Floating probe: refers to a probe system that enters the atmosphere of Venus and floats unpowered in the atmosphere of Venus. It has the functions of receiving and processing remote control commands, collecting, storing and downlinking service data and detection data, platform health management, and payload detection.

[0043] Orbiter: refers to a satellite probe of Venus, which orbits Venus in its orbit and also has the function of acting as a relay satellite to complete relay communications between the Earth and the floating probe.

[0044] Inertial measurement unit (IMU): A device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. IMU is generally used to detect the motion state of the device, which includes the rotational angular velocity, angle, acceleration, device attitude, etc. on the three axes.

[0045] Northeastern Euclid (ENU) coordinate system: also called the station center coordinate system. The user's location P is the coordinate origin. The coordinate system is defined as: XOY plane is in the local horizontal plane, X axis: points to the east, Y axis: points to the north, Z axis: points to the zenith.

[0046] Platform: In addition to the detection payload that generates effective scientific data, other equipment to ensure the survival of the probe and the implementation of the detection mission, including but not limited to: floating balloons, mechanical structures, integrated electronic information systems, measurement and control data transmission systems, power supply systems, etc.

[0047] Detection payload: equipment used to detect the surface environment of Venus and generate scientific data, such as thermometers, visible / near-infrared cameras, electromagnetic depth sounders, atmospheric structure detection instruments, ultraviolet and infrared spectrometers, etc.

[0048] Detection mode: It is a combination of detection equipment startup methods. Each detection mode can start one or more detection equipment. A floating detector can have two or more detection modes. The definition of detection mode is not limited to load detection equipment, but can also be the switching process of platform equipment such as measurement and control equipment. The definition of detection mode is not limited to the power on and off status of the equipment on the device, but can also be the switching of the equipment from the first working mode to the second working mode.

[0049] Detection strategy: refers to the top-level planning of detection, such as completing detection mode 1 within a certain period of time.

[0050] Autonomous detection sequence: refers to a series of execution instruction sequences that the detector generates autonomously based on the detection strategy and its own health status. For example, the detection strategy on the ground is to complete the infrared camera's photo taking between 9:00 and 11:00 local time of the detector. The detector generates a series of executable instruction lists based on its own energy, temperature, etc. The generated instruction sequence can be as follows: 9:10 Data storage device is powered on, 9:12 Infrared camera is powered on, 9:13 The exposure time of the infrared camera is set to 0.5s, 9:14 The infrared camera takes a photo...

[0051] Ground-based delayed positioning: The general process of the detector's positioning is that the detector sends a ranging signal to the earth, and there are more than four long-distance measuring stations on the earth to receive the ranging signal. The four measuring stations settle the ranging information to obtain accurate detector position data, and the measurement and control data can be sent to the detector through the measurement and control channel, so that the detector can obtain its own accurate positioning information. For the Venus floater, due to its long distance from the earth, there is a large delay in the process of the ranging signal being transmitted back to the earth to the device receiving the accurate positioning information. Due to the existence of wind on the surface of Venus, the detector has floated a certain distance with the wind during this period of time, which has caused a large error in the obtained detection position. Therefore, the obtained position information is ground-based delayed positioning information.

[0052] The above exemplary description of the concepts can be applied in the following embodiments.

[0053] The Venus floating probe integrated electronic information system of the present invention is suitable for future Venus floating probes with a longer service life. It has the function of completing the autonomous positioning of the floater under the conditions of high-speed, non-directional atmospheric motion interference on the surface of Venus, and based on the position and attitude information determined autonomously and in real time on the probe, it solves the problem of providing an autonomous detection sequence generation function for payloads that distinguish spatial positions and a payload data playback function based on time-space position playback under the conditions of no real-time remote operation and limited channels, so as to provide a more convenient platform service for the payload.

