Space-time reference synchronization method and device for multi-satellite cooperative task

Abstract

The embodiment of the invention provides a time-space reference synchronization method and device for a multi-satellite cooperative task, and the method achieves the precise time synchronization of a multi-satellite system through constructing a verification system which comprises a pulse per second controller, a simulation industrial control computer and a verification server, and building a pulse transmission time delay compensation model. A multi-source navigation information fusion algorithm is innovatively designed to obtain high-precision space-time reference data, and a preset data frame format is adopted for unified broadcasting. According to the system, a complete dynamic model considering non-spherical gravitational perturbation, sun-moon gravitational force, atmospheric resistance and light pressure effects is established, accurate updating and synchronous broadcasting of the relative motion state of multiple satellites are achieved in combination with a torque parameter conversion mechanism of a control instruction, and a reliable cooperative control verification scheme is provided for complex space tasks.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to a method and device for synchronizing time and space references for multi-satellite collaborative tasks. Background Art

[0002] The existing multi-satellite collaborative mission system has obvious deficiencies in time and space reference synchronization. Traditional verification systems often ignore the impact of signal transmission delay and lack an effective delay compensation mechanism, resulting in synchronization errors in the time references between multi-satellite systems. At the same time, the existing system has limited accuracy in acquiring and processing time and space reference data, making it difficult to meet the needs of high-precision collaborative control.

[0003] In addition, existing technologies also have limitations in multi-satellite dynamics modeling and status updates. Most systems use simplified orbital dynamics models, which fail to fully consider the impact of complex environmental factors such as non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, reducing the authenticity and reliability of simulation verification.

[0004] The existing system has technical bottlenecks in multi-satellite collaborative control and state synchronization. The lack of a unified space-time reference framework makes it difficult to achieve precise synchronization and collaborative control between multi-satellite systems. The control command processing and state update mechanism are relatively simple and fail to effectively support complex collaborative mission requirements. Solving these problems is of great significance to improving the performance of multi-satellite collaborative mission systems. Summary of the invention

[0005] In response to the problems in the prior art, the present application provides a method and device for time-space reference synchronization of multi-satellite collaborative missions, which can achieve accurate updating and synchronous broadcasting of the relative motion status of multiple satellites, and provide a reliable collaborative control verification solution for complex space missions.

[0006] In order to solve at least one of the above problems, the present application provides the following technical solutions: In a first aspect, the present application provides a method for synchronizing a time-space reference of a multi-satellite collaborative mission, comprising: A multi-satellite collaborative task verification system is constructed, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; A unified time-space benchmark for multi-satellite collaborative tasks is established, wherein the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision time-space benchmark data, encapsulates the high-precision time-space benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; A multi-satellite collaborative motion environment is constructed based on the unified space-time reference, the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculates the orbit and attitude parameters of each satellite system to be tested based on the dynamic model, receives control instructions sent by each satellite system to be tested, converts the control instructions into force and torque parameters, updates the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasts the relative motion data of each satellite system to be tested according to the unified space-time reference.

[0007] Furthermore, the multi-satellite collaborative mission verification system is constructed, the verification system includes a pulse-per-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested, and a communication connection is established between the pulse-per-second controller, the simulation industrial computer, and the satellite systems to be tested, including: Establish the hardware architecture of the multi-satellite collaborative mission verification system according to the connection topology, connect the pulse per second controller to the simulation industrial computer through the RS232 serial interface, connect the simulation industrial computer to the attitude and orbit control system and the satellite service system of each satellite system to be tested through the industrial control bus, build a local area network with the simulation industrial computer and the verification server through the Ethernet switch, deploy workstations in the verification system and connect them to the local area network; A communication driver module is established on the simulated industrial computer. The communication driver module loads the serial communication protocol and the industrial bus protocol stack respectively, establishes a serial data interaction channel with the pulse-per-second controller, establishes a data communication link with each of the satellite systems to be tested, configures the baud rate, data bit, check bit and stop bit parameters of the communication link, deploys a database service on the verification server, and establishes a network data transmission link between the simulated industrial computer and the verification server.

[0008] Furthermore, the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model, including: The delay characteristics of the communication link between the simulated industrial computer and each satellite system to be tested are measured, multiple groups of signal round-trip delay data are collected, and a transmission delay compensation model including signal transmission delay, protocol processing delay, and hardware response delay is established. The input parameters of the transmission delay compensation model are set to communication distance, signal bandwidth, and processor load rate, and the delay parameters of the transmission delay compensation model are calibrated; The pulse transmission delay of each satellite system to be tested is calculated based on the transmission delay compensation model, the pulse transmission delay is classified according to the communication link type, the baud rate correction is performed on the transmission delay of the serial communication link, the protocol overhead correction is performed on the transmission delay of the bus communication link, and the corrected transmission delay is stored in the compensation parameter table as the pulse delay compensation amount.

[0009] Further, the unified time and space reference for establishing the multi-satellite collaborative task is that the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system to be tested through a splitter, including: The clock signal output by the standard atomic clock is connected to the pulse-per-second controller, the pulse-per-second controller generates a standard pulse-per-second signal according to the clock signal, the simulation industrial computer receives the standard pulse-per-second signal and uses it as a unified clock reference, reads the pulse delay compensation amount of each satellite system to be tested from the compensation parameter table, calculates the synchronous pulse broadcasting time of each satellite system to be tested, and establishes a pulse broadcasting queue in the simulation industrial computer; The synchronization pulses in the pulse broadcasting queue are sorted according to the compensated broadcasting time, and the synchronization pulses to be broadcasted are distributed to the corresponding communication links through a splitter. The splitter selects the corresponding drive interface according to the type of communication link, broadcasts the synchronization pulses to each satellite system to be tested according to the broadcasting timing, and updates the status flag of the pulse broadcasting queue after the broadcasting is completed.

[0010] Further, the simulation industrial computer adopts a multi-source navigation information fusion algorithm to obtain high-precision spatiotemporal reference data, encapsulates the high-precision spatiotemporal reference data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each of the satellite systems to be tested, including: Collect Beidou navigation information, GPS navigation information, star sensor information and ground measurement and control information, convert the time information in the navigation information and measurement and control information into the atomic time standard, perform coordinate system conversion on the orbit parameters in the navigation information and measurement and control information, establish a multi-source navigation information fusion processing model based on the federated Kalman filter algorithm, and use the fused spatiotemporal data as high-precision spatiotemporal reference data; A broadcast data frame is constructed according to a preset data frame format, time information, orbital parameters, and satellite status flags in the high-precision space-time reference data are written into corresponding fields of the broadcast data frame, verification code calculation and encryption processing are performed on the broadcast data frame, and the encrypted broadcast data frame is broadcast to each of the satellite systems to be tested based on the communication driver module.

[0011] Furthermore, the multi-satellite coordinated motion environment is constructed based on the unified space-time reference, the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbation, solar and lunar gravitation, atmospheric drag and light pressure, and the orbit and attitude parameters of each of the satellite systems to be tested are calculated based on the dynamic model, including: Based on the unified space-time reference, a dynamic model of a multi-satellite coordinated motion environment is established, non-spherical gravitational perturbations are expanded to 15th order, celestial coordinate calculation models of the sun and the moon are established, atmospheric drag is calculated using the NRLMSISE-00 atmospheric density model, a light pressure model that takes into account the reflection characteristics of satellite surface materials is established, and the time parameters of the dynamic model are aligned with the unified space-time reference; The orbital dynamics and attitude dynamics modeling is carried out for each satellite system to be tested, and the dynamic model is numerically integrated and solved by the variable step-length Runge-Kutta method. The six orbital elements and attitude quaternion of the satellite in the unified space-time reference are calculated, the orbital parameters are converted into position and velocity vectors in the inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

[0012] Further, the receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified time and space reference, includes: Receiving attitude and orbit control instructions sent by each satellite system to be tested through the communication drive module, parsing the thruster switch timing and torque wheel speed change of the control instructions, converting the control instructions into force vectors and torque vectors according to the actuator characteristics of the satellite system to be tested, and superimposing the acceleration and angular acceleration terms corresponding to the force vectors and torque vectors in the dynamic model; The satellite motion state after superimposing the control amount is calculated by a numerical integration method, the orbital elements and attitude quaternions of each satellite system to be tested are updated, the relative position, relative speed and relative attitude angle between the satellites are calculated based on the unified space-time reference, and the calculated relative motion state data is synchronously broadcast to each satellite system to be tested through the communication link according to a preset broadcast period.

