Laser networking scene establishment method and system based on satellite data

Abstract

The invention relates to the technical field of laser networking, in particular to a laser networking scene establishment method and system based on satellite data, and the method comprises the steps: collecting satellite orbit and attitude data based on STK simulation software, and obtaining orbit attitude parameters; calculating the orbit and attitude position of the satellite or aircraft by adopting an attitude and orbit construction algorithm based on the orbit attitude parameters; the method comprises the following steps: importing a satellite or aircraft orbit and attitude position into three-dimensional software, and generating a laser load based on a demand to construct each scene; according to the method, satellite-borne laser link fault parallel simulation configuration is carried out through STK software to simulate an on-orbit workflow, fault reproduction and treatment measure verification are carried out, the reliability of laser long-term link establishment is verified, and on the basis of STK orbit simulation software, the reliability of laser long-term link establishment is improved. A database of track simulation software STK is used for track deduction, an attitude and track pointing algorithm is simulated, and a calibration scene, a link building scene, a sun-sun avoidance scene and a troubleshooting scene are constructed.

Description

Technical Field

[0001] The present invention relates to the field of laser networking technology, and in particular to a method and system for establishing a laser networking scene based on satellite data. Background Art

[0002] With the development of new technologies and the increasing demand for communication, the communication technology between satellites and in space has changed from microwave communication to new laser communication, and from point-to-point to multi-point networking. Laser networking technology has become a key communication technology between satellites and in space due to its outstanding advantages. However, since laser networking technology is used in satellites and in space, once the equipment fails, it will take a huge amount of time and cost to maintain it.

[0003] Therefore, simulation software is needed to simulate and analyze the operation scenarios and fault conditions of space laser payloads. The simulation methods commonly used in laser networking are general numerical simulation software such as Matlab / Simulink and Labview. When simulating aerospace laser networking, it can assist in building and analyzing the physical and mathematical models of networking equipment. However, the accuracy of the constructed model will be limited. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for establishing a laser networking scene based on satellite data, aiming to solve the problem that the accuracy of models constructed by existing general numerical simulation software is limited.

[0005] To achieve the above object, in a first aspect, the present invention provides a method for establishing a laser networking scene based on satellite data, comprising the following steps:

[0006] Based on STK simulation software, satellite orbit and attitude data are collected to obtain orbit attitude parameters;

[0007] Calculate the orbit and attitude position of the satellite or spacecraft using an attitude-orbit construction algorithm based on the orbit attitude parameters;

[0008] Importing the satellite or spacecraft orbit and attitude position into the three-dimensional software, generating laser payloads based on demand to construct various scenes;

[0009] The three-dimensional visualization display of each scene construction and the interface display after simulation data analysis and processing.

[0010] Wherein, the attitude-orbit construction algorithm includes an orbit algorithm and an attitude algorithm.

[0011] Among them, the scenarios include calibration scenarios, link establishment scenarios, solar eclipse avoidance scenarios, fault location and troubleshooting scenarios, link break and re-link scenarios, and multi-route switching scenarios.

[0012] The calibration scene establishment method includes:

[0013] Get the orbit and attitude position parameters of the satellite or spacecraft from STK;

[0014] Import the orbit and attitude position parameters into the 3D software, and establish the laser payload orbit and attitude model according to the attitude-orbit model construction algorithm;

[0015] Adjust the position of the satellite or aircraft so that there is no obstruction between the laser devices they carry and they are in a ready state to establish a link.

[0016] In a second aspect, a laser networking scene establishment system based on satellite data is applied to a laser networking scene establishment method based on satellite data as described in the first aspect above:

[0017] It includes orbit attitude parameter module, attitude construction algorithm calculation module, scene establishment module and three-dimensional scene simulation module;

[0018] The orbit attitude parameter module collects satellite orbit and attitude data based on STK simulation software;

[0019] The attitude construction algorithm calculation module calculates the orbit and attitude position of the satellite or spacecraft based on the attitude and orbit construction algorithm;

[0020] The scene building module constructs each scene based on calculating the orbit and attitude position of the satellite or spacecraft and generating the laser payload;

[0021] The three-dimensional scene simulation module is used to perform three-dimensional visualization of the scene construction and interface display after simulation data analysis and processing.

