Time and space reference synchronization method and device for multi-satellite collaborative mission

Abstract

The embodiments of the present application provide a method and apparatus for time-space reference synchronization of multi-satellite collaborative missions. By constructing a verification system including a pulse-per-second 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 instructions, it achieves precise updating and synchronous broadcasting of the relative motion status of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

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 missions. Background Art

[0002] Existing multi-satellite collaborative mission systems have significant deficiencies in time-space reference synchronization. Traditional verification systems often overlook the impact of signal transmission delays and lack effective delay compensation mechanisms, leading to synchronization errors in the time references between multi-satellite systems. Furthermore, existing systems have limited accuracy in acquiring and processing time-space reference data, making them difficult to meet the requirements of high-precision collaborative control.

[0003] Furthermore, existing technologies have limitations in multi-satellite dynamics modeling and state updates. Most systems use simplified orbital dynamics models that fail to fully account for the effects of complex environmental factors such as non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and solar pressure, reducing the authenticity and reliability of simulation verification.

[0004] Existing systems face technical bottlenecks in multi-satellite coordinated control and state synchronization. The lack of a unified spatiotemporal reference framework makes precise synchronization and coordinated control difficult across multi-satellite systems. Control command processing and state update mechanisms are relatively simple, failing to effectively support complex collaborative mission requirements. Addressing these issues is crucial for improving the performance of multi-satellite coordinated mission systems. Summary of the Invention

[0005] In response to the problems in the existing technology, the present application provides a time-space reference synchronization method and device for 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:

[0007] In a first aspect, the present application provides a method for synchronizing a time and space reference for a multi-satellite collaborative mission, comprising:

[0008] A multi-satellite collaborative mission verification system is constructed, the verification system including a pulse-per-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested. A communication connection is established between the pulse-per-second 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;

[0009] Establishing a unified space-time benchmark for multi-satellite collaborative missions, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test.

[0010] A multi-satellite collaborative motion environment is constructed based on the unified space-time reference, the simulation industrial control computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure, calculates the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receives control instructions sent by each of the satellite systems 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 of the satellite systems to be tested according to the unified space-time reference.

[0011] Furthermore, the multi-satellite collaborative mission verification system is constructed, the verification system includes a pulse-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested, and communication connections are established between the pulse-second controller, the simulation industrial computer, and the satellite systems to be tested, including:

[0012] Establish the hardware architecture of the multi-satellite collaborative mission verification system based on 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 between the simulation industrial computer and the verification server through an Ethernet switch, and deploy workstations in the verification system and connect them to the local area network;

[0013] 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 second pulse 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.

[0014] 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:

[0015] The delay characteristics of the communication link between the simulated industrial computer and each satellite system under test are measured, multiple sets of signal round-trip delay data are collected, and a transmission delay compensation model that includes 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;

[0016] 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, and the protocol overhead correction is performed on the transmission delay of the bus communication link. The corrected transmission delay is stored as the pulse delay compensation amount in the compensation parameter table.

[0017] Furthermore, the establishment of a unified time-space benchmark for a multi-satellite collaborative mission, 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 synchronization pulse broadcasting time of each of the satellite systems under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each of the satellite systems under test via a splitter, includes:

[0018] The clock signal output by the standard atomic clock is connected to a pulse-per-second controller. The pulse-per-second controller generates a standard pulse-per-second signal based on the clock signal. The simulation industrial computer receives the standard pulse-per-second signal and uses it as a unified clock reference. The pulse delay compensation amount of each satellite system to be measured is read from a compensation parameter table. The synchronization pulse broadcast time of each satellite system to be measured is calculated, and a pulse broadcast queue is established in the simulation industrial computer.

[0019] The synchronization pulses in the pulse broadcast queue are sorted according to the compensated broadcast time, and the synchronization pulses to be broadcast are distributed to the corresponding communication links through a splitter. The splitter selects the corresponding driver interface according to the type of communication link, broadcasts the synchronization pulses to each of the satellite systems to be tested according to the broadcast timing, and updates the status flag of the pulse broadcast queue after the broadcast is completed.

[0020] Furthermore, 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:

[0021] 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;

[0022] 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, a check code is calculated and encryption is 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.

[0023] 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 perturbations, solar and lunar gravitational forces, 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:

[0024] A dynamic model of the multi-satellite coordinated motion environment is established based on the unified space-time reference, the non-spherical gravitational perturbation is expanded to 15th order, a celestial coordinate calculation model of the sun and the moon is established, the atmospheric drag is calculated using the NRLMSISE-00 atmospheric density model, a light pressure model is established that takes into account the reflective properties of the satellite surface materials, and the time parameters of the dynamic model are aligned with the unified space-time reference;

[0025] Orbital dynamics and attitude dynamics modeling is performed on each satellite system to be tested. The dynamic model is numerically integrated and solved using the variable step-size Runge-Kutta method. The six orbital parameters and attitude quaternions of the satellite in the unified space-time reference are calculated. The orbital parameters are converted into position and velocity vectors in an inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

[0026] Furthermore, the receiving of control instructions sent by each of the satellite systems to be measured, 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 measured according to the unified time and space reference includes:

[0027] receiving attitude and orbit control instructions sent by each satellite system under test through the communication drive module, parsing the thruster switching 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 under test, and superimposing acceleration and angular acceleration terms corresponding to the force vectors and torque vectors in the dynamic model;

[0028] The satellite motion state after superimposing the control amount is calculated using a numerical integration method, the orbital elements and attitude quaternions of each satellite system to be measured are updated, the relative position, relative velocity, and relative attitude angle between each satellite are calculated based on the unified time and space reference, and the calculated relative motion state data is synchronously broadcast to each satellite system to be measured through the communication link according to a preset broadcast period.