[0013] In a second aspect, the present application provides a time-space reference synchronization device for a multi-satellite collaborative task, comprising: In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for time-space reference synchronization of multi-satellite collaborative tasks are implemented.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for time-space reference synchronization of multi-satellite collaborative tasks.

[0015] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the time-space reference synchronization method for multi-satellite collaborative tasks.

[0016] It can be seen from the above technical solutions that the present application provides a method and device for time-space reference synchronization of multi-satellite collaborative tasks. By constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, a pulse transmission delay compensation model is established to achieve precise time synchronization of multi-satellite systems. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision time-space reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure. Combined with the torque parameter conversion mechanism of the control command, it realizes the precise update and synchronous broadcast of the relative motion state of multiple satellites, providing a reliable collaborative control verification solution for complex space missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 One of the flow charts of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 2 The second flowchart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application is shown; Figure 3 The third flowchart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 4 This is a fourth flow chart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 55 is a flow chart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 6 This is a sixth flow chart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 7 FIG7 is a flow chart of the method for time-space reference synchronization of multi-satellite collaborative tasks in an embodiment of the present application; Figure 8 It is a structural diagram of a time-space reference synchronization device for a multi-satellite collaborative task in an embodiment of the present application; Fig. 9 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application.

[0019] Reference numerals: Electronic device 9600, central processing unit 9100, memory 9140, communication module 9110, input unit 9120, audio processor 9130, display 9160, power supply 9170, buffer memory 9141, application / function storage unit 9142, data storage unit 9143, driver program storage unit 9144, antenna 9111, speaker 9131, microphone 9132. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0022] Taking into account the problems existing in the prior art, the present application provides a method and device for time-space reference synchronization of multi-satellite collaborative tasks. By constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, a pulse transmission delay compensation model is established to achieve precise time synchronization of multi-satellite systems. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision time-space reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure. Combined with the torque parameter conversion mechanism of the control command, it realizes the precise update and synchronous broadcast of the relative motion state of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0023] In order to achieve accurate update and synchronous broadcast of the relative motion status of multiple satellites and provide a reliable collaborative control verification solution for complex space missions, this application provides an embodiment of a time-space reference synchronization method for multi-satellite collaborative missions, see Figure 1 The time and space reference synchronization method of the multi-satellite collaborative mission specifically includes the following contents: Step S101: construct a multi-satellite collaborative task verification system, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; Optionally, when building the hardware architecture of the verification system, this embodiment divides the time reference system into a three-layer structure. The first layer is configured with a rubidium atomic clock model OSA-C53 as the reference source, which has a stability better than 1×10^-12 / day and outputs a 10MHz reference frequency signal through a high-precision synchronization circuit. The time source is connected to the pulse-per-second controller via a dedicated BNC coaxial cable. The cable adopts a double-shielded design to effectively suppress the impact of external electromagnetic interference on the signal. The pulse-per-second controller uses the Xilinx Virtex-7 series FPGA chip to achieve high-precision pulse frequency division and timing control, and integrates a 32-channel digital phase-locked loop internally to achieve frequency multiplication and division of the input reference signal.

[0024] This embodiment fully realizes the functional design of the pulse per second controller. The controller adopts programmable logic design to realize the functions of frequency multiplication, frequency division and phase adjustment of the reference frequency. The frequency division circuit adopts a multi-stage counter structure to support programmable frequency division output from 1Hz to 10MHz. The phase adjustment circuit realizes fine phase adjustment capability better than 1ns. The output interface of the controller adopts LVDS differential signal, which effectively suppresses common mode interference through differential transmission and improves signal transmission quality.

[0025] This embodiment deploys the VxWorks real-time operating system on the simulated industrial computer, configures a dual-channel Intel Xeon processor and 128GB ECC memory, and supports real-time task scheduling under high load. The data acquisition module adopts the PXI bus architecture, integrating a 16-bit high-speed AD acquisition card and a multi-channel DIO interface card. The communication interface includes 8 RS232 serial ports and 4 CAN bus interfaces, supporting a variety of industrial protocols. The system bus adopts the PCIe3.0 architecture, providing a data transmission bandwidth of 40Gbps.

[0026] This embodiment designs a complete verification server solution. The server adopts a dual-machine hot backup architecture, and the primary and backup servers use a heartbeat detection mechanism to achieve automatic fault switching. The storage system uses a RAID10 array and is configured with 8 2TB enterprise-level SSDs to provide high-speed and reliable data storage. The network interface uses dual Gigabit network card binding to improve network throughput through load balancing. The server deploys a distributed PostgreSQL database cluster to achieve efficient storage and retrieval of verification data.

[0027] This embodiment implements the standardized interface design of the satellite system to be tested. Each group of systems to be tested includes an independent attitude and orbit control computer and a satellite management computer. The computer uses a space-grade PowerPC processor and supports SpaceWire and CAN bus communication protocols. The interface circuit adopts a photoelectric isolation design and has overvoltage protection and EMC protection functions. The system supports hot-swap function and can be dynamically reconfigured without affecting other single machines.

[0028] This embodiment constructs an accurate delay compensation model. The model decomposes the total delay into three parts: transmission delay, processing delay, and response delay. The transmission delay is calculated by the cable length and signal propagation speed. The processing delay includes the protocol parsing and data packaging time. The response delay takes into account the operating system scheduling delay and interrupt processing time. The delay measurement uses a hardware counter method with a counter resolution better than 100ns to ensure measurement accuracy.

[0029] This embodiment designs a delay prediction algorithm based on a deep neural network. The network adopts a five-layer structure, including three fully connected hidden layers, and uses the ReLU activation function. The input layer contains parameters such as communication distance, signal bandwidth, and CPU load rate, and the output layer gives the predicted delay value. The training data set contains more than 100,000 sets of measured samples, and the Adam optimizer and cross-validation method are used to optimize the network parameters. The model has good generalization ability, and the prediction results are stable and reliable.

[0030] This embodiment implements an adaptive compensation calculation method. The compensation calculation of the serial communication link takes into account the influence of parameters such as baud rate, data bit, check bit, etc., and establishes an accurate timing model. The bus communication link compensation calculation is based on the protocol frame structure, taking into account the processing time of the frame header, data segment, and check segment. The compensation parameters are stored in a high-speed cache in real time, supporting millisecond-level query and update.

[0031] This embodiment designs a comprehensive system monitoring mechanism. The monitoring module adopts a distributed architecture and deploys monitoring agents on each node. Key parameters such as clock synchronization error, communication quality, processor load, and memory usage are collected in real time. Parameter analysis is based on a sliding window algorithm to calculate statistical features and perform trend prediction. The monitoring results are used to dynamically optimize the compensation strategy to ensure stable operation of the system.

[0032] This embodiment provides a reliable time synchronization foundation for multi-satellite collaborative tasks through the construction of a complete verification system and accurate delay compensation. While ensuring synchronization accuracy, this solution improves system reliability through hardware redundancy design and software optimization. The system adopts a modular and standardized design, supporting flexible expansion and functional reconstruction. The delay compensation algorithm combines deep learning technology to achieve high-precision adaptive compensation. The system design fully considers the special needs of space missions, and establishes a stable and reliable time synchronization verification platform through multi-level optimization measures.

[0033] Step S102: establishing a unified space-time benchmark for multi-satellite collaborative tasks, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision space-time benchmark data, encapsulates the high-precision space-time benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; Optionally, when establishing a unified time and space reference, this embodiment outputs two orthogonal standard second pulse signals through a second pulse controller. The main signal adopts a rising edge trigger mode, and the secondary signal adopts a falling edge trigger mode. The accuracy of the pulse edge is ensured by cross-verification of the dual-path signal. The signal output interface adopts a 50Ω impedance matching design, and the impedance matching network is used to reduce signal reflection and ensure waveform quality. The duty cycle of the pulse signal is adjusted by a precision DAC to achieve precise control of 50%±0.1%.

[0034] This embodiment implements a high-precision pulse capture circuit in a simulated industrial computer. The capture circuit uses a double-edge trigger mode to achieve sub-nanosecond timestamp recording through FPGA. Timestamp generation uses a multi-level counter structure, including a coarse counter and a fine counter, to achieve wide dynamic range measurement of timestamps. The captured data is transferred to the host memory via DMA to reduce system overhead.