[0054] The following will describe in detail the integrated electronic information system for floating detection on the surface of Venus according to an embodiment of the present application in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, the integrated electronic information system for floating exploration of the surface of Venus includes: a central processing module, a navigation processing module, a multi-payload support module and a remote control processing module; wherein the central processing module: receives uplink instructions, processes the uplink instructions, combines the working mode, autonomously generates a multi-payload combination exploration task sequence, and sends the decomposed instructions in the multi-payload combination exploration task sequence to the multi-payload support module; receives compressed exploration data and telemetry data sent by the multi-payload support module, and determines the health status of the Venus floating probe according to the compressed exploration data and telemetry data; the navigation processing module: receives The orbiter's orbit information, time information and ranging information are combined with the sun sensor information and inertial device information to complete the positioning of its own position on Venus; the multi-payload support module: receives the decomposition instructions in the multi-payload combination detection task sequence, distributes the decomposition instructions in the multi-payload combination detection task sequence to each payload terminal, and collects the detection data and telemetry data of each payload, compresses the detection data to obtain compressed detection data, and transmits the compressed detection data and telemetry data to the central processing module; the remote control processing module: receives the uplink instruction, and transmits the uplink instruction to the central processing module.

[0056] The integrated electronic information system for floating detection on the surface of Venus is characterized by also including: a power supply and distribution management module; wherein the power supply and distribution management module completes the conversion of the power supply voltage of the Venus floating detector, power management, and equipment power distribution function execution.

[0057] like Figure 1The figure shows the architecture block diagram of the integrated electronic information system for floating exploration of the surface of Venus of the present invention. The integrated electronic information system for floating exploration of the surface of Venus includes a central processing module, a navigation processing module, a multi-payload support module, a remote control processing module, and a power supply and distribution management module. In this embodiment, the navigation processing module is incorporated into the integrated electronic information system, and the central processing module uses the navigation information to complete the mission planning, and uses the navigation information to accurately screen the required downlink scientific data information. Through the coordinated control of the multi-payload support module, combined with the orbital information, the health information and the navigation information of the relay orbiter, the multi-payload detection mission planning is completed autonomously when the uplink channel is vacant for a long time and the uplink channel capacity is limited; and the positioning information, time information, etc. are used to complete the efficient on-demand and transmission of multi-payload information.

[0058] The specific division of labor for each module is as follows:

[0059] The navigation processing module receives orbit information, time information, and ranging information from the orbiter, and integrates information from the sun sensor and inertial devices to complete the positioning of its own position on Venus.

[0060] The multi-payload support module distributes the task execution requirements of the central processing module to each payload terminal, collects the detection data and telemetry data of each payload, compresses the detection data, and finally sends the telemetry data and detection data to the central processing module;

[0061] The remote control processing module receives remote control commands from the orbiter and the ground, converts wireless analog signals into digital command signals, completes the execution of some important power on and off commands, and sends other control commands to the central processing module for processing;

[0062] The central processing module processes the uplink instructions, combines the working mode, and autonomously generates a multi-payload combined detection task sequence, and sends the decomposed instructions in the task sequence to the multi-payload support module for distribution; the detection data and telemetry data provided by the multi-payload support module are used to comprehensively judge the health status of the Venus floating probe, and perform comprehensive data processing and downlink with low channel utilization;

[0063] The power supply and distribution management module completes the conversion of the Venus floating probe's power supply voltage, power management, and equipment power distribution functions.

[0064] The central processing module, navigation processing module, multi-payload support module, remote control processing module, and power supply and distribution management module all adopt a single-board design. The whole machine adopts a cage-type design, integrating navigation, mission planning control, payload equipment control, data processing, and power distribution control into the same information system. The inter-board bus is used to complete information interaction and control, thereby completing the integration of the whole machine, which is conducive to the overall weight control of the floating detector.

[0065] Based on the division of tasks in each module, a distributed design of computing resources is formed. Task planning, navigation information calculation, payload equipment communication and information compression processing functions that occupy more computing resources are distributed to the central processing module, navigation processing module and payload processing module respectively. The planning of the next stage of mission detection, the execution of the current task, the navigation positioning of the existing position and the processing of completed payload detection data can be carried out simultaneously, which is conducive to the rapid synchronization of information.

[0066] The architecture of the navigation processing module and the navigation information processing method are as follows:

[0067] The real-time positioning method of the Venus floater integrated electronic information system is implemented by using a navigation processing module. The information acquisition architecture of the navigation processing module is as follows: Figure 2 As shown, specifically:

[0068] Contains multiple data input sources. Sensors: IMU, sun sensor, ranging device; remote control uplink data: ground-based delayed positioning data, orbiter orbit data; integrated electronic information system own time.

[0069] The navigation calculation module calculates the position through the data input from the input source.

[0070] Output information: time, longitude and latitude position of the floater, and attitude of the floater.