[0029] In a second aspect, the present application provides a time-space reference synchronization device for a multi-satellite collaborative mission, comprising:

[0030] 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 missions are implemented.

[0031] 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 time-space reference synchronization method for multi-satellite collaborative missions.

[0032] In a fifth aspect, the present application provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the time-space reference synchronization method for multi-satellite collaborative missions.

[0033] As can be seen from the above technical solution, this application provides a method and device for time-space reference synchronization of multi-satellite collaborative missions. 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 instructions, it realizes the precise update and synchronous broadcast of the relative motion status of multiple satellites, providing a reliable collaborative control verification solution for complex space missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0035] Figure 1This is one of the flow charts of the spatiotemporal reference synchronization method for multi-satellite collaborative missions in an embodiment of the present application;

[0036] Figure 2 This is a second flow chart of the method for time-space reference synchronization of a multi-satellite collaborative mission in an embodiment of the present application;

[0037] Figure 3 This is a third flow chart of the method for time-space reference synchronization of a multi-satellite collaborative mission in an embodiment of the present application;

[0038] Figure 4 This is a fourth flow chart of the spatiotemporal reference synchronization method for multi-satellite collaborative missions in an embodiment of the present application;

[0039] Figure 5 This is a fifth flow chart of the spatiotemporal reference synchronization method for multi-satellite collaborative missions in an embodiment of the present application;

[0040] Figure 6 This is a sixth flow chart of the method for time-space reference synchronization of a multi-satellite collaborative mission in an embodiment of the present application;

[0041] Figure 7 This is the seventh flow chart of the method for time-space reference synchronization of multi-satellite collaborative missions in an embodiment of the present application;

[0042] Figure 8 This is a structural diagram of a time-space reference synchronization device for a multi-satellite collaborative mission in an embodiment of the present application;

[0043] Figure 9 Schematic diagram of the structure of the electronic device in the embodiment of the present application.

[0044] Reference numerals:

[0045] 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

[0046] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] The acquisition, storage, use, and processing of data in this application's technical solution comply with relevant national laws and regulations.

[0048] 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 missions. 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 instructions, it realizes the precise update and synchronous broadcast of the relative motion status of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0049] 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:

[0050] Step S101: Constructing a multi-satellite collaborative mission verification system, 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. A communication connection is established between the pulse-per-second 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 a pulse delay compensation amount for each of the satellite systems to be tested based on the transmission delay compensation model;

[0051] 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 influence of external electromagnetic interference on the signal. The pulse-per-second controller uses Xilinx Virtex-7 series FPGA chips 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.

[0052] This embodiment fully implements the functional design of a pulse-per-second controller. The controller utilizes programmable logic to implement frequency multiplication, division, and phase adjustment of the reference frequency. The frequency division circuit utilizes a multi-stage counter structure, supporting programmable frequency outputs from 1 Hz to 10 MHz. The phase adjustment circuit achieves fine phase adjustment capability of better than 1 ns. The controller's output interface utilizes LVDS differential signaling, effectively suppressing common-mode interference through differential transmission and improving signal transmission quality.

[0053] This example deploys the VxWorks real-time operating system on a simulated industrial computer, equipped with dual Intel Xeon processors and 128GB of ECC memory, to support real-time task scheduling under high loads. The data acquisition module utilizes the PXI bus architecture, integrating a 16-bit high-speed AD acquisition card and a multi-channel DIO interface card. The communication interface includes eight RS232 serial ports and four CAN bus interfaces, supporting a variety of industrial protocols. The system bus utilizes the PCIe 3.0 architecture, providing 40Gbps of data transmission bandwidth.

[0054] This embodiment designs a complete verification server solution. The server utilizes a dual-server hot standby architecture, with the primary and backup servers implementing automatic failover via a heartbeat detection mechanism. The storage system utilizes a RAID 10 array and eight 2TB enterprise-grade SSDs, providing high-speed and reliable data storage. The network interface utilizes dual Gigabit network cards bonded together, improving network throughput through load balancing. The server deploys a distributed PostgreSQL database cluster for efficient storage and retrieval of verification data.

[0055] This embodiment implements a standardized interface design for the satellite systems under test. Each system under test includes an independent attitude and orbit control computer and a satellite operations management computer. These computers utilize a space-grade PowerPC processor and support SpaceWire and CAN bus communication protocols. The interface circuits utilize optoelectronic isolation and include overvoltage and EMC protection. The system also supports hot-swappability, enabling dynamic reconfiguration without impacting other individual systems.