[0035] This embodiment designs a complete pulse compensation process. The compensation process first reads the delay compensation table to obtain the compensation parameters of each system under test. The compensation calculation takes into account the temperature drift of the signal transmission path, collects the ambient temperature in real time through the temperature sensor, and establishes a temperature-delay correction model. The broadcast time after compensation is managed by the priority queue to ensure correct broadcasting in time sequence.

[0036] This embodiment implements a high-performance pulse splitter design. The splitter adopts a tree structure and supports the parallel distribution of 16 synchronous signals. Each output channel is configured with an independent delay chain, which supports fine delay adjustment in the range of 0-100ns. The output driver adopts a differential output stage, providing a signal swing better than 3V to ensure transmission reliability.

[0037] This embodiment constructs a multi-source navigation information collection system. The system simultaneously accesses Beidou and GPS dual-system receivers, and uses a geodetic antenna to improve the signal reception quality. The receiver outputs a 1Hz PPS signal and a navigation message in NMEA format, which are transmitted to an industrial computer through a high-speed serial port. The system also integrates a star sensor interface to collect attitude information.

[0038] This embodiment designs a navigation information fusion algorithm based on a deep neural network. The network adopts a Transformer structure with an attention mechanism, including a multi-head self-attention layer and a feedforward neural network layer. The input features include observations such as pseudorange, carrier phase, signal-to-noise ratio of navigation satellites, and attitude quaternions provided by star sensors. The algorithm adaptively adjusts the credibility of different data sources through attention weights to achieve optimal fusion.

[0039] This embodiment implements a high-precision coordinate conversion mechanism. The coordinate conversion takes into account the influence factors such as the earth's rotation, polar motion, and atmospheric refraction, and uses the IAU2000B nutation model for space-time reference conversion. The conversion process uses IEEE-754 double-precision floating-point operations to ensure calculation accuracy. The coordinate results are detected for anomalies through residual analysis to eliminate gross error points.

[0040] This embodiment designs a reliable data frame encapsulation protocol. The data frame adopts a layered structure, including a frame header, a time tag, a status word, a data segment, and a check segment. The frame header uses a synchronization word for frame synchronization, and the time tag contains the week number and the number of seconds in the week. The data segment adopts differential coding compression transmission to reduce communication bandwidth occupancy. The check adopts a 32-bit CRC algorithm to provide reliable error detection capabilities.

[0041] This embodiment implements an efficient data broadcast mechanism. The broadcast process adopts a multi-threaded design, and data packaging and sending are handled by independent threads respectively. Data interaction is achieved between threads through lock-free queues to reduce synchronization overhead. The sending thread ensures that key data is sent in a timely manner according to the priority scheduling strategy. The broadcast process implements flow control to avoid communication link congestion.

[0042] This embodiment establishes a reliable unified space-time benchmark through precise time synchronization and data fusion. While ensuring synchronization accuracy, this solution improves the reliability of benchmark data through multi-source information fusion. The system adopts a modular design and supports flexible configuration and functional expansion. The fusion algorithm combines deep learning technology to achieve high-precision adaptive fusion. The overall design fully considers the special needs of space missions and establishes a stable and reliable space-time benchmark system through multi-level optimization measures.

[0043] Step S103: constructing a multi-satellite collaborative motion environment based on the unified space-time reference, the simulation industrial computer establishing a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculating the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion states of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified space-time reference.

[0044] Optionally, when constructing the dynamic model, this embodiment first establishes an accurate non-spherical gravitational field model. The gravitational field model uses the WGS84 reference ellipsoid, the earth's gravitational field is expanded to 15th order, and the spherical harmonic coefficients use the EGM2008 gravity field model. The influence of the earth's solid tidal deformation is considered in the calculation process, and the time-varying characteristics of the spherical harmonic coefficients are corrected by the Love number. The high-order term calculation adopts a recursive algorithm to improve the calculation efficiency.

[0045] This embodiment implements a high-precision solar and lunar gravitational calculation model. The celestial ephemeris uses the DE405 ephemeris to calculate the precise positions of the sun and the moon. The gravitational calculation takes into account the light travel time effect, and the light travel time equation is solved by an iterative method. The model also includes the influence of solar and lunar tidal forces, and takes into account the coupling of solid tides and ocean tides. The calculation process uses Chebyshev polynomial interpolation to reduce the calculation load.

[0046] This embodiment designs a complete atmospheric drag calculation framework. The atmospheric density model adopts the NRLMSISE-00 model, and the input parameters include the solar activity index F10.7 and the geomagnetic index Ap. The model takes into account the daily and seasonal changes in atmospheric density, and describes the density distribution through spherical harmonic expansion. The drag coefficient calculation adopts the free molecular flow theory, taking into account the velocity distribution characteristics of gas molecules.

[0047] This embodiment constructs a detailed light pressure effect model. The satellite surface is divided into multiple facets, and the material properties of each facet are described by a bidirectional reflectance distribution function. The light pressure calculation takes into account three components: direct sunlight, earth reflection, and earth infrared radiation. The model also includes the impact of satellite surface temperature distribution on radiation characteristics, realizing thermal-optical coupling analysis.

[0048] This embodiment realizes an efficient orbit integrator. The integrator adopts the variable step size Adams-Bashforth-Moulton prediction correction method, and the order is adjustable. The error control adopts the local truncation error estimation, and the calculation accuracy is guaranteed by adaptive step size control. In special cases, it automatically switches to the Runge-Kutta-Fehlberg integrator to improve numerical stability.

[0049] This embodiment designs a complex attitude dynamics model. The model takes into account the influence of gravity gradient torque, magnetic torque, aerodynamic torque and sunlight pressure torque. The attitude motion equation is expressed in quaternions, and the calculation accuracy is verified by conservation of angular momentum. The model also includes the influence of flexible attachments, and the structural vibration is described by the modal superposition method.

[0050] This embodiment implements an accurate control command parsing mechanism. The thruster command parsing takes into account the switch timing and thrust curve characteristics, and calculates the instantaneous thrust by table interpolation. The torque wheel command conversion takes into account bearing friction and installation deviation, and calculates the equivalent torque by momentum exchange. The control quantity conversion adopts an error compensation strategy to improve the execution accuracy.

[0051] This embodiment constructs a high-precision state update algorithm. The algorithm uses the state transfer matrix method and calculates the state transfer matrix through Chebyshev polynomial expansion. The influence of perturbation force is considered and the orbital evolution is described using variational equations. The state update process implements the constraints of energy conservation and angular momentum conservation.

[0052] This embodiment designs a reliable relative motion calculation framework. The relative motion is described by the Hill coordinate system, and the relative position and velocity are calculated by coordinate transformation. The calculation process takes into account the influence of J2 perturbation and achieves long-term prediction accuracy. The relative motion parameters are smoothed by Kalman filtering to reduce numerical noise.

[0053] This embodiment implements an efficient data broadcast mechanism. The broadcast data is compressed using differential coding, and the data volume is reduced through a prediction model. The communication protocol supports packet retransmission and data verification to ensure transmission reliability. The broadcast process implements bandwidth adaptation and adjusts the data rate according to the link quality.

[0054] This embodiment achieves accurate simulation of the multi-satellite collaborative motion environment through precise dynamic modeling and efficient state update. While ensuring the calculation accuracy, this solution improves the simulation efficiency through multi-level optimization. The model design fully considers the complexity of the space environment and achieves a high degree of consistency with the actual motion law. Through a reliable data broadcast mechanism, stable state feedback is provided for multi-satellite collaborative control, supporting collaborative planning and control strategy verification in complex mission scenarios.

[0055] From the above description, it can be seen that the time-space reference synchronization method for multi-satellite collaborative tasks provided in the embodiment of the present application can establish a pulse transmission delay compensation model by constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, so as to achieve precise time synchronization of multi-satellite systems. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision time-space reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure. Combined with the torque parameter conversion mechanism of the control command, it realizes the precise update and synchronous broadcast of the relative motion state of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0056] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 2 , and can also include the following: Step S201: Establish the hardware architecture of the multi-satellite collaborative mission verification system according to the connection topology, connect the pulse per second controller to the simulation industrial computer through the RS232 serial interface, connect the simulation industrial computer to the attitude and orbit control system and the satellite service system of each satellite system to be tested through the industrial control bus, build a local area network with the simulation industrial computer and the verification server through the Ethernet switch, deploy workstations in the verification system and access the local area network; Step S202: Establish a communication driver module on the simulated industrial computer, the communication driver module loads the serial communication protocol and the industrial bus protocol stack respectively, establishes a serial data interaction channel with the pulse-per-second controller, establishes a data communication link with each of the satellite systems to be tested, configures the baud rate, data bit, check bit and stop bit parameters of the communication link, deploys a database service on the verification server, and establishes a network data transmission link between the simulated industrial computer and the verification server.