[0022] The present invention discloses a method for establishing a laser networking scene based on satellite data. The method collects satellite orbit and attitude data based on STK simulation software to obtain orbit attitude parameters; calculates satellite or spacecraft orbit and attitude position based on the orbit attitude parameters by adopting an attitude-orbit construction algorithm; imports the satellite or spacecraft orbit and attitude position into three-dimensional software, generates laser payload based on demand to construct various scenes; and performs three-dimensional visualization and interface display after simulation data analysis and processing on the construction of various scenes. The method uses STK software to perform parallel simulation configuration of satellite-borne laser link faults and simulates on-orbit workflow to perform fault reproduction and disposal measure verification, verify the long-term laser link establishment reliability, and based on STK orbit simulation software, uses the database of orbit simulation software STK to perform orbit deduction, simulates the attitude-orbit pointing algorithm, and constructs calibration scenes, link establishment scenes, solar eclipse avoidance scenes, and troubleshooting scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 The present invention provides a flowchart of a method for establishing a laser networking scene based on satellite data.

[0025] Figure 2 The present invention provides a flow chart of a method for establishing a laser networking scene based on satellite data.

[0026] Figure 3 It is a schematic diagram of a laser networking scene establishment system based on satellite data provided by the present invention.

[0027] In the figure: 1- orbit attitude parameter module, 2- attitude construction algorithm calculation module, 3- scene establishment module, 4- three-dimensional scene simulation module. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] See also Figure 1 to Figure 2 In a first aspect, the present invention provides a method for establishing a laser networking scene based on satellite data, comprising the following steps:

[0030] S1 collects satellite orbit and attitude data based on STK simulation software to obtain orbit attitude parameters;

[0031] In an embodiment of the present invention, data such as satellite orbit and attitude are collected based on STK simulation software, the collected data is calculated using an attitude and orbit construction algorithm module, and finally, a satellite networking scenario is constructed.

[0032] S2 calculates the orbit and attitude position of the satellite or spacecraft using an attitude-orbit construction algorithm based on the orbit attitude parameters;

[0033] In an embodiment of the present invention, the attitude-orbit construction algorithm includes an orbit algorithm and an attitude algorithm.

[0034] Track Algorithm:

[0035] Because the geocentric inertial coordinate system orbit is the basic coordinate system in orbit calculation, the geocentric inertial coordinate system orbit calculation is the core of orbit calculation. The geocentric inertial coordinate system orbit calculation algorithm is as follows:

[0036] When a satellite is moving in orbit, it is approximately regarded as being affected only by the earth's gravity. At this time, the satellite's orbit can be represented by six parameters: semi-major axis a, eccentricity e, orbit inclination i, ascending node right ascension Ω, perigee argument ω, and mean anomaly M. The mean anomaly M can be substituted with the eccentric anomaly E and the true anomaly f. The orbit calculation algorithm uses the mean anomaly M as the orbit calculation parameter. These six parameters that can determine the satellite orbit are called basic orbital elements, also called orbital elements.

[0037] After obtaining the six satellite orbit numbers pushed in real time, the satellite's orbit coordinates (x, y, z) in the inertial system are calculated according to the following algorithm, that is, the inertial system orbit coordinates. The formula is as follows:

[0038]

[0039] in:

[0040]

[0041] Since the input parameter of the calculation algorithm is the mean anomaly angle M, it is necessary to convert the mean anomaly angle M into the true anomaly angle f.

[0042] The relationship between the mean anomaly angle M and the eccentric anomaly angle E is as follows:

[0043]

[0044] is the average satellite speed, u=G(M e +m) is the gravitational constant, where G = 6.672×10 -11 m 3 / kgs 2 is the gravitational constant, M e is the mass of the Earth, and m is the mass of the satellite.

[0045] At the same time, the eccentric anomaly angle E and the true anomaly angle f have the following relationship:

[0046]

[0047] In summary, let the initial value E0 = M, and the equation can be solved by Newton's method to obtain the eccentric anomaly E: Then the true anomaly f can be obtained, and finally the satellite inertial coordinate position at time t can be obtained. a ,t b ) can be used to calculate the satellite inertial coordinate position on the time period, and then the satellite’s trajectory in the inertial system during that time period can be obtained, that is, the satellite’s inertial orbit.