[0056] This embodiment constructs a precise delay compensation model. The model decomposes total delay into three components: transmission delay, processing delay, and response delay. Transmission delay is calculated based on cable length and signal propagation speed. Processing delay includes protocol parsing and data packaging time. Response delay takes into account operating system scheduling delays and interrupt processing time. Latency measurement uses hardware counters with a resolution better than 100ns to ensure measurement accuracy.

[0057] This example designs a latency prediction algorithm based on a deep neural network. The network adopts a five-layer structure, including three fully connected hidden layers, and uses the Reluctant Unit (ReLU) activation function. The input layer contains parameters such as communication distance, signal bandwidth, and CPU load, and the output layer provides the predicted latency value. The training dataset contains over 100,000 measured samples, and the network parameters are optimized using the Adam optimizer and cross-validation method. The model has good generalization ability and the prediction results are stable and reliable.

[0058] This embodiment implements an adaptive compensation calculation method. Compensation calculations for serial communication links take into account the influence of parameters such as baud rate, data bits, and parity bits, establishing a precise timing model. Bus communication link compensation calculations are based on the protocol frame structure, taking into account the processing time of the frame header, data segment, and parity segment. Compensation parameters are stored in a high-speed cache in real time, supporting millisecond-level queries and updates.

[0059] This embodiment designs a comprehensive system monitoring mechanism. The monitoring module adopts a distributed architecture, deploying monitoring agents on each node. It collects key parameters such as clock synchronization error, communication quality, processor load, and memory usage in real time. Parameter analysis uses a sliding window algorithm to calculate statistical features and perform trend prediction. Monitoring results are used to dynamically optimize compensation strategies to ensure stable system operation.

[0060] This embodiment, through the construction of a complete verification system and precise delay compensation, provides a reliable time synchronization foundation for multi-satellite collaborative missions. While ensuring synchronization accuracy, this solution improves system reliability through hardware redundancy and software optimization. The system adopts a modular and standardized design, supporting flexible expansion and functional reconfiguration. The delay compensation algorithm, combined with deep learning technology, achieves highly accurate adaptive compensation. The system design fully considers the unique requirements of space missions, and through multi-layered optimization measures, a stable and reliable time synchronization verification platform has been established.

[0061] Step S102: Establishing a unified space-time benchmark for the multi-satellite collaborative mission. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test.

[0062] Optionally, when establishing a unified spatiotemporal reference, this embodiment uses a pulse-per-second controller to output two orthogonal standard pulse-per-second signals. The primary signal uses a rising-edge triggering method, while the secondary signal uses a falling-edge triggering method. Cross-validation of the dual signals ensures pulse edge accuracy. The signal output interface uses a 50Ω impedance matching design, and the impedance matching network reduces signal reflections to ensure waveform quality. The duty cycle of the pulse signal is adjusted using a precision DAC, achieving precise control of 50% ± 0.1%.

[0063] This embodiment implements a high-precision pulse capture circuit in a simulated industrial computer. The capture circuit uses a dual-edge triggering scheme, enabling sub-nanosecond timestamp recording via an FPGA. Timestamp generation utilizes a multi-stage counter structure, comprising coarse and fine counters, to achieve wide dynamic range timestamp measurement. Captured data is transferred to host memory via DMA, reducing system overhead.

[0064] This embodiment designs a complete pulse compensation process. The compensation process first reads the delay compensation table to obtain compensation parameters for each system under test. The compensation calculation takes into account temperature drift in the signal transmission path. A temperature sensor collects ambient temperature in real time and establishes a temperature-delay correction model. The compensated broadcast time is managed through a priority queue to ensure accurate and timely broadcast.

[0065] This embodiment implements a high-performance pulse splitter design. The splitter utilizes a tree structure, supporting the parallel distribution of 16 synchronous signals. Each output channel is configured with an independent delay chain, enabling fine delay adjustment within a range of 0-100ns. The output driver utilizes a differential output stage, providing a signal swing greater than 3V and ensuring transmission reliability.

[0066] This embodiment constructs a multi-source navigation information collection system. The system simultaneously connects to Beidou and GPS receivers and uses a geodetic antenna to improve signal reception quality. The receiver outputs a 1Hz PPS signal and NMEA-formatted navigation messages, which are transmitted to an industrial computer via a high-speed serial port. The system also integrates a star sensor interface to collect attitude information.

[0067] This embodiment designs a navigation information fusion algorithm based on a deep neural network. The network adopts a Transformer architecture with an attention mechanism, consisting of a multi-head self-attention layer and a feedforward neural network layer. Input features include observations such as navigation satellite pseudoranges, carrier phases, and signal-to-noise ratios, as well as attitude quaternions provided by star sensors. The algorithm adaptively adjusts the credibility of different data sources using attention weights to achieve optimal fusion.

[0068] This embodiment implements a high-precision coordinate conversion mechanism. This conversion takes into account factors such as Earth's rotation, polar motion, and atmospheric refraction, and utilizes the IAU2000B nutation model for space-time datum conversion. The conversion process utilizes IEEE-754 double-precision floating-point arithmetic to ensure computational accuracy. The coordinate results are analyzed through residual error analysis to detect anomalies and eliminate gross errors.