[0057] Optionally, this embodiment adopts a multi-level distributed design when constructing the hardware architecture. The pulse-per-second controller uses a high-performance ARM processor as the main control unit and is equipped with a dedicated clock management chip to provide a stable reference clock signal. The serial interface of the controller uses an RS232 level conversion chip, which achieves electrical isolation through photoelectric isolation to improve anti-interference ability. The interface circuit is equipped with overvoltage protection and EMC filtering network to ensure signal integrity.

[0058] This embodiment implements a multi-channel communication interface design in the simulated industrial computer. The serial interface uses a multi-serial port expansion card to support independent FIFO buffering and DMA transmission. The industrial control bus interface uses a CAN controller to support multiple isolated CAN channels to achieve reliable communication with the satellite system under test. The network interface uses a dual Gigabit network card to provide redundant backup through link aggregation.

[0059] This embodiment designs a complete network topology. The core switch uses a three-layer switch to support VLAN division and QoS management. The network planning adopts a subnet division strategy to allocate independent IP address segments to different functional modules. The switch is configured with a spanning tree protocol to avoid network loops. Key links are connected with optical fibers to improve transmission distance and anti-interference capabilities.

[0060] This embodiment deploys a highly available cluster architecture on the verification server. The server adopts a dual-machine hot backup design and realizes automatic fault switching through heartbeat detection. The storage system adopts a distributed architecture and is configured with a high-performance storage array to achieve reliable data storage. The server runs a virtualization platform to support flexible resource scheduling.

[0061] This embodiment implements a unified management platform for workstations. The workstations are equipped with high-performance graphics workstations that support three-dimensional scene display and data visualization. The management platform adopts a B / S architecture and implements remote access and control through a Web interface. The platform integrates permission management and operation audit functions to ensure system security.

[0062] This embodiment designs a reliable communication driver architecture. The driver module adopts a layered design, including a hardware abstraction layer, a protocol stack layer, and an application interface layer. The serial port driver supports data flow control and error retransmission, and the industrial bus driver implements multi-frame transmission and priority management. The driver framework supports plug-and-play and realizes dynamic loading of devices.

[0063] This embodiment builds a complete protocol stack system. The serial port protocol adopts the improved HDLC protocol to achieve reliable data frame transmission. The industrial bus protocol supports CAN and SpaceWire standards and achieves compatibility with multiple bus protocols. The protocol stack includes functional modules such as data segmentation and reorganization, flow control, and error detection.

[0064] This embodiment implements accurate communication parameter configuration. Serial communication supports multiple baud rate configurations, the data format supports 7-bit and 8-bit data bits, and the check modes include odd check, even check, and no check options. The parameter configuration process implements an automatic negotiation mechanism to ensure that the parameters of both communicating parties are consistent. Configuration information supports power-off preservation to improve system reliability.

[0065] This embodiment designs an efficient database service architecture. The database adopts a distributed cluster design to support data sharding and load balancing. The data model adopts a document-based database to adapt to complex test data structures. The database service implements data compression and incremental backup to optimize storage space utilization.

[0066] This embodiment implements a reliable network transmission mechanism. Data transmission adopts TCP long connection mode, and the connection state is maintained through the heartbeat mechanism. The transmission protocol supports data compression and encryption to ensure transmission efficiency and security. The network link implements bandwidth management and flow control to avoid network congestion.

[0067] This embodiment establishes a stable verification system platform through systematic hardware architecture design and reliable communication mechanism. While ensuring system reliability, this solution improves system performance through multi-level optimization. The overall design fully considers the special needs of aerospace test missions and realizes a highly integrated verification environment. Through standardized interface design and flexible expansion mechanism, it supports the access and verification of different types of systems to be tested, providing a reliable test platform for multi-satellite collaborative missions.

[0068] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 3 , and can also include the following: Step S301: measuring the delay characteristics of the communication link between the simulated industrial computer and each satellite system to be tested, collecting multiple groups of signal round-trip delay data, establishing a transmission delay compensation model including signal transmission delay, protocol processing delay, and hardware response delay, setting the input parameters of the transmission delay compensation model to communication distance, signal bandwidth, and processor load rate, and calibrating the delay parameters of the transmission delay compensation model; Step S302: Calculate the pulse transmission delay of each satellite system to be tested based on the transmission delay compensation model, classify the pulse transmission delay according to the communication link type, perform baud rate correction on the transmission delay of the serial communication link, perform protocol overhead correction on the transmission delay of the bus communication link, and store the corrected transmission delay as the pulse delay compensation amount in the compensation parameter table.

[0069] Optionally, this embodiment adopts a multi-level measurement architecture when measuring delay characteristics. First, the physical layer transmission delay is measured by a high-precision time interval counter with a resolution of nanoseconds, and multiple measurements are averaged to eliminate random errors. During the measurement process, a reference clock is transmitted via a coaxial cable to ensure time synchronization between measurement devices. The signal transmitter and receiver respectively record timestamps, and the round-trip delay is calculated by the timestamp difference.

[0070] This embodiment implements a complete protocol processing delay measurement solution. By inserting a protocol probe, the processing time of each layer of the protocol stack is obtained, including the delay of data packaging, protocol header encapsulation, checksum calculation and other processes. During the measurement process, the data packet size and sending frequency are adjusted to analyze the processing performance under different loads. The protocol processing delay is mathematically modeled by statistical analysis methods.

[0071] This embodiment designs an accurate measurement mechanism for hardware response delay. The interrupt response waveform is captured by an oscilloscope, and the time interval from interrupt triggering to service program execution is measured. Considering the impact of operating system task scheduling, the response characteristics under tasks of different priorities are recorded. The hardware response delay model takes into account the impact of CPU frequency and load rate.

[0072] This embodiment constructs a delay prediction model based on deep learning. The model adopts a multi-layer perceptron structure, and the input layer contains key parameters such as communication distance, signal bandwidth, and CPU load rate. The hidden layer uses the ReLU activation function, and the dropout layer is used to prevent overfitting. The output layer predicts the comprehensive delay value. The model training uses a measured data set and uses the Adam optimizer to minimize the prediction error.

[0073] This embodiment implements an adaptive parameter calibration method. The calibration process uses the recursive least squares method to update the model parameters in real time. The calibration data is classified according to the working conditions and a piecewise linear model is established. The model parameters are adaptively adjusted as the environment changes to improve the prediction accuracy. The calibration results are cross-validated to evaluate the model performance.

[0074] This embodiment designs a complete delay classification processing framework. The delay analysis of the serial communication link takes into account the influence of baud rate, data bit, and check bit, and establishes an accurate timing model. The accuracy of the model is verified by comparing theoretical calculations with measured data. The serial delay correction takes into account the influence of signal edge jitter.

[0075] This embodiment realizes accurate correction of bus protocol overhead. The protocol frame structure of CAN bus and SpaceWire bus is analyzed, and the transmission time of frame header, data segment and check segment is calculated. Considering the influence of bus arbitration and retransmission mechanism, a delay model including protocol overhead is established. The correction process realizes adaptive compensation.

[0076] This embodiment builds an efficient compensation parameter management mechanism. The compensation parameter table is organized in a hash structure to support fast query and update. The parameter table contains fields such as device identification, link type, and compensation value. The table items are optimized and sorted according to the frequency of use to improve access efficiency. The parameter update adopts a double buffer mechanism to ensure data consistency.

[0077] This embodiment designs a reliable data storage structure. The compensation parameters adopt a hierarchical storage strategy, and the hotspot data is stored in the cache. The storage structure supports batch update and rollback operations of parameters. Data integrity is protected by CRC check and supports power-off protection function. The storage system implements a fault-tolerant mechanism.

[0078] This embodiment implements an intelligent parameter maintenance mechanism. The compensation parameters are dynamically updated with the system operation status, and parameter changes are predicted through trend analysis. The maintenance process includes parameter validity checks, and outliers are identified and eliminated through statistical methods. The system supports manual and automatic calibration of parameters.

[0079] This embodiment establishes a reliable delay compensation system through accurate delay measurement and compensation mechanism. While ensuring compensation accuracy, this solution improves system adaptability through multi-level optimization. The overall design fully considers the special needs of multi-satellite collaborative tasks and achieves high-precision delay compensation. Through intelligent parameter management and maintenance mechanism, the long-term stability of the compensation effect is guaranteed, providing a reliable time synchronization foundation for multi-satellite collaborative control.

