A method and system for simulating a control system of an on-orbit spacecraft

Abstract

The application discloses a kind of control system simulation method and system of on-orbit spacecraft, the method is applied to the host computer of the simulation system of on-orbit spacecraft control system, system includes sensor simulation unit, GNC controller simulation unit, actuator simulation unit, dynamics model and telemetry data storage unit;Method includes: for the first control cycle, GNC controller simulation unit constructs the initial parameter of simulation system based on the telemetry data of preset time in telemetry data storage unit, and carries out the simulation calculation of this control cycle based on initial parameter;For other control cycles, all execute: judge whether to use telemetry data to participate in the simulation calculation of this control cycle;If yes, then GNC controller simulation unit calls the telemetry data of corresponding time, and carries out the simulation calculation of this control cycle based on the telemetry data of calling;If no, then carry out the simulation calculation of this control cycle based on measurement state.This application can improve the accuracy of simulation system.

Description

Technical Field

[0001] This invention relates to the field of control simulation technology, and in particular to a simulation method and system for the control system of an on-orbit spacecraft. Background Technology

[0002] Ground simulation of spacecraft on-orbit operation control systems is mainly used for system debugging, testing and verification, and problem reproduction. Compared to physical testing systems, simulation systems have the advantages of ease of operation and speed of execution. The entire simulation system can run on one or more high-performance PCs and can be used to simulate the actions of various sensors, GNC controllers, actuators, etc. However, existing simulation methods cannot properly set the initial parameters of the simulation system, such as initial conditions and simulation inputs, leading to inconsistencies between simulation results and actual on-orbit conditions, thus affecting the accuracy of simulation verification.

[0003] Therefore, there is an urgent need for a simulation method and system for the control system of on-orbit spacecraft to solve the above problems. Summary of the Invention

[0004] This invention provides a simulation method and system for the control system of an on-orbit spacecraft, which can improve the accuracy of the simulation system. The technical solution is as follows:

[0005] On one hand, a simulation method for the control system of an on-orbit spacecraft is provided, applied to the host computer of a simulation system for the on-orbit spacecraft control system. The simulation system includes a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit. The sensor simulation unit, the GNC controller simulation unit, the actuator simulation unit, and the dynamic model are sequentially connected, and the telemetry data storage unit is connected to the GNC controller simulation unit. The sensor simulation unit outputs the spacecraft's measurement state based on the excitation information output by the dynamic model. The telemetry data storage unit receives and stores real telemetry data from the on-orbit spacecraft. The GNC controller simulation unit issues control commands based on the measurement state or the telemetry data. The actuator simulation unit calculates mechanical information based on the control commands. The dynamic model outputs excitation information based on the mechanical information.

[0006] The method includes:

[0007] For the first control cycle, the GNC controller simulation unit constructs the initial parameters of the simulation system based on the telemetry data at a preset time in the telemetry data storage unit, and performs simulation calculations for the control cycle based on the initial parameters; the initial parameters include initial conditions and initial simulation inputs;

[0008] For other control cycles, execute the following:

[0009] Determine whether to use the telemetry data stored in the telemetry data storage unit to participate in the simulation calculation of the control cycle; if yes, the GNC controller simulation unit retrieves the telemetry data at the corresponding time and performs the simulation calculation of the control cycle based on the retrieved telemetry data; if no, the simulation calculation of the control cycle is performed based on the measurement state output by the sensor simulation unit.

[0010] In one possible design, the GNC controller simulation unit stores a telemetry data inverse assignment function; the inverse assignment function is used to unpack and assign values ​​to the telemetry data, and determine the software variables of the GNC controller simulation unit based on the unpacked and assigned data; during operation, the GNC controller simulation unit calculates spacecraft control quantities based on the software variables, and issues control commands according to the control quantities.

[0011] In one possible design, the GNC controller simulation unit constructs the initial parameters of the simulation system based on telemetry data at a preset time in the telemetry data storage unit, including:

[0012] Based on the GNC controller simulation unit, telemetry data at a preset time is retrieved from the telemetry data storage unit;

[0013] The retrieved telemetry data is unpacked and assigned values ​​based on the reverse assignment function.

[0014] The initial parameters of the simulation system are determined based on the data after unpacking and assignment.

[0015] In one possible design, the simulation calculation of the control cycle based on the initial parameters includes:

[0016] Based on the initial parameters, the software variables of the GNC controller simulation unit are determined using the telemetry data inverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities.