[0069] This embodiment designs a reliable data frame encapsulation protocol. The data frame adopts a layered structure, consisting of a frame header, a timestamp, a status word, a data segment, and a checksum segment. The frame header uses a synchronization word for frame synchronization, and the timestamp contains the week number and seconds within the week. The data segment uses differential encoding for compressed transmission, reducing communication bandwidth usage. A 32-bit CRC algorithm is used for checksums, providing reliable error detection.

[0070] This embodiment implements an efficient data broadcast mechanism. The broadcast process utilizes a multi-threaded design, with data packaging and sending handled by independent threads. Threads exchange data using lock-free queues, reducing synchronization overhead. Sending threads are scheduled according to priority to ensure timely delivery of critical data. Flow control is implemented during the broadcast process to avoid communication link congestion.

[0071] This embodiment establishes a reliable unified space-time reference through precise time synchronization and data fusion. This solution ensures synchronization accuracy while improving the reliability of reference data through multi-source information fusion. The system adopts a modular design, supporting flexible configuration and functional expansion. The fusion algorithm combines deep learning technology to achieve high-precision adaptive fusion. The overall design fully considers the specific requirements of space missions, and through multi-level optimization measures, a stable and reliable space-time reference system is established.

[0072] Step S103: A multi-satellite collaborative motion environment is constructed based on the unified time-space reference. The simulation industrial computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure. The orbit and attitude parameters of each of the satellite systems to be tested are calculated based on the dynamic model. Control instructions sent by each of the satellite systems to be tested are received, and the control instructions are converted into force and torque parameters. The relative motion state of multiple satellites is updated according to the force and torque parameters, and the relative motion data of each of the satellite systems to be tested are synchronously broadcast according to the unified time-space reference.

[0073] Optionally, this embodiment first establishes an accurate non-spherical gravitational field model when constructing the dynamic model. This gravitational field model uses the WGS84 reference ellipsoid, with the Earth's gravitational field expanded to 15th order. The spherical harmonic coefficients use the EGM2008 gravity field model. The calculation process takes into account the influence of Earth's solid tidal deformation, and corrects the time-varying characteristics of the spherical harmonic coefficients using the Love number. A recursive algorithm is used to calculate higher-order terms to improve computational efficiency.

[0074] This embodiment implements a high-precision solar and lunar gravitational calculation model. The DE405 ephemeris is used to calculate the precise positions of the sun and moon. The gravitational calculation takes into account the light-time effect, solving the light-time equation through an iterative method. The model also incorporates the influence of solar and lunar tidal forces, accounting for the coupling of solid and oceanic tides. Chebyshev polynomial interpolation is used in the calculation process to reduce the computational load.

[0075] This embodiment designs a complete atmospheric drag calculation framework. The atmospheric density model uses the NRLMSISE-00 model, with input parameters including the solar activity index F10.7 and the geomagnetic index Ap. The model accounts for diurnal and seasonal variations in atmospheric density and describes the density distribution using spherical harmonic expansion. The drag coefficient is calculated using free molecular flow theory, taking into account the velocity distribution characteristics of gas molecules.

[0076] This example constructs a detailed light pressure model. The satellite surface is divided into multiple bins, and the material properties of each bin are described using a bidirectional reflectance distribution function. The light pressure calculation considers three components: direct solar radiation, Earthshine, and Earth's infrared radiation. The model also incorporates the impact of the satellite surface temperature distribution on radiation characteristics, enabling coupled thermal-optical analysis.

[0077] This embodiment implements an efficient orbital integrator. The integrator uses a variable-step-size Adams-Bashforth-Moulton predictor-corrector method with an adjustable order. Error control utilizes local truncation error estimation, with adaptive step-size control ensuring computational accuracy. In special cases, it automatically switches to a Runge-Kutta-Fehlberg integrator to improve numerical stability.

[0078] This embodiment designs a complex attitude dynamics model. The model considers the effects of gravity gradient torque, magnetic torque, aerodynamic torque, and solar pressure torque. The attitude motion equations are expressed using quaternions, and the calculation accuracy is verified by conservation of angular momentum. The model also incorporates the effects of flexible attachments, and describes structural vibrations using modal superposition.

[0079] This embodiment implements an accurate control command parsing mechanism. Thruster command parsing considers switching timing and thrust curve characteristics, calculating instantaneous thrust through table lookup and interpolation. Torque wheel command conversion accounts for bearing friction and installation deviations, calculating equivalent torque through momentum exchange. Control variable conversion employs an error compensation strategy to improve execution accuracy.

[0080] This embodiment constructs a high-precision state update algorithm. The algorithm uses a state transfer matrix method, calculating the state transfer matrix through Chebyshev polynomial expansion. It considers the effects of perturbations and uses variational equations to describe orbital evolution. The state update process implements energy conservation and angular momentum conservation constraints.

[0081] This embodiment designs a reliable relative motion calculation framework. Relative motion is described using the Hill coordinate system, and relative position and velocity are calculated through coordinate transformation. The calculation process accounts for the effects of J2 perturbations, achieving long-term prediction accuracy. Relative motion parameters are smoothed using a Kalman filter to reduce numerical noise.