[0080] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 4 , and can also include the following: Step S401: the clock signal output by the standard atomic clock is connected to the pulse-per-second controller, the pulse-per-second controller generates a standard pulse-per-second signal according to the clock signal, the simulation industrial computer receives the standard pulse-per-second signal and uses it as a unified clock reference, reads the pulse delay compensation amount of each satellite system to be tested from the compensation parameter table, calculates the synchronous pulse broadcasting time of each satellite system to be tested, and establishes a pulse broadcasting queue in the simulation industrial computer; Step S402: Sort the synchronization pulses in the pulse broadcast queue according to the compensated broadcast time, distribute the synchronization pulses to be broadcast to the corresponding communication links through a splitter, the splitter selects the corresponding drive interface according to the type of communication link, broadcasts the synchronization pulses to each satellite system to be tested according to the broadcast timing, and updates the status flag of the pulse broadcast queue after the broadcast is completed.

[0081] Optionally, this embodiment adopts a high impedance isolation design when accessing the atomic clock signal. The input interface adopts transformer coupling to achieve electrical isolation while maintaining signal integrity. The signal conditioning circuit includes a low noise amplifier and a bandpass filter to improve the signal-to-noise ratio. The input circuit is also equipped with overvoltage protection and transient suppression circuits to improve system reliability.

[0082] This embodiment realizes an accurate second pulse generation mechanism. The controller uses a phase-locked loop frequency multiplication circuit to multiply the input 10MHz clock signal to a higher frequency to provide a counter reference. The pulse generation circuit adopts a dual counter structure, the main counter is responsible for second pulse timing, and the auxiliary counter realizes pulse width adjustment. The counter clock uses a temperature-compensated crystal oscillator to reduce the impact of temperature drift.

[0083] This embodiment designs a reliable clock reference acquisition process. The industrial computer captures the second pulse signal through a high-speed sampling circuit. The sampling clock is derived from a temperature-compensated crystal oscillator to ensure sampling accuracy. The capture circuit uses a double-edge trigger mode and eliminates burr interference through digital filtering. The reference clock is synchronized to the second pulse through a phase-locked loop to achieve clock synchronization.

[0084] This embodiment constructs an efficient compensation parameter reading mechanism. Parameter reading adopts a multi-level cache structure, and common parameters are stored in the L1 cache to improve access speed. The cache adopts the LRU replacement algorithm to optimize the cache hit rate. The parameter reading process implements concurrency control to ensure data consistency. The system supports real-time update and rollback operations of parameters.

[0085] This embodiment implements an intelligent broadcast time calculation method. The calculation process takes into account hardware delay, signal transmission delay and processing overhead, and adopts a dynamic compensation strategy. The compensation calculation is based on a neural network model, and the input features include link status, load conditions and environmental parameters. The model continuously optimizes the compensation accuracy through online learning.

[0086] This embodiment designs a high-performance pulse broadcast queue. The queue adopts a priority heap structure and supports sorting by timestamp and fast insertion. The queue node contains information such as target device, broadcast time, link type, etc. Queue management implements a deadlock avoidance mechanism to ensure the normal execution of the broadcast task.

[0087] This embodiment builds a reliable splitter control strategy. The splitter is implemented using programmable logic and supports 16 parallel outputs. Each output is configured with an independent delay chain to achieve sub-nanosecond phase adjustment. The output driver uses a differential circuit to provide high-quality signal transmission. The splitting strategy supports dynamic reconstruction.

[0088] This embodiment implements a flexible driver interface selection mechanism. The driver layer adopts object-oriented design and defines a unified interface specification. Different types of communication links are encapsulated as independent driver classes to support plug-and-play. The driver interface implements error retry and exception recovery functions to improve communication reliability.

[0089] This embodiment designs precise broadcast timing control. The timing control is based on a hardware timer, providing a high-precision time reference. The broadcast process uses an interrupt trigger method to ensure the accuracy of the broadcast time. The timing control supports multi-task parallel processing and optimizes system resource utilization.

[0090] This embodiment builds a complete state management mechanism. The state flag adopts a bitmap structure to support efficient state query and update. The state update process implements atomic operations to avoid concurrency conflicts. The system supports persistent storage and recovery of the state and provides complete state tracking capabilities.

[0091] This embodiment establishes a reliable multi-satellite time synchronization system through precise clock synchronization and broadcast control. While ensuring synchronization accuracy, this solution improves system performance through multi-level optimization. The overall design fully considers the special needs of space missions and achieves high-precision time synchronization. Through intelligent compensation mechanism and reliable broadcast control, a stable time reference is provided for multi-satellite collaborative control, supporting precise control and collaborative operation in complex mission scenarios.

[0092] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 5 , and can also include the following: Step S501: Collect Beidou navigation information, GPS navigation information, star sensor information and ground measurement and control information, convert the time information in the navigation information and measurement and control information into the atomic time standard, perform coordinate system conversion on the orbit parameters in the navigation information and measurement and control information, establish a multi-source navigation information fusion processing model based on the federated Kalman filter algorithm, and use the fused spatiotemporal data as high-precision spatiotemporal reference data; Step S502: construct a broadcast data frame according to a preset data frame format, write the time information, orbital parameters, and satellite status flags in the high-precision space-time reference data into corresponding fields of the broadcast data frame, calculate and encrypt the broadcast data frame, and broadcast the encrypted broadcast data frame to each of the satellite systems to be tested based on the communication driver module.

[0093] Optionally, this embodiment adopts an asynchronous sampling mechanism when collecting multi-source navigation information. The Beidou navigation receiver collects B1, B2 and B3 triple-frequency signals to obtain pseudorange, carrier phase and Doppler shift observations. The GPS receiver collects L1 and L2 frequency band signals to provide precise ephemeris and ionospheric correction parameters. The star sensor collects star map data through the CCD array and outputs attitude quaternions. The ground measurement and control information obtains ranging and velocity data through a dedicated data link.

[0094] This embodiment achieves accurate time standard conversion. Beidou time is converted to atomic time through the deviation parameters of BDT and UTC. GPS time takes leap second correction into account and is unified through the conversion relationship between GPST and UTC. The conversion process takes into account the correction of relativistic effects, including the effects of gravitational redshift and velocity delay. The time base achieves smooth transition through Kalman filtering.

[0095] This embodiment designs a complete coordinate system conversion chain. The orbital parameters are converted from the WGS84 coordinate system to the CGCS2000 coordinate system, taking into account the effects of the earth's rotation, polar motion and tidal deformation. The conversion process uses a seven-parameter model, and the parameters are updated through the latest IERS bulletin. The attitude parameters are converted between the inertial system and the orbital system through quaternion operations.

[0096] This embodiment constructs an innovative federated Kalman filter framework. The sub-filters process Beidou, GPS and star sensor data respectively, and the state vector contains position, velocity and clock error parameters. Information fusion adopts an adaptive weight strategy, and the weight coefficient is dynamically adjusted through the innovative sequence covariance. The filter supports fault detection and reconstruction.

[0097] This embodiment implements an intelligent data fusion algorithm. The fusion model adopts a deep neural network structure, and the input layer contains the observation data and status information of each sensor. The network automatically learns the importance weights of different data sources through the attention mechanism to achieve optimal fusion. The model training adopts an end-to-end learning method, and the loss function takes into account the accuracy and real-time requirements.

[0098] This embodiment designs a flexible data frame format. The data frame adopts a hierarchical structure, including a frame header, a time tag, track data, status information, and a check segment. The frame format supports variable-length fields and distinguishes different data types through type identifiers. Data compression adopts differential encoding to optimize bandwidth utilization.

[0099] This embodiment builds a reliable data verification mechanism. The verification code calculation adopts the CRC32 algorithm, and the polynomial coefficients are optimized. The verification process implements hardware acceleration to improve processing efficiency. The system supports real-time calculation and verification of the verification code to ensure data integrity.

[0100] This embodiment implements a secure encryption process. The encryption algorithm adopts the AES-256 standard, and the key management adopts a hierarchical strategy. The encryption process implements parallel processing and supports data stream encryption mode. The system regularly updates the key and provides a complete key distribution mechanism.

[0101] This embodiment designs an efficient data broadcast strategy. The broadcast process adopts a multi-threaded architecture, and data packaging and sending are handled by independent threads. Data interaction is achieved between threads through lock-free queues to optimize system performance. Broadcast control implements traffic shaping to avoid communication congestion.