[0017] Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle;

[0018] Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model.

[0019] Based on this excitation information, the sensor simulation unit outputs the measurement status for the next control cycle.

[0020] In one possible design, the criterion for determining whether to use the telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is:

[0021] If the difference between the telemetry data corresponding to the control cycle and the measurement state output by the sensor simulation unit exceeds a preset value, then the telemetry data is used to participate in the simulation calculation of the control cycle; otherwise, the measurement state output by the sensor simulation unit is used to perform the simulation calculation of the control cycle.

[0022] In one possible design, the criterion for determining whether to use the telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is:

[0023] If the number of times the simulation calculation based on the measurement state output by the sensor simulation unit exceeds a preset number, then telemetry data is used to participate in the simulation calculation of the control cycle; otherwise, the measurement state output by the sensor simulation unit is used to perform the simulation calculation of the control cycle.

[0024] In one possible design, the simulation calculation for this control cycle is performed based on the retrieved telemetry data, including:

[0025] The retrieved telemetry data is unpacked and reassigned based on the reverse assignment function to obtain the unpacked and reassigned data.

[0026] Based on the unpacked and assigned data, the software variables of the GNC controller simulation unit are determined using the telemetry data reverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities.

[0027] Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle;

[0028] Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model.

[0029] Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

[0030] In one possible design, the simulation calculation of the control cycle is performed based on the measurement state output by the sensor simulation unit, including:

[0031] Based on the measurement status, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities.

[0032] Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle;

[0033] Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model.

[0034] Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

[0035] On the other hand, a simulation system for an on-orbit spacecraft control system is provided, including: a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit;

[0036] The sensor simulation unit is used to output the spacecraft's measurement state based on the excitation information output by the dynamic model, and send the measurement state to the GNC controller simulation unit;

[0037] The telemetry data storage unit is used to receive and store real telemetry data from the orbiting spacecraft, and to send the received telemetry data to the GNC controller simulation unit.

[0038] The GNC controller simulation unit is used to issue control commands based on the measurement status or the telemetry data, and send the control commands to the actuator simulation unit;

[0039] The actuator simulation unit is used to calculate mechanical information based on the control command and send the calculated mechanical information to the dynamic model;

[0040] The dynamic model is used to output excitation information based on the mechanical information and send the excitation information to the sensor simulation unit.

[0041] In one possible design, the GNC controller simulation unit stores a telemetry data inverse assignment function. The inverse assignment function is used to unpack and assign values ​​to the telemetry data, and determine the software variables of the GNC controller simulation unit based on the unpacked and assigned data. During operation, the GNC controller simulation unit calculates the spacecraft control quantities based on the software variables, and issues control commands according to the control quantities.

[0042] This invention provides a simulation method for the control system of an on-orbit spacecraft. The simulation system, through the establishment of a telemetry data storage unit, can receive and store real telemetry data from the on-orbit spacecraft. In the initial stage of ground simulation, such as the first control cycle, telemetry data at a preset time can be retrieved from the telemetry data storage unit. Since the telemetry data originates from data of a real spacecraft in orbit, it can accurately represent the actual state of the spacecraft. Therefore, constructing the initial parameters of the simulation system based on the telemetry data and performing simulation calculations based on these parameters ensures that the initial parameters are consistent with the on-orbit state, improving the accuracy of the initial parameters. Furthermore, performing simulation calculations based on telemetry data during certain control cycles allows for continuous correction of the simulation system, further ensuring consistency between the simulation system and the actual on-orbit control system state, and improving the accuracy of ground simulation system verification. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of a simulation method for the control system of an on-orbit spacecraft provided in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a simulation system for an on-orbit spacecraft control system provided in an embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] The specific implementation of the above concept is described below.

[0048] Please refer to Figure 1This invention provides a simulation method for an on-orbit control system, applied to the host computer of a simulation system for an on-orbit spacecraft control system. The simulation system includes a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit. The sensor simulation unit, GNC controller simulation unit, actuator simulation unit, and dynamic model are sequentially connected, and the telemetry data storage unit is connected to the GNC controller simulation unit. The sensor simulation unit outputs the spacecraft's measurement state based on the excitation information output by the dynamic model. The telemetry data storage unit receives and stores real telemetry data from the on-orbit spacecraft. The GNC controller simulation unit issues control commands based on the measurement state or telemetry data. The actuator simulation unit calculates mechanical information based on the control commands. The dynamic model outputs excitation information based on the mechanical information.