[0082] This embodiment implements an efficient data broadcast mechanism. Broadcast data is compressed using differential coding, and data volume is reduced through a predictive model. The communication protocol supports packet retransmission and data verification to ensure transmission reliability. The broadcast process also implements bandwidth adaptation, adjusting the data rate based on link quality.

[0083] This embodiment achieves accurate simulation of the multi-satellite coordinated motion environment through precise dynamic modeling and efficient state updates. This solution improves simulation efficiency through multi-level optimization while ensuring computational accuracy. The model design fully considers the complexity of the space environment and achieves high consistency with actual motion patterns. A reliable data broadcast mechanism provides stable state feedback for multi-satellite coordinated control, supporting collaborative planning and control strategy verification in complex mission scenarios.

[0084] As can be seen from the above description, the spatiotemporal reference synchronization method for multi-satellite collaborative missions provided in the embodiment of the present application can achieve precise time synchronization of multi-satellite systems by constructing a verification system including a second pulse controller, a simulation industrial computer, and a verification server, and establishing a pulse transmission delay compensation model. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision spatiotemporal 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 instructions, 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.

[0085] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 2 , and can also include the following:

[0086] Step S201: Establishing the hardware architecture of the multi-satellite collaborative mission verification system based on the connection topology, connecting the pulse-per-second controller to the simulation industrial computer via the RS232 serial interface, connecting the simulation industrial computer to the attitude and orbit control system and the satellite service system of each satellite system to be tested via the industrial control bus, establishing a local area network between the simulation industrial computer and the verification server via an Ethernet switch, deploying workstations in the verification system and connecting them to the local area network;

[0087] Step S202: Establish a communication driver module on the simulated industrial computer, load the serial communication protocol and the industrial bus protocol stack respectively, establish a serial data interaction channel with the pulse-per-second controller, establish a data communication link with each of the satellite systems to be tested, configure the baud rate, data bits, check bits and stop bit parameters of the communication link, deploy a database service on the verification server, and establish a network data transmission link between the simulated industrial computer and the verification server.

[0088] Optionally, this embodiment employs 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 controller's serial interface uses an RS232 level conversion chip, which achieves electrical isolation through optoelectronic isolation to improve anti-interference capabilities. The interface circuit is equipped with overvoltage protection and EMC filtering networks to ensure signal integrity.

[0089] This embodiment implements a multi-channel communication interface design within the simulated industrial computer. The serial interface utilizes a multi-port expansion card, supporting independent FIFO buffering and DMA transfers. The industrial control bus interface utilizes a CAN controller, supporting multiple isolated CAN channels, enabling reliable communication with the satellite system under test. The network interface utilizes dual Gigabit Ethernet cards, providing redundant backup through link aggregation.

[0090] This embodiment designs a complete network topology. The core switch uses a Layer 3 switch, supporting VLAN division and QoS management. The network planning uses a subnetting strategy, assigning independent IP address segments to different functional modules. The switches are configured with the Spanning Tree Protocol to prevent network loops. Key links use fiber optic connections to improve transmission distance and interference resistance.

[0091] This embodiment deploys a highly available cluster architecture on the verification server. The server utilizes a dual-machine hot standby design, with heartbeat detection enabling automatic failover. The storage system utilizes a distributed architecture and high-performance storage arrays for reliable data storage. The server runs a virtualization platform, supporting flexible resource scheduling.

[0092] This embodiment implements a unified workstation management platform. The workstations are equipped with high-performance graphics workstations that support 3D scene display and data visualization. The management platform utilizes a B / S architecture, enabling remote access and control via a web interface. The platform also integrates permissions management and operation auditing capabilities to ensure system security.

[0093] This embodiment designs a reliable communication driver architecture. The driver module adopts a layered design, comprising a hardware abstraction layer, a protocol stack layer, and an application interface layer. The serial port driver supports data flow control and error retransmission, while the industrial bus driver implements multi-frame transmission and priority management. The driver framework supports plug-and-play, enabling dynamic device loading.

[0094] This embodiment builds a complete protocol stack system. The serial port protocol uses a modified HDLC protocol to achieve reliable data frame transmission. The industrial bus protocol supports CAN and SpaceWire standards, achieving compatibility with multiple bus protocols. The protocol stack includes functional modules such as data segmentation and reassembly, flow control, and error detection.

[0095] This embodiment enables precise communication parameter configuration. Serial communication supports multiple baud rate configurations, 7-bit and 8-bit data formats, and parity options include odd, even, and no parity. The parameter configuration process implements an automatic negotiation mechanism to ensure parameter consistency between communicating parties. Configuration information is retained even after power failure, improving system reliability.

[0096] This embodiment designs an efficient database service architecture. The database utilizes a distributed cluster design, supporting data sharding and load balancing. The data model utilizes a document-based database, adapting to complex test data structures. The database service implements data compression and incremental backups, optimizing storage space utilization.

[0097] This embodiment implements a reliable network transmission mechanism. Data transmission utilizes a TCP persistent connection, maintained by a heartbeat mechanism. The transmission protocol supports data compression and encryption, ensuring efficient and secure transmission. Network links implement bandwidth management and flow control to avoid network congestion.