[0102] This embodiment builds a complete data management system. The spatiotemporal benchmark data adopts a distributed storage architecture to support rapid retrieval and update of data. Data management implements version control and supports historical data backtracking. The system provides a complete data backup and recovery mechanism.

[0103] This embodiment establishes a reliable space-time reference broadcasting system through multi-source information fusion and secure data transmission. While ensuring data accuracy, this solution improves system performance through multi-level optimization. The overall design fully considers the special needs of space missions and achieves high-precision space-time reference maintenance. Through intelligent fusion algorithms and reliable data transmission mechanisms, a stable navigation reference is provided for multi-satellite collaborative control, supporting precise positioning and state estimation in complex mission scenarios.

[0104] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 6 , and can also include the following: Step S601: Based on the unified space-time reference, a dynamic model of the multi-satellite cooperative motion environment is established, the non-spherical gravitational perturbation is expanded to the 15th order, a celestial coordinate calculation model of the sun and the moon is established, the NRLMSISE-00 atmospheric density model is used to calculate the atmospheric drag, a light pressure model considering the reflection characteristics of the satellite surface material is established, and the time parameters of the dynamic model are aligned with the unified space-time reference; Step S602: orbital dynamics and attitude dynamics modeling is performed on each satellite system to be tested, and the dynamics model is numerically integrated and solved using the variable step-length Runge-Kutta method, and the six orbital elements and attitude quaternion of the satellite in the unified space-time reference are calculated, and the orbital parameters are converted into position and velocity vectors in the inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

[0105] Optionally, this embodiment adopts the spherical harmonic function expansion method when establishing the gravitational field model. The non-spherical gravitational potential uses a recursive algorithm to calculate the Legendre function to improve the calculation efficiency. The gravitational field coefficient adopts the EGM2008 model, taking into account the influence of the earth's solid tidal deformation. The calculation process includes permanent tide correction and time-varying term correction to achieve accurate gravitational field modeling.

[0106] This embodiment achieves high-precision celestial ephemeris calculation. The positions of the sun and the moon use the DE405 ephemeris, and the calculation efficiency is improved through Chebyshev polynomial interpolation. The position calculation takes into account the light travel time effect, and the light travel time equation is solved through iteration. The coordinate transformation includes the precession and nutation correction to achieve the coordinate transformation from the J2000 epoch to the current time.

[0107] This embodiment designs a complete atmospheric density calculation framework. The NRLMSISE-00 model input includes the solar activity index F10.7, the geomagnetic index Ap, and the geographic location parameters. The model takes into account the daily, seasonal, and latitudinal variations of atmospheric density. The density calculation process achieves parallel optimization to improve calculation efficiency.

[0108] This embodiment constructs an accurate light pressure model. The satellite surface is divided into multiple facets, and the material properties of each facet are described by a bidirectional reflectance distribution function. The light pressure calculation takes into account three components: direct sunlight, earth reflection, and earth infrared radiation. The model includes surface degradation effects and realizes dynamic updating of material properties.

[0109] This embodiment implements a reliable time synchronization mechanism. The dynamic model uses atomic time as the integration benchmark and achieves synchronization with UTC through the time standard conversion relationship. The integration step is adaptively adjusted through error control to ensure calculation accuracy. Time synchronization takes into account the correction of relativistic effects.

[0110] This embodiment designs a complex orbital dynamics model. The state equation contains position, velocity and perturbation acceleration terms, and is solved using the Cowell integration method. The model takes into account the effects of all major perturbation forces, including higher-order gravitational terms, third-body gravity, atmospheric drag and light pressure. The integration process implements energy conservation verification.

[0111] This embodiment constructs an accurate attitude dynamics model. The attitude motion equation is expressed by quaternions to avoid singularity problems. The model includes the influence of gravity gradient torque, magnetic torque, aerodynamic torque and sunlight pressure torque. The attitude integral adopts the geometric integral method to maintain the unit of quaternion.

[0112] This embodiment implements an efficient numerical integration algorithm. The variable step-size Runge-Kutta method uses the RKF78 formula and controls the step size through local truncation error estimation. The integrator supports multi-stage parallel calculation to improve calculation efficiency. In special cases, it automatically switches to the Adams method to ensure numerical stability.

[0113] This embodiment designs a reliable coordinate conversion process. The conversion of orbital elements and position velocity vectors uses analytical formulas to avoid the accumulation of numerical errors. The coordinate system transformation takes into account the influence of the earth's rotation and polar motion, and realizes the accurate conversion between the inertial system and the earth-fixed system. The conversion process includes the update of polar motion parameters.

[0114] This embodiment constructs a complete relative motion calculation framework. The relative motion is described by the Hill coordinate system, and the relative position and velocity are calculated by coordinate transformation. The calculation process takes into account the influence of J2 perturbation and achieves long-term prediction accuracy. The relative motion parameters are smoothed by filtering.

[0115] This embodiment establishes a reliable multi-satellite motion simulation system through precise dynamic modeling and efficient numerical calculation. While ensuring the calculation accuracy, this solution improves the calculation efficiency through multi-level optimization. The overall design fully considers the complexity of the space environment and achieves a high degree of consistency with the actual motion law. Through a complete dynamic model and precise numerical methods, reliable state prediction is provided for multi-satellite collaborative control, supporting orbit design and mission planning in complex mission scenarios.

[0116] In one embodiment of the time and space reference synchronization method for multi-satellite collaborative tasks of the present application, see Figure 7 , and can also include the following: Step S701: receiving attitude and orbit control instructions sent by each satellite system to be tested through the communication drive module, parsing the thruster switch timing and torque wheel speed change of the control instructions, converting the control instructions into force vectors and torque vectors according to the actuator characteristics of the satellite system to be tested, and superimposing the acceleration and angular acceleration terms corresponding to the force vectors and torque vectors in the dynamic model; Step S702: Use the numerical integration method to calculate the satellite motion state after the superposition control amount, update the orbital elements and attitude quaternion of each satellite system to be tested, calculate the relative position, relative speed, and relative attitude angle between each satellite based on the unified time and space reference, and broadcast the calculated relative motion state data to each satellite system to be tested synchronously through the communication link according to the preset broadcast period.

[0117] Optionally, this embodiment adopts a multi-channel parallel processing mechanism when receiving control instructions. The communication driver module receives the control instructions of each satellite through an independent hardware buffer and uses an interrupt method to achieve real-time response. The instruction parsing process adopts a state machine design to support segmented reception and reorganization of instructions. The parsing module implements instruction validity verification, including checksum inspection and timing legality inspection.

[0118] This embodiment achieves accurate thruster characteristic modeling. The thruster switch timing is converted into a pulse sequence, and the thrust size of each pulse is obtained by a table lookup method. The model takes into account the thruster installation matrix and the jet interference effect, and realizes the synergistic calculation of multiple thrusters. The thrust characteristics are dynamically updated with fuel consumption.

[0119] This embodiment designs a complete torque wheel dynamics model. The speed change is converted into output torque through the torque wheel rotational inertia, taking into account the influence of bearing friction and motor characteristics. The model includes the gyroscopic effect of the torque wheel and realizes the coupled dynamic calculation with the satellite body. The speed limit is handled by the saturation function.

[0120] This embodiment constructs an innovative actuator characteristic conversion framework. The force vector calculation adopts the geometric projection method, taking into account the installation error of the actuator. The torque vector is calculated by the cross product of the force arm, including the effect of installation eccentricity. The characteristic conversion supports multiple actuator types and realizes a unified modeling interface.

[0121] This embodiment implements an efficient dynamic superposition algorithm. The control quantity superposition adopts a step-by-step integration method, first calculating the natural motion term and then superimposing the control action term. The acceleration term takes into account the influence of mass change, and the angular acceleration term includes the dynamic update of the moment of inertia. The superposition process realizes numerical stability control.

[0122] This embodiment designs a reliable numerical integration strategy. The variable step-size Adams-Bashforth method is used for integration, and historical data is used to improve the computational efficiency. The integral error is estimated by the Richardson extrapolation method to achieve adaptive adjustment of the step size. In special cases, it automatically switches to the single-step method to ensure computational stability.

[0123] This embodiment constructs an accurate state update mechanism. The orbital element update adopts the variational equation method to avoid frequent coordinate transformations. The attitude quaternion update is implemented through exponential mapping to maintain the unit constraint. The state update process includes numerical truncation error control.