[0049] The methods include:

[0050] Step 100: For the first control cycle, the GNC controller simulation unit constructs the initial parameters of the simulation system based on the telemetry data at a preset time in the telemetry data storage unit, and performs simulation calculations for the control cycle based on the initial parameters; the initial parameters include initial conditions and initial simulation inputs;

[0051] Step 102: For other control cycles, the following steps are performed: Determine whether the telemetry data stored in the telemetry data storage unit is used in the simulation calculation of the control cycle; if yes, the GNC controller simulation unit retrieves the telemetry data at the corresponding time and performs the simulation calculation of the control cycle based on the retrieved telemetry data; if no, the simulation calculation of the control cycle is performed based on the measurement status output by the sensor simulation unit.

[0052] In this embodiment, the simulation system, by setting up a telemetry data storage unit, can receive and store real telemetry data from the spacecraft in orbit. In the initial stage of ground simulation, such as the first control cycle, telemetry data at a preset time can be retrieved from the telemetry data storage unit. Since the telemetry data comes from real spacecraft data in orbit, it can accurately represent the spacecraft's true state. Therefore, constructing the initial parameters of the simulation system based on the telemetry data and performing simulation calculations based on these parameters ensures that the initial parameters are consistent with the on-orbit state, improving the accuracy of the initial parameters. Furthermore, performing simulation calculations based on telemetry data during certain control cycles allows for continuous correction of the simulation system, further ensuring consistency between the simulation system and the real on-orbit control system state, and improving the accuracy of ground simulation system verification. It should be noted that the measurement state output by the sensor simulation unit can be the spacecraft's attitude relative to an orbiting target such as the Earth or the Sun. Control commands can be the execution of operations on actuators, such as engine on / off commands. Mechanical information is used to characterize the spacecraft's operational state.

[0053] In addition, initial conditions can include the spacecraft's attitude, and simulation inputs can include the spacecraft's mass and inertia, which users can determine as needed.

[0054] In some implementations, the GNC controller simulation unit stores a telemetry data inverse assignment function. The inverse assignment function is used to unpack and assign values ​​to the telemetry data, and determine the software variables of the GNC controller simulation unit based on the unpacked and assigned data. During operation, the GNC controller simulation unit calculates the spacecraft control quantities based on the software variables and issues control commands according to the control quantities.

[0055] In this embodiment, by employing a telemetry data inverse assignment function, telemetry data can be used to assign values ​​to corresponding software variables in the controller simulation unit, thereby constructing initial conditions or initial simulation inputs based on the telemetry data, thus improving the accuracy of the simulation system.

[0056] In some implementations, the GNC controller simulation unit constructs the initial parameters of the simulation system based on telemetry data at a preset time in the telemetry data storage unit, including:

[0057] Based on the GNC controller simulation unit, telemetry data at a preset time is retrieved from the telemetry data storage unit;

[0058] The retrieved telemetry data is unpacked and assigned values ​​based on the reverse assignment function;

[0059] The initial parameters of the simulation system are determined based on the data after unpacking and assignment.

[0060] In this embodiment, the preset time is determined according to the user's needs.

[0061] In some implementations, the simulation calculation of the control cycle is performed based on initial parameters, including:

[0062] Based on the initial parameters, the software variables of the GNC controller simulation unit are determined by using the telemetry data inverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities.

[0063] Based on the control commands, the actuator simulation unit outputs the mechanical information of the control cycle;

[0064] Based on this mechanical information, the excitation information for this control cycle is output using a dynamic model;

[0065] Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

[0066] In this step, by setting a reverse assignment function, the unpacked telemetry data can be inverted to obtain the software variables corresponding to the telemetry data, and then the control quantity and control command can be calculated based on the software variables.

[0067] In some implementations, the criterion for determining whether to use telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is:

[0068] If the difference between the telemetry data and the measurement state output by the sensor simulation unit in the control cycle exceeds a preset value, then the telemetry data is used in the simulation calculation of the control cycle; otherwise, the measurement state output by the sensor simulation unit is used in the simulation calculation of the control cycle.