[0098] This embodiment establishes a stable verification system platform through a systematic hardware architecture design and reliable communication mechanisms. This solution not only ensures system reliability but also improves system performance through multi-layered optimization. The overall design fully considers the specific requirements of space testing missions, achieving a highly integrated verification environment. Through standardized interface design and flexible expansion mechanisms, it supports the access and verification of different types of systems under test, providing a reliable testing platform for multi-satellite collaborative missions.

[0099] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 3 , and can also include the following:

[0100] Step S301: measuring the delay characteristics of the communication link between the simulated industrial computer and each satellite system under test, collecting multiple sets of signal round-trip delay data, establishing a transmission delay compensation model that includes 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;

[0101] Step S302: Calculate the pulse transmission delay of each satellite system under test 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.

[0102] Optionally, this embodiment employs a multi-stage measurement architecture for delay measurement. First, the physical layer transmission delay is measured using a high-precision time interval counter with nanosecond resolution. 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 the measurement devices. The signal transmitter and receiver each record a timestamp, and the round-trip delay is calculated using the timestamp difference.

[0103] This embodiment implements a complete protocol processing latency measurement solution. By inserting protocol probes, we measure the processing time of each layer of the protocol stack, including latency in data packetization, protocol header encapsulation, and checksum calculation. During the measurement process, we adjust the packet size and transmission frequency to analyze processing performance under varying loads. We also establish a mathematical model for protocol processing latency using statistical analysis methods.

[0104] This embodiment designs a precise measurement mechanism for hardware response latency. An oscilloscope is used to capture interrupt response waveforms and measure the time interval from interrupt triggering to service program execution. The impact of operating system task scheduling is taken into account, and the response characteristics of tasks of different priorities are recorded. The hardware response latency model accounts for the effects of CPU frequency and load.

[0105] This example constructs a latency prediction model based on deep learning. The model uses a multi-layer perceptron architecture. The input layer includes key parameters such as communication distance, signal bandwidth, and CPU load. The hidden layer uses the Reluctant Unified Unit (ReLU) activation function, with a dropout layer to prevent overfitting. The output layer predicts the overall latency. The model is trained using a measured dataset and the Adam optimizer to minimize prediction error.

[0106] This embodiment implements an adaptive parameter calibration method. The calibration process uses recursive least squares to update model parameters in real time. Calibration data is categorized by operating conditions, and a piecewise linear model is established. Model parameters are adaptively adjusted to environmental changes, improving prediction accuracy. Calibration results are cross-validated to evaluate model performance.

[0107] This embodiment designs a complete delay classification and processing framework. The delay analysis of the serial communication link considers the effects of baud rate, data bits, and parity bits, establishing an accurate timing model. The model's accuracy is verified by comparing theoretical calculations with measured data. Serial delay correction also accounts for the effects of signal edge jitter.

[0108] This embodiment achieves precise correction of bus protocol overhead. It analyzes the protocol frame structure of the CAN and SpaceWire buses and calculates the transmission time of the frame header, data segment, and checksum segment. It also considers the impact of bus arbitration and retransmission mechanisms and builds a delay model that incorporates protocol overhead. This correction process implements adaptive compensation.

[0109] This embodiment establishes an efficient compensation parameter management mechanism. The compensation parameter table is organized using a hash structure, supporting fast query and update. The parameter table contains fields such as device identification, link type, and compensation value. Table entries are optimized and sorted by frequency of use to improve access efficiency. Parameter updates utilize a double buffering mechanism to ensure data consistency.

[0110] This embodiment designs a reliable data storage structure. Compensation parameters are stored in a hierarchical manner, with hotspot data stored in a cache. The storage structure supports batch parameter updates and rollbacks. Data integrity is protected by a CRC checksum and includes power-off protection. The storage system implements a fault-tolerant mechanism.

[0111] This embodiment implements an intelligent parameter maintenance mechanism. Compensation parameters are dynamically updated based on the system's operating status, and parameter changes are predicted through trend analysis. The maintenance process includes parameter validity checks, and outliers are identified and removed through statistical methods. The system supports both manual and automatic parameter calibration.

[0112] This embodiment establishes a reliable delay compensation system through precise delay measurement and compensation mechanisms. While ensuring compensation accuracy, this solution also improves system adaptability through multi-level optimization. The overall design fully considers the special requirements of multi-satellite collaborative missions, achieving high-precision delay compensation. Intelligent parameter management and maintenance mechanisms ensure long-term stability of the compensation effect, providing a reliable time synchronization foundation for multi-satellite coordinated control.

[0113] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 4 , and can also include the following:

[0114] Step S401: Connecting the clock signal output by the standard atomic clock to the pulse-second controller, the pulse-second controller generates a standard pulse-second signal based on the clock signal. The simulation industrial computer receives the standard pulse-second signal and uses it as a unified clock reference. The pulse delay compensation amount of each satellite system under test is read from the compensation parameter table, the synchronization pulse broadcast time of each satellite system under test is calculated, and a pulse broadcast queue is established in the simulation industrial computer.

[0115] 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, and the splitter selects the corresponding driver interface according to the type of communication link, broadcasts the synchronization pulses to each of the satellite systems under test according to the broadcast timing, and updates the status flag of the pulse broadcast queue after the broadcast is completed.