[0071] The problem that this design aims to solve is: Since Venus is far away from the Earth, the existing ground-based positioning methods, due to the influence of communication delay, obtain positioning data before the one-way communication delay. If the data is sent from the ground to the Venus floater, the positioning information obtained by the Venus floater is at least the position information before two one-way communication delays. In addition to the processing, calculation, instruction generation and confirmation time of ground data, the delay can reach more than ten to dozens of minutes. Under the conditions of high-speed, non-directional atmospheric motion interference on the surface of Venus, the delayed position information of ground-based detection cannot predict the positioning error caused by atmospheric motion interference. Under the conditions of a delay of more than ten to dozens of minutes, this error cannot be ignored. Therefore, it is necessary for the integrated electronic information system to have the function of completing the autonomous positioning of the floater, provide a time and space reference for the generation of autonomous detection sequences and data downlink of multi-payload detection, and provide auxiliary information for mission planning.

[0072] Using the intersecting circle floating trajectory positioning calculation method, the floater can locate its own position on Venus by receiving the elevation information captured by the sun sensor, the speed and acceleration information measured by the inertial sensor, the distance information from the orbiter measured by the measurement and control equipment, the orbiter's orbit information, the ground-based delayed positioning information, and the height measurement information. The positioning method is divided into two types according to whether the orbiter is visible to the floater. The positioning process is as follows:

[0073] (1) When the orbiter and the floater can establish direct communication, the calculation method of the intersecting circle floating trajectory positioning of the positioning information solution is shown as follows Figure 3 As shown, the specific process is as follows:

[0074] a) The precise position information of the floater on Venus is measured through ground-based VLBI mapping. However, due to the long distance between Venus and the Earth, the round-trip delay of communication is long. Assuming that the round-trip delay of communication is T seconds, the precise position information measured by the Earth obtained by the floater is the position information T seconds ago, which is called the delayed precise position. Due to the influence of the wind speed on the surface of Venus, assuming that the wind speed on the surface of Venus is Wm / s, the error of the delayed precise position obtained by the Venus floater is M=WT. Therefore, the Venus floater can obtain its real-time rough position on the surface of Venus through ground-based VLBI, but it cannot obtain the accurate position;

[0075] b) obtaining the altitude of the Venus floater by means of an altitude measuring device;

[0076] c) The Venus floater obtains the gravity direction of the Venus surface through inertial devices such as IMU;

[0077] d) The gravity direction data obtained by IMU is combined with the sun direction angle photographed by the sun sensor to obtain the elevation angle of the sun relative to the horizontal plane where the floater is located. The elevation angle can be used to obtain a conical surface with the line connecting the center of the sun and the center of Venus as the axis. The conical surface intersects with the spherical surface where the Venus floater is located to obtain the circular trajectory of the detector position on the surface of Venus, referred to as the solar circular trajectory C. sun , and processed into the circular trajectory equation in the inertial coordinate system;

[0078] e) The distance between the Venus floater and the orbiter is obtained through the measurement, control and distance measuring equipment. The sphere with the orbiter as the center and the distance as the radius can be obtained. The sphere intersects with the sphere where the Venus floater is located to obtain the circular trajectory of the Venus surface with the orbiter as the center, referred to as the orbiter circular trajectory C. veh ;

[0079] f) The orbital data of the orbiter obtained by earth mapping is converted into the orbiter circular trajectory C veh Treat it as the circular trajectory equation in inertial space;

[0080] g) Solar Circular Trajectory C sun With the orbiter circular trajectory C veh Intersect, and two intersection points can be obtained, namely P1 and P2. One of these two intersection points is the solution to the location of the floater;

[0081] h) Through the ground-based delayed positioning information and the definition of the error range W, the precise positioning solution of the Venus floater can be obtained.

[0082] The problem that this method can solve is to calculate the position information of the Venus floater when the Venus floater can communicate with the orbiter, and to solve the problem that the position data is difficult to obtain due to the positioning error of the Venus floater caused by the atmospheric disturbance on the surface of Venus.