[0069] In this step, when there is a large difference between the telemetry data and the measurement status, it indicates that there is a large difference between the simulation system and the actual on-orbit status. At this time, it is necessary to use telemetry data to correct the simulation system in order to improve the calculation accuracy of the simulation system.

[0070] In some implementations, the criterion for determining whether to use telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is:

[0071] If the number of simulation calculations based on the measurement status output by the sensor simulation unit exceeds a preset number, then telemetry data is used in the simulation calculation of the control cycle; otherwise, the measurement status output by the sensor simulation unit is used in the simulation calculation of the control cycle.

[0072] In this step, as the number of calculations increases, the calculation error will gradually accumulate. Therefore, when the number of simulation calculations using the measurement state exceeds the preset number, the telemetry data stored in the telemetry data storage unit will be used for simulation calculations in the next control cycle to correct the simulation system and improve the calculation accuracy of the simulation system.

[0073] In some implementations, the simulation calculation of the control cycle is performed based on the retrieved telemetry data, including:

[0074] The retrieved telemetry data is unpacked and reassigned based on the reverse assignment function to obtain the unpacked and reassigned data;

[0075] Based on the unpacked and assigned data, the software variables of the GNC controller simulation unit are determined using the telemetry data inverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities.

[0076] Based on the control commands, the actuator simulation unit outputs the mechanical information of the control cycle;

[0077] Based on this mechanical information, the excitation information for this control cycle is output using a dynamic model;

[0078] Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

[0079] In some implementations, the simulation calculation of the control cycle is performed based on the measurement state output by the sensor simulation unit, including:

[0080] Based on the measurement status, the GNC controller simulation unit calculates the spacecraft control quantities and issues control commands according to the control quantities;

[0081] Based on the control commands, the actuator simulation unit outputs the mechanical information of the control cycle;

[0082] Based on this mechanical information, the excitation information for this control cycle is output using a dynamic model;

[0083] Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

[0084] In the above embodiments, each control cycle forms a closed loop, and then the measurement state output by the sensor simulation unit is used for the next control cycle until the simulation ends.

[0085] like Figure 2 As shown, this embodiment of the invention also provides a simulation system for an on-orbit spacecraft control system, including: a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit;

[0086] The sensor simulation unit is used to output the spacecraft's measurement state based on the excitation information output by the dynamic model, and sends the measurement state to the GNC controller simulation unit;

[0087] The telemetry data storage unit is used to receive and store real telemetry data from the orbiting spacecraft, and to send the received telemetry data to the GNC controller simulation unit;

[0088] The GNC controller simulation unit is used to issue control commands based on measurement status or telemetry data, and send the control commands to the actuator simulation unit;

[0089] The actuator simulation unit is used to calculate mechanical information based on control commands and send the calculated mechanical information to the dynamic model;

[0090] The dynamic model is used to output excitation information based on mechanical information and send the excitation information to the sensor simulation unit.

[0091] In some implementations, the GNC controller simulation unit stores a telemetry data inverse assignment function. The inverse assignment function is used to unpack and assign values ​​to the telemetry data, and determine the software variables of the GNC controller simulation unit based on the unpacked and assigned data. During operation, the GNC controller simulation unit calculates the spacecraft control quantities based on the software variables and issues control commands according to the control quantities.

[0092] In some implementations, the telemetry data storage unit includes two communication interfaces: one for receiving telemetry data transmitted by a real spacecraft in orbit, and the other for transmitting the telemetry data to the GNC controller simulation unit. Furthermore, the communication interfaces can be hardware or software interfaces, as long as data transmission can be accomplished; this application does not impose any specific limitations.

[0093] In some implementations, the telemetry data storage unit and the simulation system operate synchronously.

[0094] In some implementations, the measured state includes the spacecraft’s attitude relative to the orbiting target.

[0095] In some implementations, control commands include control commands to various actuators on the spacecraft.