[0116] Optionally, this embodiment employs a high-impedance isolation design when connecting to the atomic clock signal. The input interface uses 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 also incorporates overvoltage protection and transient suppression circuitry to enhance system reliability.

[0117] This embodiment implements a precise pulse-per-second (PPS) generation mechanism. The controller uses a phase-locked loop (PLL) frequency multiplication circuit to multiply the input 10MHz clock signal to a higher frequency, providing a counter reference. The pulse generation circuit employs a dual-counter architecture: a primary counter provides PPS timing, while a secondary counter implements pulse width adjustment. The counter clock uses a temperature-compensated crystal oscillator to mitigate the effects of temperature drift.

[0118] This embodiment designs a reliable clock reference acquisition process. The industrial computer captures the pulse-per-second signal using 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 triggering scheme and digital filtering to eliminate glitches. The reference clock is synchronized to the pulse-per-second signal via a phase-locked loop (PLL) to achieve clock synchronization.

[0119] This embodiment establishes an efficient compensation parameter reading mechanism. Parameter reading utilizes a multi-level cache structure, with frequently used parameters stored in the L1 cache to improve access speed. The cache uses an LRU replacement algorithm to optimize cache hit rates. Concurrency control is implemented during parameter reading to ensure data consistency. The system supports real-time parameter updates and rollbacks.

[0120] This embodiment implements an intelligent method for calculating broadcast time. The calculation process takes into account hardware latency, signal transmission delay, and processing overhead, employing a dynamic compensation strategy. The compensation calculation is based on a neural network model, with input features including link status, load conditions, and environmental parameters. The model continuously optimizes compensation accuracy through online learning.

[0121] This embodiment designs a high-performance pulse broadcast queue. The queue uses a priority heap structure, supports timestamp sorting, and fast insertion. Queue nodes contain information such as the target device, broadcast time, and link type. Queue management implements a deadlock avoidance mechanism to ensure the smooth execution of broadcast tasks.

[0122] This embodiment establishes 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, enabling sub-nanosecond phase adjustment. The output driver utilizes differential circuits, providing high-quality signal transmission. The splitter strategy supports dynamic reconfiguration.

[0123] This embodiment implements a flexible driver interface selection mechanism. The driver layer adopts an object-oriented design and defines a unified interface specification. Different communication links are encapsulated as independent driver classes, supporting plug-and-play. The driver interface implements error retry and exception recovery functions, improving communication reliability.

[0124] This embodiment features precise broadcast timing control. This timing control is based on a hardware timer, providing a highly accurate time base. The broadcast process uses an interrupt-triggered mechanism to ensure accurate broadcast timing. This timing control supports multi-tasking and parallel processing, optimizing system resource utilization.

[0125] This embodiment establishes a complete state management mechanism. The state flag uses a bitmap structure, supporting efficient state queries and updates. The state update process implements atomic operations to avoid concurrency conflicts. The system supports persistent state storage and recovery, providing complete state tracking capabilities.

[0126] 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-layered optimization. The overall design fully considers the specific requirements of space missions, achieving high-precision time synchronization. Through intelligent compensation mechanisms and reliable broadcast control, a stable time reference is provided for multi-satellite coordinated control, supporting precise control and coordinated operation in complex mission scenarios.

[0127] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 5 , and can also include the following:

[0128] 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;

[0129] 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 a check code and encrypt the broadcast data frame, and broadcast the encrypted broadcast data frame to each of the satellite systems under test based on the communication driver module.

[0130] Optionally, this embodiment employs an asynchronous sampling mechanism for multi-source navigation information collection. The Beidou navigation receiver collects B1, B2, and B3 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 via a CCD array and outputs attitude quaternions. Ground-based measurement and control information obtains ranging and velocity data via a dedicated data link.

[0131] This embodiment achieves precise time standard conversion. Beidou Time is converted to atomic time using the offset parameters between BDT and UTC. GPS Time takes leap second corrections into account and is unified using the conversion relationship between GPST and UTC. The conversion process incorporates corrections for relativistic effects, including gravitational redshift and velocity delay. Kalman filtering is used to achieve smooth transitions of time bases.

[0132] This embodiment designs a complete coordinate system conversion chain. Orbital parameters are converted from the WGS84 coordinate system to the CGCS2000 coordinate system, taking into account the effects of Earth rotation, polar motion, and tidal deformation. This conversion process uses a seven-parameter model, whose parameters are updated according to the latest IERS bulletins. Attitude parameters are converted between the inertial and orbital frames using quaternion operations.

[0133] This embodiment constructs an innovative federated Kalman filter framework. Subfilters process BeiDou, GPS, and star sensor data separately, with the state vector containing position, velocity, and clock error parameters. Information fusion employs an adaptive weighting strategy, with weight coefficients dynamically adjusted using innovative sequence covariance. The filter supports fault detection and reconstruction.

[0134] This embodiment implements an intelligent data fusion algorithm. The fusion model utilizes a deep neural network architecture, with the input layer containing observation data and status information from each sensor. The network automatically learns the importance weights of different data sources through an attention mechanism to achieve optimal fusion. The model is trained using an end-to-end learning approach, with a loss function that takes into account both accuracy and real-time requirements.