[0083] (2) If the orbiter and the floater cannot establish direct communication, it is impossible to obtain the distance of the Venus floater relative to the orbiter and the orbital parameters of the orbiter. The calculation method of the intersecting circle float trajectory positioning for positioning information is shown in the figure below: Figure 4 As shown, the specific process is as follows:

[0084] a) Using ground-based VLBI to measure the precise position of the floating detector before the communication delay T seconds (i.e., the real-time rough position considering the influence of wind speed), as described in (1) a);

[0085] b) Use inertial devices such as IMU to calculate the direction of gravity acceleration and record the data within T seconds of the previous communication delay;

[0086] c) After obtaining the ground-based position measurement information, the position information P1 of the floating detector is extrapolated using the inertial device measurement data stored within the previous communication delay T seconds;

[0087] d) Using the inertial device data combined with the solar sensor measurement results, the solar elevation angle is calculated to obtain the solar circular trajectory C at the location of the floater sun , as described in (1) c);

[0088] e) Connect the sensor position obtained by extrapolating the data stored in the inertial device with the center of the sun to obtain the circular trajectory C of the sun sun The intersection point P2 is obtained by taking the position coordinates of P1 and P2 as reference to each other to obtain the position P of the floater.

[0089] The problem that this method can solve is to calculate the position information of the Venus floater when the Venus floater cannot communicate with the orbiter, and to solve the problem that the position data is difficult to obtain due to the positioning error of the Venus floater caused by the atmospheric disturbance on the surface of Venus.

[0090] The integrated electronic information system identifies the detection mode that the Venus floating detector needs to switch to through changes in the position of the Venus floating detector; wherein, the integrated electronic information system detects that the floating detector is in a first preset position at a first time, and performs detection in a first detection mode, and moves to a second preset position with the atmosphere at a second time. After the integrated electronic information system detects that the floating detector enters the second preset position, it switches to the second detection mode for detection.

[0091] Specifically, the integrated electronic information system autonomously calculates the position of the Venus floating probe, including the longitude and latitude information of the Venus floating probe.

[0092] The integrated electronic information system identifies the detection mode that the Venus floating probe needs to switch to through changes in its position, and switches to the corresponding payload for detection.

[0093] The position of the Venus floating detector is generated by real-time calculation of the Venus floating detector based on its own sensors. After collecting its own position, the integrated electronic information system determines that the floating detector switches from the existing detection mode to another detection mode based on the data. For example, the integrated electronic information system detects that the floating detector is in the first preset position at the first time, and performs detection in the first detection mode. At the second time, it moves with the atmosphere to the second preset position. After the integrated electronic information system detects that the floating detector enters the second preset position, it switches to the second detection mode for detection. This solution does not strictly limit the identification method of the floating detector switching from the previous detection position to the next detection position.

[0094] In the detection mode, the communication mode should be set separately. When entering the position range where communication with the orbiter can be achieved, the measurement and control communication mode should be entered, and the communication equipment should be turned on first to complete the communication with the ground in the precious and limited arc segment.

[0095] The problem that this method can solve is that when the position information of the Venus floater is unpredictable and scientists want to use a specific payload to conduct scientific exploration at a specific location, they can specify the detection location and the corresponding payload detection mode to start specific payload detection.

[0096] The integrated electronic information system identifies, based on time, that the Venus floating probe needs to switch from a previous detection mode to another detection mode; wherein, the integrated electronic information system detects that the Venus floating probe is at a first preset time, performs detection in the first detection mode, and after the time data reaches a second preset time, switches to the second detection mode for detection.

[0097] The ground can change the time on the floating detector through centralized time calibration, uniform time calibration, time synchronization and other methods. In the absence of ground time command uplink, the floating detector's integrated electronic information system can maintain its own clock.

[0098] The integrated electronic information system recognizes according to the time that the floating detector needs to switch from a previous detection mode to another detection mode, and switches to the corresponding load for detection.

[0099] The time for determining mode switching by the integrated electronic information system is the time for maintaining the floating detector itself. After the time reaches a certain range, the integrated electronic information system determines that the floating detector switches from the existing detection mode to another detection mode based on the data. For example, the floating detector is in the first preset time and performs detection in the first detection mode. After the time data reaches the second preset time, it switches to the second detection mode for detection. This solution does not strictly limit the identification method of the floating detector switching from the previous detection time to the next detection time.

[0100] The problem that this method can solve is that in the early stage of Venus float exploration or when there is no special location requiring special exploration, non-specific exploration is carried out to understand the basic information of the surface environment of Venus, and different loads are switched for exploration using time as the trigger source.

[0101] The integrated electronic information system identifies the energy situation of the Venus floating probe based on the power generation information of the solar array. If the power generation of the solar array is higher than the preset threshold, the detection mode is switched to the full-load working mode.