[0096] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0097] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A simulation method for the control system of an on-orbit spacecraft, characterized in that, In the host computer of the simulation system for the control system of an on-orbit spacecraft, the simulation system includes a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit; the sensor simulation unit, the GNC controller simulation unit, the actuator simulation unit, and the dynamic model are connected in sequence, and the telemetry data storage unit is connected to the GNC controller simulation unit; the sensor simulation unit is used to output the measurement status of the spacecraft based on the excitation information output by the dynamic model; The telemetry data storage unit is used to receive and store real telemetry data from the orbiting spacecraft. The GNC controller simulation unit is used to issue control commands based on the measurement status or the telemetry data; The actuator simulation unit is used to calculate mechanical information based on the control commands; The dynamic model is used to output excitation information based on the mechanical information; The method includes: For the first control cycle, the GNC controller simulation unit constructs the initial parameters of the simulation system based on the telemetry data at a preset time in the telemetry data storage unit, and performs simulation calculations for the control cycle based on the initial parameters; the initial parameters include initial conditions and initial simulation inputs; For other control cycles, execute the following: Determine whether to use the telemetry data stored in the telemetry data storage unit to participate in the simulation calculation of the control cycle; if yes, the GNC controller simulation unit retrieves the telemetry data at the corresponding time and performs the simulation calculation of the control cycle based on the retrieved telemetry data; if no, the simulation calculation of the control cycle is performed based on the measurement state output by the sensor simulation unit. The GNC controller simulation unit stores a telemetry data inverse assignment function; the inverse assignment function is used to unpack and assign values ​​to the telemetry data, and determine the software variables of the GNC controller simulation unit based on the unpacked and assigned data; during operation, the GNC controller simulation unit calculates the spacecraft control quantities based on the software variables, and issues control commands according to the control quantities; The GNC controller simulation unit constructs the initial parameters of the simulation system based on telemetry data at a preset time in the telemetry data storage unit, including: Based on the GNC controller simulation unit, telemetry data at a preset time is retrieved from the telemetry data storage unit; The retrieved telemetry data is unpacked and assigned values ​​based on the reverse assignment function. The initial parameters of the simulation system are determined based on the data after unpacking and assignment. The criterion for determining whether to use the telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is as follows: If the difference between the telemetry data corresponding to the control cycle and the measurement state output by the sensor simulation unit exceeds a preset value, then the telemetry data is used to participate in the simulation calculation of the control cycle; otherwise, the measurement state output by the sensor simulation unit is used to perform the simulation calculation of the control cycle. The criterion for determining whether to use the telemetry data stored in the telemetry data storage unit in the simulation calculation of a certain control cycle is as follows: If the number of times the simulation calculation based on the measurement state output by the sensor simulation unit exceeds a preset number, then telemetry data is used to participate in the simulation calculation of the control cycle; otherwise, the measurement state output by the sensor simulation unit is used to perform the simulation calculation of the control cycle.

2. The method according to claim 1, characterized in that, The simulation calculation of the control cycle based on the initial parameters includes: Based on the initial parameters, the software variables of the GNC controller simulation unit are determined using the telemetry data inverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities. Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle; Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model. Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

3. The method according to claim 1, characterized in that, The simulation calculation for this control cycle is performed based on the retrieved telemetry data, including: The retrieved telemetry data is unpacked and reassigned based on the reverse assignment function to obtain the unpacked and reassigned data. Based on the unpacked and assigned data, the software variables of the GNC controller simulation unit are determined using the telemetry data reverse assignment function; based on the software variables, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities. Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle; Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model. Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

4. The method according to claim 1, characterized in that, The simulation calculation of this control cycle is performed based on the measurement state output by the sensor simulation unit, including: Based on the measurement status, the spacecraft control quantities are calculated using the GNC controller simulation unit, and control commands are issued according to the control quantities. Based on the control command, the actuator simulation unit outputs the mechanical information for that control cycle; Based on this mechanical information, the excitation information for this control cycle is output using the dynamic model. Based on this excitation information, the sensor simulation unit outputs the measurement state for the next control cycle.

5. A simulation system for an on-orbit spacecraft control system, characterized in that, The system for performing the method as described in any one of claims 1-4 comprises: a sensor simulation unit, a GNC controller simulation unit, an actuator simulation unit, a dynamic model, and a telemetry data storage unit; The sensor simulation unit is used to output the spacecraft's measurement state based on the excitation information output by the dynamic model, and send the measurement state to the GNC controller simulation unit; The telemetry data storage unit is used to receive and store real telemetry data from the orbiting spacecraft, and to send the received telemetry data to the GNC controller simulation unit. The GNC controller simulation unit is used to issue control commands based on the measurement status or the telemetry data, and send the control commands to the actuator simulation unit; The actuator simulation unit is used to calculate mechanical information based on the control command and send the calculated mechanical information to the dynamic model; The dynamic model is used to output excitation information based on the mechanical information and send the excitation information to the sensor simulation unit.

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