[0048] Posture algorithm:

[0049] The laser networking simulation system needs to simulate the attitude motion law of the laser payload on orbit and provide a theoretical reference basis for the input parameters to the attitude control system in combination with the space environment information. Therefore, establishing a mathematical model is the most basic and important part of the attitude control system simulation.

[0050] The attitude motion of a satellite is the rotation of the satellite around its own center of mass. The satellite's body structure and mechanical properties, such as inertia distribution, flexible vibration mode, fuel tank size and installation position, are closely related to it. For satellites without flexible extension mechanisms, the satellite is regarded as a whole and a rigid body dynamics model is established to study the attitude motion of the satellite; while for satellites with flexible attachments, the flexible attachments change the overall mechanical structure of the satellite, and the modeling of attitude dynamics must also take into account the vibration of the flexible attachments and their coupling with the satellite body, making the model more complex. The simulation system includes the above two modeling methods, which makes it easier to select a more realistic satellite model for different simulation applications.

[0051] Rigid body dynamics model

[0052] The rigid body attitude dynamics formula of the satellite can be derived from the rigid body angular momentum formula and theorem:

[0053]

[0054] Where H is the angular momentum of the star; T is the description of the angular velocity vector of the satellite body coordinate system rotating relative to the inertial coordinate system in the body coordinate system; b It is the description of the external torque acting on the satellite in the body coordinate system, including attitude control torque and interference torque.

[0055] For satellites that use momentum devices (such as flywheels) installed inside the satellite for attitude control, angular momentum consists of two parts:

[0056]

[0057] Where I is the inertia matrix of the star, h is the angular momentum of the rotating parts of the momentum device relative to the star.

[0058] Then the general form of the satellite attitude dynamics equation with momentum device is:

[0059]

[0060] In the formula, is the control torque generated by the momentum device.

[0061] Flexible posture dynamics model

[0062] Due to the coupling between the vibration of the flexible attachment and the satellite body, and the fact that the motion of the flexible attachment must be described by distributed parameters with infinite degrees of freedom, the system solution is extremely complex. Therefore, the finite element method is often used in engineering to solve the system as a system with finite degrees of freedom, and a hybrid coordinate system combining the coordinates of the rigid body attitude and the discrete modal coordinates is used to establish the dynamic equations of the satellite with flexible attachments. The following is an introduction to the flexible attitude dynamic equations in the simulation system.

[0063] Assume that the satellite consists of a central rigid body and a flexible appendage connected to it at one end. Divide the satellite into several mass microelements m k , according to Newton's second law, the satellite translation equation is:

[0064]

[0065] Where F is the total external force on the satellite; m is the mass of the satellite; v is the rate of change of the vector from the origin of the inertial coordinate system to the origin of the satellite body; A is the transformation matrix from the flexible attachment coordinate system to the body coordinate system; is the normalized mode shape, Let N be the cutoff number of vibration mode, then is a 3xN matrix; p(t)=[p1(t)p2(t)…p N (t)] T is the modal coordinate of the flexible attachment; is the translational coupling coefficient of the flexible attachment in the satellite body coordinate system.

[0066] Assume T is the moment of the satellite relative to the origin of the body coordinate system. According to the law of angular momentum, we have:

[0067]

[0068] Where J is the overall rotation inertia matrix of the satellite without deformation; ω is the absolute angular velocity of the satellite; r p The vector from the origin of the satellite body to the origin of the flexible attachment coordinate system. m is the distance from the origin of the flexible attachment coordinate system to the microelement m k Vector before deformation; It is called the rotational coupling coefficient matrix of the flexible attachment in the satellite body coordinate system.

[0069] According to the variational principle, the motion equation of the flexible attachment is:

[0070]

[0071] Where β is the modal frequency, and N is the cutoff number of the modal.

[0072] The above three equations constitute the flexible attitude dynamics equation. If the original angular momentum H of the satellite and the structural damping ε of the flexible attachment are considered, the attitude dynamics equation can finally be expressed as follows:

[0073]

[0074] S3 imports the orbit and attitude position of the satellite or spacecraft into the three-dimensional software, generates laser payloads based on requirements, and constructs various scenes;

[0075] In the embodiment of the present invention, the scenarios include calibration scenarios, link establishment scenarios, solar eclipse avoidance scenarios, fault location and troubleshooting scenarios, link break and re-link scenarios, and multi-route switching scenarios.