[0102] The integrated electronic information system can obtain information on the power generation of the floating probe's solar array.

[0103] The integrated electronic information system identifies the energy situation of the floating detector based on the power generation information of the solar array, and switches the load detection mode according to the energy situation.

[0104] The information used by the integrated electronic information system to determine the mode switching is the power generation information of the solar array. After the power generation of the solar array exceeds a certain threshold, the detection mode is switched to the full load detection mode.

[0105] The problem that this method can solve is that when the float on the surface of Venus can receive sufficient light, all payloads can be turned on for detection, with the aim of obtaining as much payload detection data as possible. The purpose is to use payload equipment to detect the heat caused by the excessive excess current that the solar array needs to dissipate on the surface of Venus, where the temperature is relatively high, to balance the heat caused by the solar array itself, thereby preventing the local temperature from being too high.

[0106] The integrated electronic information system identifies the energy status of the Venus floating probe based on the battery gauge information. If the battery gauge information is lower than the preset threshold, the detection mode is switched to the minimum energy mode.

[0107] The integrated electronic information system can obtain the float sonde battery gauge information.

[0108] The integrated electronic information system identifies the energy status of the floating detector based on the battery power meter information and switches the load detection mode according to the energy status.

[0109] The information used by the integrated electronic information system to determine the mode switching is the battery fuel gauge information. After the battery fuel gauge potential drops to a certain threshold, the detection mode is switched to the low power mode.

[0110] The problem that this method can solve is that when the battery level of a float on the surface of Venus is low and threatens its own energy security, it enters the minimum detection mode and reduces power consumption.

[0111] The integrated electronic information system stores a plurality of detection mode definitions and definitions of transition paths between detection modes.

[0112] The detection mode is a combination of detection equipment startup modes, and each detection mode turns on one or more detection equipment. The floating detector can have two or more detection modes. The definition of the detection mode is not limited to the load detection equipment, but can also be the switching process of platform equipment such as measurement and control equipment. The definition of the detection mode is not limited to the power on and off state of the equipment on the device, but can also be the switching of the equipment from the first working mode to the second working mode.

[0113] The integrated electronic information system stores a plurality of detection mode definitions and definitions of transition paths between detection modes.

[0114] The detection mode switching methods of the first to fifth aspects have a priority definition and an enable / disable definition for each switching mode in the integrated electronic information system.

[0115] The priority can be defined as: the measurement and control communication mode switching>the mode switching based on the battery fuel meter information>the mode switching based on the solar array power generation information>the mode switching based on the location information>the mode switching based on the time information.

[0116] The control method for the Venus floater integrated electronic information system to generate the detection sequence is as follows:

[0117] The central processing module processes the uplink instructions, combines the detection mode stored in itself, and autonomously generates a multi-payload combination detection task sequence through state-based conversion, and sends the decomposed instructions in the task sequence to the multi-payload support module for distribution.

[0118] The detection mode setting and switching are related to the following conditions:

[0119] (1) Detector location.

[0120] The integrated electronic information system identifies the detection mode that the Venus floating probe needs to switch to through changes in its position, and switches to the corresponding payload for detection.

[0121] The position of the Venus floating detector is generated by real-time calculation of the Venus floating detector based on its own sensors. After collecting its own position, the integrated electronic information system determines that the floating detector switches from the existing detection mode to another detection mode based on the data. For example, the integrated electronic information system detects that the floating detector is in the first preset position at the first time, and performs detection in the first detection mode. At the second time, it moves with the atmosphere to the second preset position. After the integrated electronic information system detects that the floating detector enters the second preset position, it switches to the second detection mode for detection. This solution does not strictly limit the identification method of the floating detector switching from the previous detection position to the next detection position.

[0122] In the detection mode, the communication mode should be set separately. When entering the position range where communication with the orbiter can be achieved, the communication mode should be entered and the communication equipment should be turned on first to complete the communication with the ground in the precious and limited arc segment.

[0123] For example:

[0124] Define detection mode one: thermometer, visible / near-infrared camera, electromagnetic depth sounder, and atmospheric structure detection instrument are powered on for detection; define detection mode two: thermometer, visible / near-infrared camera, electromagnetic depth sounder, and atmospheric structure detection instrument are powered on for detection; define detection mode three: thermometer, electromagnetic depth sounder, and ultraviolet infrared spectrometer are powered on for detection.