[0124] This embodiment implements an efficient relative motion calculation method. The relative position is obtained by differential calculation, and the relative speed is obtained by numerical differentiation method. The relative attitude angle is calculated by quaternion difference product to avoid singular point problem. The calculation process realizes error accumulation control.

[0125] This embodiment designs a reliable data broadcast mechanism. The broadcast cycle is dynamically adjusted according to task requirements to ensure data timeliness. Data packaging uses compression encoding to optimize bandwidth utilization. The broadcast process implements packet loss retransmission and timeout processing to improve transmission reliability.

[0126] This embodiment builds a complete synchronization control framework. Data synchronization uses a time tag mechanism to ensure that each satellite receives status information at the same time. The synchronization process takes into account communication delay compensation and achieves accurate time alignment. The system supports data caching and interpolation processing.

[0127] This embodiment establishes a reliable multi-satellite collaborative control simulation system through precise control quantity modeling and efficient state update. While ensuring the simulation accuracy, this solution improves the computational efficiency through multi-level optimization. The overall design fully considers the special needs of space missions and achieves a high degree of consistency with the actual control process. Through a complete dynamic model and precise numerical methods, reliable state prediction and feedback are provided for multi-satellite collaborative control, supporting formation control and mission planning in complex mission scenarios. The collaborative motion simulation verification of the multi-satellite system is realized, providing important technical support for the actual mission execution.

[0128] In order to achieve accurate update and synchronous broadcast of the relative motion states of multiple satellites and provide a reliable collaborative control verification solution for complex space missions, the present application provides an embodiment of a time-space reference synchronization device for multi-satellite collaborative missions for implementing all or part of the time-space reference synchronization method for multi-satellite collaborative missions, see Figure 8 The time-space reference synchronization device for the multi-satellite collaborative mission specifically includes the following contents: The multi-satellite coordination module 10 is used to construct a multi-satellite coordination task verification system, wherein the verification system includes a second pulse controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested. A communication connection is established between the second pulse controller, the simulation industrial computer, and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; The unified space-time reference module 20 is used to establish a unified space-time reference for multi-satellite collaborative tasks. The second pulse controller outputs a standard second pulse signal to the simulation industrial computer. After receiving the standard second pulse signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer adopts a multi-source navigation information fusion algorithm to obtain high-precision space-time reference data, encapsulates the high-precision space-time reference data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; The collaborative motion module 30 is used to build a multi-satellite collaborative motion environment based on the unified space-time reference. The simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculates the orbit and attitude parameters of each satellite system to be tested based on the dynamic model, receives control instructions sent by each satellite system to be tested, converts the control instructions into force and torque parameters, updates the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasts the relative motion data of each satellite system to be tested according to the unified space-time reference.

[0129] From the above description, it can be seen that the space-time reference synchronization device for multi-satellite collaborative tasks provided in the embodiment of the present application can establish a pulse transmission delay compensation model by constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, so as to achieve precise time synchronization of multi-satellite systems. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision space-time reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure. Combined with the torque parameter conversion mechanism of the control command, it realizes the precise update and synchronous broadcast of the relative motion state of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0130] From the hardware level, in order to achieve accurate update and synchronous broadcast of the relative motion state of multiple satellites and provide a reliable collaborative control verification solution for complex space missions, the present application provides an embodiment of an electronic device for implementing all or part of the spatiotemporal reference synchronization method of the multi-satellite collaborative mission, and the electronic device specifically includes the following contents: Processor, memory, communication interface and bus; wherein the processor, memory and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between the time-space reference synchronization device of multi-satellite collaborative tasks and related devices such as core business systems, user terminals and related databases; the logic controller can be a desktop computer, a tablet computer and a mobile terminal, etc., and the present embodiment is not limited thereto. In the present embodiment, the logic controller can be implemented with reference to the embodiment of the time-space reference synchronization method of multi-satellite collaborative tasks and the embodiment of the time-space reference synchronization device of multi-satellite collaborative tasks in the embodiment, and the contents thereof are incorporated herein, and the repeated parts are not repeated.

[0131] It is understandable that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. Among them, the smart wearable device may include smart glasses, a smart watch, a smart bracelet, etc.

[0132] In practical applications, part of the spatiotemporal reference synchronization method for multi-satellite collaborative tasks can be executed on the electronic device side as described above, or all operations can be completed in the client device. The selection can be made based on the processing capability of the client device and the limitations of the user's usage scenario. This application does not limit this. If all operations are completed in the client device, the client device may also include a processor.

[0133] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0134] Fig. 9 FIG. 9 is a schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Fig. 9 As shown, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that Fig. 9 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0135] In one embodiment, the function of the time and space reference synchronization method of the multi-satellite collaborative mission can be integrated into the central processor 9100. The central processor 9100 can be configured to perform the following control: Step S101: construct a multi-satellite collaborative task verification system, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; Step S102: establishing a unified space-time benchmark for multi-satellite collaborative tasks, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision space-time benchmark data, encapsulates the high-precision space-time benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; Step S103: constructing a multi-satellite collaborative motion environment based on the unified space-time reference, the simulation industrial computer establishing a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculating the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion states of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified space-time reference.

[0136] From the above description, it can be seen that the electronic device provided in the embodiment of the present application establishes a pulse transmission delay compensation model by constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, so as to achieve precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision space-time reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, and combines the torque parameter conversion mechanism of the control command to achieve precise updating and synchronous broadcasting of the relative motion states of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0137] In another embodiment, the space-time reference synchronization device for the multi-satellite collaborative mission can be configured separately from the central processor 9100. For example, the space-time reference synchronization device for the multi-satellite collaborative mission can be configured as a chip connected to the central processor 9100, and the space-time reference synchronization method function of the multi-satellite collaborative mission can be implemented through the control of the central processor.

[0138] like Fig. 9 As shown, the electronic device 9600 may also include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Fig. 9 In addition, the electronic device 9600 may also include Fig. 9 For components not shown, reference may be made to the prior art.

[0139] like Fig. 9 As shown, the central processing unit 9100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0140] The memory 9140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 9100 may execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0141] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0142] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 9600 through the central processor 9100.

[0143] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0144] The communication module 9110 is a transmitter / receiver that sends and receives signals via the antenna 9111. The communication module 9110 (transmitter / receiver) is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0145] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module. The communication module 9110 (transmitter / receiver) is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby realizing a common telecommunication function. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processor 9100, so that recording can be performed on the local machine through the microphone 9132, and the sound stored on the local machine can be played through the speaker 9131.

[0146] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps of the method for spatiotemporal reference synchronization of multi-satellite collaborative tasks whose execution subject is a server or a client in the above embodiments. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all steps of the method for spatiotemporal reference synchronization of multi-satellite collaborative tasks whose execution subject is a server or a client in the above embodiments are implemented. For example, when the processor executes the computer program, the following steps are implemented: Step S101: construct a multi-satellite collaborative task verification system, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; Step S102: establishing a unified space-time benchmark for multi-satellite collaborative tasks, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision space-time benchmark data, encapsulates the high-precision space-time benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; Step S103: constructing a multi-satellite collaborative motion environment based on the unified space-time reference, the simulation industrial computer establishing a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculating the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion states of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified space-time reference.

[0147] From the above description, it can be seen that the computer-readable storage medium provided in the embodiment of the present application establishes a pulse transmission delay compensation model by constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, so as to achieve precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision space-time reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, and combines the torque parameter conversion mechanism of the control command to achieve precise updating and synchronous broadcasting of the relative motion states of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0148] The embodiments of the present application also provide a computer program product capable of implementing all steps of the time-space reference synchronization method for multi-satellite collaborative tasks in the above embodiments, where the execution subject is a server or a client. When the computer program / instruction is executed by a processor, the steps of the time-space reference synchronization method for multi-satellite collaborative tasks are implemented. For example, the computer program / instruction implements the following steps: Step S101: construct a multi-satellite collaborative task verification system, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; Step S102: establishing a unified space-time benchmark for multi-satellite collaborative tasks, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision space-time benchmark data, encapsulates the high-precision space-time benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; Step S103: constructing a multi-satellite collaborative motion environment based on the unified space-time reference, the simulation industrial computer establishing a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculating the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion states of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified space-time reference.