[0076] Calibration scene

[0077] The calibration scene is generated by importing the satellite or spacecraft orbit and attitude position calculated by the attitude and orbit model construction algorithm into the Cesium 3D software to generate the initial calibration scene of the laser payload according to the requirements. The calibration scene establishment process is as follows:

[0078] Step 1: Get the orbit and attitude position parameters of the satellite or spacecraft from STK;

[0079] Step 2: Import the obtained parameters into Cesium 3D software, and establish the laser payload orbit and attitude model according to the attitude and orbit model construction algorithm;

[0080] Step 3: Adjust the position of the satellite or aircraft so that there is no obstruction between the laser devices they carry and they are in a ready state to establish a link.

[0081] Chain building scenario

[0082] Step 1: The link establishment scene is the process of link establishment by the laser device in the link establishment preparation state. The establishment process is as follows:

[0083] Step 2: Inputting the laser device data of the other end into the laser device controller of the satellite or aircraft;

[0084] Step 3: The laser equipment performs pointing control according to the input parameters;

[0085] Step 4: Scan and capture between laser devices;

[0086] Step 5: The laser device tracks and captures the light source at the other end;

[0087] Step 6: The dual-end link is established successfully.

[0088] Solar eclipse avoidance scenario

[0089] The solar eclipse avoidance scenario is used to verify and analyze the working period of the satellite or aircraft's laser equipment to avoid sunlight interference. The establishment process is as follows:

[0090] Step 1: Obtain the orbit and attitude model data of the satellite or spacecraft and the solar model data from STK;

[0091] Step 2: Import the data into Cesium 3D software to build satellite or spacecraft orbit and attitude models, and solar models;

[0092] Step 3: Calculate the interference time of sunlight on the laser device based on the incident angle of sunlight and the receiving angle of the laser device.

[0093] Chain break and chain recovery scenarios

[0094] The link break and re-link scenario is used to simulate the process of re-establishing the link after adjustment when the link between laser devices is temporarily disconnected due to obstruction or interference. The process is as follows:

[0095] Step 1: Input interference to the laser equipment of the satellite or aircraft in orbit to disconnect its laser link;

[0096] Step 2: The laser link is disconnected, and the laser device restarts the link based on the data of the other end laser device stored before the link is disconnected;

[0097] Step 3: The laser device that reestablishes the link captures the light source of the other end according to the processes of pointing control, scanning capture, and tracking;

[0098] Step 4: The chain is rebuilt successfully.

[0099] Fault location and troubleshooting scenarios

[0100] The fault location and troubleshooting scenario is used to simulate the laser equipment failure scenario of satellites or aircraft, determine the equipment failure point according to the corresponding fault situation, and provide solutions:

[0101] Step 1: Build an on-orbit fault database to store data on various common fault types;

[0102] Step 2: Create the fault point of the equipment according to the fault type and build the corresponding fault model;

[0103] Step 3: Create corresponding scenario handling measures according to the fault type;

[0104] Step 4: Display the process of scene processing measures to the exclusion scene of the laser equipment.

[0105] Multiple routing switching scenarios

[0106] The multi-route switching scenario is used to verify the on-orbit multi-link route switching capability. The process is as follows:

[0107] Step 1: Obtain the actual working period parameters of each link and inject them into the Cesium 3D software;

[0108] Step 2: Create a network topology scenario of satellites or aircraft in orbit in multiple time periods according to the actual working period of each link;

[0109] Step 3: Use the networking routing algorithm to calculate the switchable routing table of the laser device of the satellite or aircraft;

[0110] Step 4: Switch the route according to the switchable routing table.

[0111] S4 performs three-dimensional visualization of the scene construction and interface display after simulation data analysis and processing.