[0125] The position where the floating probe enters the atmosphere of Venus is 30° north latitude and 60° west longitude. The first preset position is defined as [30°, 31°] north latitude and [60°, 61°] west longitude, the second preset position is [29°, 30°] north latitude and [59°, 60°] west longitude, the third preset position is [29°, 30°] north latitude and [60°, 61°] west longitude, and the fourth preset position is [30°, 31°] north latitude and [59°, 60°] west longitude.

[0126] The corresponding relationship between the preset positions and the detection modes is defined as follows: the first preset position corresponds to detection mode one, the second preset position corresponds to detection mode two, the third preset position corresponds to detection mode three, and the fourth preset position corresponds to detection mode two.

[0127] When the integrated electronic information system detects that the floating probe floats with the atmosphere of the surface of Venus to the first preset position of north latitude [30°, 31°] and west longitude [60°, 61°], detection mode 1 is used for payload detection. When the integrated electronic information system detects that the floating probe floats with the atmosphere of the surface of Venus to the fourth preset position of north latitude [30°, 31°] and west longitude [59°, 60°), detection mode 2 is used for payload detection.

[0128] (2) Time.

[0129] The integrated electronic information system recognizes according to the time that the floating detector needs to switch from a previous detection mode to another detection mode, and switches to the corresponding load for detection.

[0130] The time for determining mode switching by the integrated electronic information system is the time for maintaining the floating detector itself. After the time reaches a certain range, the integrated electronic information system determines that the floating detector switches from the existing detection mode to another detection mode based on the data. For example, the floating detector is in the first preset time and performs detection in the first detection mode. After the time data reaches the second preset time, it switches to the second detection mode for detection. This solution does not strictly limit the identification method of the floating detector switching from the previous detection time to the next detection time.

[0131] For example:

[0132] Define detection mode one: thermometer, visible / near-infrared camera, electromagnetic depth sounder, and atmospheric structure detection instrument are powered on for detection; define detection mode two: thermometer, visible / near-infrared camera, electromagnetic depth sounder, and atmospheric structure detection instrument are powered on for detection; define detection mode three: thermometer, electromagnetic depth sounder, and ultraviolet infrared spectrometer are powered on for detection.

[0133] The current cumulative time s of the integrated electronic information system is 11234s, the first preset time is (11248, 14284), and the second preset time is (14284, 17284).

[0134] The corresponding relationship between the preset positions and the detection modes is defined as follows: the first preset time corresponds to the detection mode three, and the second preset time corresponds to the detection mode two.

[0135] When the integrated electronic information system detects that the time on the device has entered the first preset time, detection mode three is used for load detection; when the integrated electronic information system detects that the time on the device has entered the second preset time, detection mode two is used for load detection.

[0136] (3) Solar array power generation information.

[0137] The integrated electronic information system identifies the energy situation of the floating detector based on the power generation information of the solar array, and switches the load detection mode according to the energy situation.

[0138] The information used by the integrated electronic information system to determine the mode switching is the power generation information of the solar array. After the power generation of the solar array exceeds a certain threshold, the detection mode is switched to the full load detection mode.

[0139] (4) Battery fuel gauge information.

[0140] The integrated electronic information system identifies the energy status of the floating detector based on the battery power meter information and switches the load detection mode according to the energy status.

[0141] The information used by the integrated electronic information system to determine the mode switching is the battery fuel gauge information. After the battery fuel gauge potential drops to a certain threshold, the detection mode is switched to the low power mode.

[0142] The detection mode is a combination of detection equipment startup modes, and each detection mode turns on one or more detection equipment. The floating detector can have two or more detection modes. The definition of the detection mode is not limited to the load detection equipment, but can also be the switching process of platform equipment such as measurement and control equipment. The definition of the detection mode is not limited to the power on and off state of the equipment on the device, but can also be the switching of the equipment from the first working mode to the second working mode.