[0149] From the above description, it can be seen that the computer program product provided in the embodiment of the present application establishes a pulse transmission delay compensation model by constructing a verification system including a second pulse controller, a simulation industrial computer and a verification server, so as to achieve precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision space-time reference data, and a preset data frame format is used for unified broadcasting. The system establishes a complete dynamic model that takes into account non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, and combines the torque parameter conversion mechanism of the control command to achieve precise updating and synchronous broadcasting of the relative motion state of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0150] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for synchronizing time and space references for multi-satellite collaborative tasks, characterized in that: The method comprises: A multi-satellite collaborative task verification system is constructed, the verification system includes a second pulse controller, a simulation industrial computer, a verification server and multiple groups of satellite systems to be tested, and a communication connection is established between the second pulse controller, the simulation industrial computer and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; A unified time-space benchmark for multi-satellite collaborative tasks is established, wherein the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision time-space benchmark data, encapsulates the high-precision time-space benchmark data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; A multi-satellite collaborative motion environment is constructed based on the unified space-time reference, the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculates the orbit and attitude parameters of each satellite system to be tested based on the dynamic model, receives control instructions sent by each satellite system to be tested, converts the control instructions into force and torque parameters, updates the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasts the relative motion data of each satellite system to be tested according to the unified space-time reference.

2. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 1, characterized in that: The multi-satellite collaborative task verification system is constructed, the verification system includes a pulse-per-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested, and a communication connection is established between the pulse-per-second controller, the simulation industrial computer, and the satellite systems to be tested, including: Establish the hardware architecture of the multi-satellite collaborative mission verification system according to the connection topology, connect the pulse per second controller to the simulation industrial computer through the RS232 serial interface, connect the simulation industrial computer to the attitude and orbit control system and the satellite service system of each satellite system to be tested through the industrial control bus, build a local area network with the simulation industrial computer and the verification server through the Ethernet switch, deploy workstations in the verification system and connect them to the local area network; A communication driver module is established on the simulated industrial computer. The communication driver module loads the serial communication protocol and the industrial bus protocol stack respectively, establishes a serial data interaction channel with the pulse-per-second controller, establishes a data communication link with each of the satellite systems to be tested, configures the baud rate, data bit, check bit and stop bit parameters of the communication link, deploys a database service on the verification server, and establishes a network data transmission link between the simulated industrial computer and the verification server.

3. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 1, characterized in that: The simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model, including: The delay characteristics of the communication link between the simulated industrial computer and each satellite system to be tested are measured, multiple groups of signal round-trip delay data are collected, and a transmission delay compensation model including signal transmission delay, protocol processing delay, and hardware response delay is established. The input parameters of the transmission delay compensation model are set to communication distance, signal bandwidth, and processor load rate, and the delay parameters of the transmission delay compensation model are calibrated; The pulse transmission delay of each satellite system to be tested is calculated based on the transmission delay compensation model, the pulse transmission delay is classified according to the communication link type, the baud rate correction is performed on the transmission delay of the serial communication link, the protocol overhead correction is performed on the transmission delay of the bus communication link, and the corrected transmission delay is stored in the compensation parameter table as the pulse delay compensation amount.

4. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 1, characterized in that: The unified time and space reference for establishing a multi-satellite collaborative task is that the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer, and after receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter, including: The clock signal output by the standard atomic clock is connected to the pulse-per-second controller, the pulse-per-second controller generates a standard pulse-per-second signal according to the clock signal, the simulation industrial computer receives the standard pulse-per-second signal and uses it as a unified clock reference, reads the pulse delay compensation amount of each satellite system to be tested from the compensation parameter table, calculates the synchronous pulse broadcasting time of each satellite system to be tested, and establishes a pulse broadcasting queue in the simulation industrial computer; The synchronization pulses in the pulse broadcasting queue are sorted according to the compensated broadcasting time, and the synchronization pulses to be broadcasted are distributed to the corresponding communication links through a splitter. The splitter selects the corresponding drive interface according to the type of communication link, broadcasts the synchronization pulses to each satellite system to be tested according to the broadcasting timing, and updates the status flag of the pulse broadcasting queue after the broadcasting is completed.

5. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 4, characterized in that: The simulation industrial computer uses a multi-source navigation information fusion algorithm to obtain high-precision spatiotemporal reference data, encapsulates the high-precision spatiotemporal reference data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each of the satellite systems to be tested, including: Collect Beidou navigation information, GPS navigation information, star sensor information and ground measurement and control information, convert the time information in the navigation information and measurement and control information into the atomic time standard, perform coordinate system conversion on the orbit parameters in the navigation information and measurement and control information, establish a multi-source navigation information fusion processing model based on the federated Kalman filter algorithm, and use the fused spatiotemporal data as high-precision spatiotemporal reference data; A broadcast data frame is constructed according to a preset data frame format, time information, orbital parameters, and satellite status flags in the high-precision space-time reference data are written into corresponding fields of the broadcast data frame, verification code calculation and encryption processing are performed on the broadcast data frame, and the encrypted broadcast data frame is broadcast to each of the satellite systems to be tested based on a communication driver module.

6. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 5, characterized in that: The multi-satellite coordinated motion environment is constructed based on the unified space-time reference, the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbation, solar and lunar gravitation, atmospheric drag and light pressure, and the orbit and attitude parameters of each satellite system to be tested are calculated based on the dynamic model, including: Based on the unified space-time reference, a dynamic model of a multi-satellite coordinated motion environment is established, non-spherical gravitational perturbations are expanded to 15th order, celestial coordinate calculation models of the sun and the moon are established, atmospheric drag is calculated using the NRLMSISE-00 atmospheric density model, a light pressure model that takes into account the reflection characteristics of satellite surface materials is established, and the time parameters of the dynamic model are aligned with the unified space-time reference; The orbital dynamics and attitude dynamics modeling is carried out for each satellite system to be tested, and the dynamic model is numerically integrated and solved by the variable step-length Runge-Kutta method. The six orbital elements and attitude quaternion of the satellite in the unified space-time reference are calculated, the orbital parameters are converted into position and velocity vectors in the inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

7. The time-space reference synchronization method for multi-satellite collaborative tasks according to claim 6, characterized in that: The receiving control instructions sent by each of the satellite systems to be tested, converting the control instructions into force and torque parameters, updating the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasting the relative motion data of each of the satellite systems to be tested according to the unified time and space reference, includes: Receiving attitude and orbit control instructions sent by each satellite system to be tested through the communication drive module, parsing the thruster switch timing and torque wheel speed change of the control instructions, converting the control instructions into force vectors and torque vectors according to the actuator characteristics of the satellite system to be tested, and superimposing the acceleration and angular acceleration terms corresponding to the force vectors and torque vectors in the dynamic model; The satellite motion state after superimposing the control amount is calculated by a numerical integration method, the orbital elements and attitude quaternions of each satellite system to be tested are updated, the relative position, relative speed and relative attitude angle between the satellites are calculated based on the unified space-time reference, and the calculated relative motion state data is synchronously broadcast to each satellite system to be tested through the communication link according to a preset broadcast period.

8. A time-space reference synchronization device for multi-satellite collaborative tasks, characterized in that: The device comprises: A multi-satellite collaborative module is used to construct a multi-satellite collaborative task verification system, wherein the verification system includes a second pulse controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested. A communication connection is established between the second pulse controller, the simulation industrial computer, and the satellite systems to be tested; the simulation industrial computer establishes a pulse transmission delay compensation model, and calculates the pulse delay compensation amount of each satellite system to be tested based on the transmission delay compensation model; A unified space-time reference module is used to establish a unified space-time reference for multi-satellite collaborative tasks. The second pulse controller outputs a standard second pulse signal to the simulation industrial computer. After receiving the standard second pulse signal, the simulation industrial computer compensates the synchronous pulse broadcasting time of each satellite system to be tested according to the pulse delay compensation amount, and broadcasts the compensated synchronous pulse to each satellite system to be tested through a splitter; the simulation industrial computer adopts a multi-source navigation information fusion algorithm to obtain high-precision space-time reference data, encapsulates the high-precision space-time reference data into broadcast data according to a preset data frame format, and broadcasts the broadcast data to each satellite system to be tested; A collaborative motion module is used to build a multi-satellite collaborative motion environment based on the unified space-time reference, the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag and light pressure, calculates the orbit and attitude parameters of each satellite system to be tested based on the dynamic model, receives control instructions sent by each satellite system to be tested, converts the control instructions into force and torque parameters, updates the relative motion state of multiple satellites according to the force and torque parameters, and synchronously broadcasts the relative motion data of each satellite system to be tested according to the unified space-time reference.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the time-space reference synchronization method for multi-satellite collaborative tasks described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the time-space reference synchronization method for a multi-satellite collaborative mission described in any one of claims 1 to 7 are implemented.

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