[0112] In an embodiment of the present invention, the visualization part is implemented using the Cesium three-dimensional geographic information platform, and the functions implemented are the three-dimensional visualization display of the simulation scene and the interface display after the simulation data analysis and processing. Therefore, the data calculated by the scene simulation part needs to be transmitted to the visualization part, and the visualization interface is displayed accordingly. The scene simulation part of the system is developed based on the STK simulation platform, and STK is used to simulate the orbit and attitude process of the spacecraft, and encapsulated into a CZML simulation file that can be called by the three-dimensional visualization part and build a three-dimensional scene. The encapsulated CZML simulation file will be stored in the database of the system server, waiting for Cesium to call to build a three-dimensional scene.

[0113] See also Figure 3 In the second aspect, a laser networking scene establishment system based on satellite data is applied to a laser networking scene establishment method based on satellite data as described in the first aspect above:

[0114] It includes a track attitude parameter module 1, an attitude construction algorithm calculation module 2, a scene establishment module 3 and a three-dimensional scene simulation module 4;

[0115] The orbit attitude parameter module 1 collects satellite orbit and attitude data based on STK simulation software;

[0116] The attitude construction algorithm calculation module 2 calculates the orbit and attitude position of the satellite or spacecraft based on the attitude and orbit construction algorithm;

[0117] The scene building module 3 constructs each scene based on calculating the orbit and attitude position of the satellite or aircraft and generating the laser payload;

[0118] The three-dimensional scene simulation module 4 is used for three-dimensional visualization of each scene construction and interface display after simulation data analysis and processing.

[0119] In an embodiment of the present invention, the orbit attitude parameter module 1 collects data such as satellite orbit and attitude based on STK simulation software, and the collected data is calculated using the attitude and orbit construction algorithm module. Finally, the satellite networking scene is constructed. The attitude construction algorithm calculation module 2 calculates the satellite or aircraft orbit and attitude position based on the attitude and orbit construction algorithm. The scene establishment module 3 imports the satellite or aircraft orbit and attitude position calculated by the attitude and orbit model construction algorithm into the Cesium three-dimensional software, and generates an initial calibration scene for the laser payload as required. The three-dimensional scene simulation module 4 performs three-dimensional visualization of the scene construction and interface display after simulation data analysis and processing.

[0120] The above disclosure is only a preferred embodiment of a method and system for establishing a laser networking scene based on satellite data of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A method for establishing a laser networking scene based on satellite data, characterized in that: The following steps are involved: Based on STK simulation software, satellite orbit and attitude data are collected to obtain orbit attitude parameters; Calculate the orbit and attitude position of the satellite or spacecraft using an attitude-orbit construction algorithm based on the orbit attitude parameters; The satellite or spacecraft orbit and attitude position are imported into the three-dimensional software, and laser payloads are generated based on the requirements to construct various scenes; The three-dimensional visualization display of each scene construction and the interface display after simulation data analysis and processing.

2. The method for establishing a laser networking scene based on satellite data according to claim 1, characterized in that ； The attitude and track construction algorithm includes a track algorithm and an attitude algorithm.

3. The method for establishing a laser networking scene based on satellite data according to claim 1, characterized in that: The scenarios include calibration scenarios, link establishment scenarios, solar eclipse avoidance scenarios, fault location and troubleshooting scenarios, link break and re-link scenarios, and multi-route switching scenarios.

4. The method for establishing a laser networking scene based on satellite data as claimed in claim 3, It is characterized by: The calibration scene establishment method comprises: Get the orbit and attitude position parameters of the satellite or spacecraft from STK; Import the orbit and attitude position parameters into the 3D software, and establish the laser payload orbit and attitude model according to the attitude-orbit model construction algorithm; Adjust the position of the satellite or aircraft so that there is no obstruction between the laser devices they carry and they are in a ready state to establish a link.

5. A laser networking scene establishment system based on satellite data, applied to a laser networking scene establishment method based on satellite data as claimed in claim 1, characterized in that ； It includes orbit attitude parameter module, attitude construction algorithm calculation module, scene establishment module and three-dimensional scene simulation module; The orbit attitude parameter module collects satellite orbit and attitude data based on STK simulation software; The attitude construction algorithm calculation module calculates the orbit and attitude position of the satellite or spacecraft based on the attitude and orbit construction algorithm; The scene building module constructs each scene based on calculating the orbit and attitude position of the satellite or spacecraft and generating the laser payload; The three-dimensional scene simulation module is used to perform three-dimensional visualization of the scene construction and interface display after simulation data analysis and processing.

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