[0143] For example, the detection mode can be defined as:

[0144] Detection Mode 1: Thermometer, visible / near-infrared camera (infrared mode), and electromagnetic depth sounder are turned on for detection; Detection Mode 2: Thermometer, visible / near-infrared camera (visible light mode), electromagnetic depth sounder, and atmospheric structure detection instrument are turned on for detection; Detection Mode 3: Thermometer, electromagnetic depth sounder, and ultraviolet infrared spectrometer are turned on for detection; Detection Mode 4: Full-load detection mode, the thermometer, visible / near-infrared camera, electromagnetic depth sounder, atmospheric structure detection instrument, and ultraviolet infrared spectrometer are all turned on for detection; Detection Mode 5: Minimum detection mode (used to reduce power consumption or data storage), only the thermometer, the integrated electronic information system used to maintain the survival of the detector, and the power supply system are turned on; Detection Mode 6: Measurement and control mode, the measurement and control data transmission equipment, the integrated electronic information system, and the power supply system are turned on; Detection Mode 7: Data preparation mode, the turned-on equipment is in the minimum detection mode, and the integrated electronic information system compresses the stored data and performs other processing.

[0145] The integrated electronic information system stores a plurality of detection mode definitions and detection mode conversion path definitions. The detection mode switching method has a priority definition and an enable / disable definition of each switching mode in the integrated electronic information system.

[0146] The priority can be defined as: the measurement and control communication mode switching>the mode switching based on the battery fuel meter information>the mode switching based on the solar array power generation information>the mode switching based on the location information>the mode switching based on the time information.

[0147] The transition between state bases can be Figure 5For example. All detection modes are converted to data preparation mode after the detection work is completed to complete data compression and other tasks. If you enter other detection modes again, after completing data processing in the data preparation state, enter the new payload detection state to detect. If you are about to enter the measurement and control arc, first enter the data preparation mode. After completing data preparation, enter the measurement and control transmission mode to interact with the ground uplink data and the Venus floating probe downlink data. If the Venus floating probe is insufficient in energy or data storage space, it will enter the data preparation mode to complete data processing, and then enter the minimum detection mode to wait for energy replenishment or wait for data transmission.

[0148] The navigation processing module obtains its own position on Venus through the intersecting circle floating trajectory positioning calculation method based on orbital information (i.e. orbital information of the orbiter and ground-based delayed positioning information), time information, ranging information (i.e. distance information from the orbiter measured by the measurement, control and ranging equipment), sun sensor information (i.e. elevation angle information captured by the sun sensor) and inertial device information (i.e. speed and acceleration information measured by the inertial sensor).

[0149] The calculation method for the positioning of the intersecting circle floating trajectory is as described above and will not be repeated here.

[0150] The problem with the design of integrated electronic information systems for floating detectors in the past is that the navigation system and the load management system belong to two separate systems, and there is no direct information exchange between them. In this embodiment, the navigation system and the load management system are integrated into two modules of the integrated electronic information system, namely the navigation processing module and the multi-load support module. The central processing module centrally dispatches the navigation information and the load information. Through the fusion of information from both sides, it supports the autonomous generation of the load detection sequence, completes the flexible use of the load detection equipment, supports the diversified selection of data downlink methods, more conveniently meets the downlink requirements of the load data, supports the optimization of the load data storage structure, and is more conducive to the later inversion of the load data.

[0151] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An integrated electronic information system for floating exploration of the surface of Venus, characterized in that include: Central processing module, navigation processing module, multi-payload support module and remote control processing module; among them, The central processing module: receives uplink instructions, processes the uplink instructions, autonomously generates a multi-payload combined detection task sequence in combination with the working mode, and sends the decomposed instructions in the multi-payload combined detection task sequence to the multi-payload support module; receives the compressed detection data and telemetry data sent by the multi-payload support module, and determines the health status of the Venus floating probe according to the compressed detection data and telemetry data; The navigation processing module receives orbit information, time information and ranging information of the orbiter, integrates the sun sensor information and inertial device information, and completes the positioning of the position of Venus where the orbiter is located; The multi-load support module receives decomposition instructions in the multi-load combined detection task sequence, distributes the decomposition instructions in the multi-load combined detection task sequence to each load terminal, collects detection data and telemetry data of each load, compresses the detection data to obtain compressed detection data, and transmits the compressed detection data and telemetry data to the central processing module; The remote control processing module receives uplink instructions and transmits the uplink instructions to the central processing module.

2. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1, characterized in that Also includes: Power supply and distribution management module; wherein, the power supply and distribution management module completes the conversion of the Venus floating probe's power supply voltage, power management, and equipment power distribution functions.

3. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized in that: The integrated electronic information system identifies the detection mode that the Venus floating detector needs to switch to through changes in the position of the Venus floating detector; wherein, the integrated electronic information system detects that the floating detector is in a first preset position at a first time, and performs detection in a first detection mode, and moves to a second preset position with the atmosphere at a second time. After the integrated electronic information system detects that the floating detector enters the second preset position, it switches to the second detection mode for detection.

4. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized in that: The integrated electronic information system recognizes that the Venus floating probe has entered an area where it can communicate with the orbiter based on its own position and orbiter arc information, and then switches to the measurement and control mode. The priority of entering the measurement and control mode is higher than the priority of entering each detection mode.

5. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized in that: The integrated electronic information system recognizes that the Venus floating probe has entered an area where it can communicate with the orbiter based on its own position and orbiter arc information, and then switches to the measurement and control mode. The priority of entering the measurement and control mode is higher than the priority of entering each detection mode.

6. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized in that: The integrated electronic information system identifies the energy situation of the Venus floating probe based on the power generation information of the solar array. If the power generation of the solar array is higher than a preset threshold, the detection mode is switched to a full-load working mode.

7. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized in that: The integrated electronic information system identifies the energy status of the Venus floating probe based on the battery meter information. If the battery meter information is lower than a preset threshold, the detection mode is switched to the minimum energy mode.

8. The integrated electronic information system for floating exploration of the surface of Venus according to claim 1 is characterized by: The navigation processing module obtains its own position on Venus through the intersection circle floating trajectory positioning calculation method according to orbit information, time information, ranging information, sun sensor information, and inertial device information; wherein, The intersecting circle floating trajectory positioning calculation method includes: the intersecting circle floating trajectory positioning calculation method within the measurement and control arc segment, and the intersecting circle floating trajectory positioning calculation method outside the measurement and control arc segment.

9. The integrated electronic information system for floating exploration of the surface of Venus according to claim 8 is characterized in that: The calculation method for positioning the floating trajectory of the intersecting circle in the measurement and control arc segment includes: The integrated electronic information system obtains the following through its own detectors: the altitude of the floater, the direction of Venus' gravity, the direction angle of the sun, and the distance of the Venus floater relative to the orbiter; and obtains the following through ground uplink data: orbiter orbit data and ground-based delayed positioning information caused by the round-trip delay of the measurement and control signal; The integrated electronic information system obtains the solar circular trajectory of the detector's position on the Venus surface based on the intersection of the cone surface of the solar elevation angle and the spherical surface where the Venus floater is located; Based on the distance of the Venus floater relative to the orbiter and the spatial coordinates of the orbiter, the integrated electronic information system obtains the circular trajectory of the Venus surface that intersects the sphere with the orbiter as the center and the distance between the orbiter and the floater as the radius, which is referred to as the orbiter circular trajectory C. veh ; Circular path of the sun passing through the surface of Venus C sun and orbiter circular trajectory C veh The intersection of the two floats is used to obtain the solution of the positions of the two floaters; The ranging signal emitted by the floating probe is transmitted to the earth. The ground base calculates the floating device's ground positioning information through the ranging information, and then sends the floating device's ground positioning information back to the Venus floating probe through the orbiter. The Venus probe obtains the coordinates of the ground-based delayed positioning point, and then obtains the error range of the ground-based positioning information through the wind speed on the surface of Venus. Based on the error range of ground-based positioning information, the circular trajectory of the sun C sun and orbiter circular trajectory C veh The two intersection points are screened to obtain a single solution.

10. The integrated electronic information system for floating exploration of the surface of Venus according to claim 8, characterized in that: The calculation method for positioning the floating trajectory of the intersecting circle outside the measurement and control arc segment includes: The integrated electronic information system obtains through its own detector: the altitude of the floater, the gravity direction of Venus, the direction angle of the sun, the distance of the Venus floater relative to the orbiter; and the ground-based delayed positioning information obtained through the last communication with the orbiter; Using the ground-based delayed positioning information and the inertial device measurement data within T seconds from the present time, the position information P1 of the floating detector is extrapolated; The inertial device data combined with the solar sensor measurement results are used to calculate the solar elevation angle and obtain the solar circular trajectory C at the location of the floater. sun ; Connect the position information P1 of the Venus floating probe with the center of the sun to obtain the circular trajectory C sun The intersection point P2 is taken, and the position coordinates of P1 and P2 are used as references to each other to obtain the position of Venus where the Venus floating probe is located.

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