[0135] This embodiment designs a flexible data frame format. The data frame adopts a hierarchical structure, consisting of a frame header, a time stamp, track data, status information, and a checksum. The frame format supports variable-length fields, distinguishing different data types through type identifiers. Data compression uses differential encoding to optimize bandwidth utilization.

[0136] This embodiment establishes a reliable data verification mechanism. The checksum calculation uses the CRC32 algorithm, with optimized polynomial coefficients. Hardware acceleration is implemented in the verification process to improve processing efficiency. The system supports real-time calculation and verification of the checksum to ensure data integrity.

[0137] This embodiment implements a secure encryption process. The encryption algorithm uses the AES-256 standard, and key management employs a hierarchical strategy. The encryption process implements parallel processing and supports data stream encryption. The system regularly updates keys and provides a complete key distribution mechanism.

[0138] This embodiment designs an efficient data broadcast strategy. The broadcast process utilizes a multi-threaded architecture, with data packaging and transmission handled by independent threads. Data exchange between threads is achieved through lock-free queues, optimizing system performance. Broadcast control implements traffic shaping to avoid communication congestion.

[0139] This embodiment builds a complete data management system. Spatiotemporal benchmark data utilizes a distributed storage architecture, supporting rapid data retrieval and updates. Data management implements version control and supports historical data backtracking. The system provides a complete data backup and recovery mechanism.

[0140] This embodiment establishes a reliable space-time reference broadcast system through multi-source information fusion and secure data transmission. This solution improves system performance through multi-layered optimization while ensuring data accuracy. The overall design fully considers the specific requirements of space missions and achieves high-precision space-time reference maintenance. Through intelligent fusion algorithms and reliable data transmission mechanisms, it provides a stable navigation reference for multi-satellite coordinated control, supporting precise positioning and state estimation in complex mission scenarios.

[0141] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 6 , and can also include the following:

[0142] Step S601: Based on the unified space-time reference, a dynamic model of the multi-satellite coordinated motion environment is established. The non-spherical gravitational perturbation is expanded to 15th order. A celestial coordinate calculation model of the sun and the moon is established. The atmospheric drag is calculated using the NRLMSISE-00 atmospheric density model. A light pressure model is established that takes into account the reflective properties of the satellite surface materials. The time parameters of the dynamic model are aligned with the unified space-time reference.

[0143] Step S602: Orbital dynamics and attitude dynamics modeling is performed on each satellite system to be tested. The dynamics model is numerically integrated and solved using the variable step-size Runge-Kutta method. The six orbital parameters and attitude quaternions of the satellite in the unified space-time reference are calculated. The orbital parameters are converted into position and velocity vectors in an inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

[0144] Optionally, this embodiment employs a spherical harmonic expansion method when building the gravitational field model. A recursive algorithm is used to calculate the Legendre function for the non-spherical gravitational potential, improving computational efficiency. The gravitational field coefficients utilize the EGM2008 model, accounting for the influence of tidal deformation of the Earth's solid body. The calculation process includes corrections for permanent tides and time-varying terms, enabling accurate gravitational field modeling.

[0145] This embodiment achieves high-precision celestial ephemeris calculations. The positions of the sun and moon use the DE405 ephemeris, with Chebyshev polynomial interpolation improving computational efficiency. Position calculations take into account the light-time effect, solving the light-time equation through iteration. Coordinate transformations include corrections for precession and nutation, enabling coordinate conversion from the J2000 epoch to the current time.

[0146] This embodiment designs a complete atmospheric density calculation framework. The NRLMSISE-00 model inputs include the solar activity index F10.7, the geomagnetic index Ap, and geographic location parameters. The model accounts for diurnal, seasonal, and latitudinal variations in atmospheric density. Parallel optimization is implemented in the density calculation process to improve computational efficiency.

[0147] This embodiment constructs an accurate model of light pressure. The satellite surface is divided into multiple bins, and the material properties of each bin are described using a bidirectional reflectance distribution function. The light pressure calculation takes into account three components: direct solar radiation, earthshine, and infrared radiation from the Earth. The model incorporates surface degradation effects and enables dynamic updating of material properties.

[0148] This embodiment implements a reliable time synchronization mechanism. The dynamic model uses atomic time as the integration benchmark and achieves synchronization with UTC through time standard conversion relationships. The integration step size is adaptively adjusted through error control to ensure calculation accuracy. Time synchronization takes into account relativistic effects.

[0149] This example designs a complex orbital dynamics model. The equation of state contains position, velocity, and perturbation acceleration terms and is solved using the Cowell integration method. The model considers the effects of all major perturbations, including higher-order gravitational terms, third-body gravity, atmospheric drag, and light pressure. The integration process implements energy conservation verification.

[0150] This embodiment constructs a precise attitude dynamics model. The attitude motion equations are expressed using quaternions to avoid singularities. The model incorporates the effects of gravity gradient torque, magnetic torque, aerodynamic torque, and solar pressure torque. Geometric integration is used for attitude integration, preserving quaternion unity.

[0151] This embodiment implements an efficient numerical integration algorithm. The variable-step-size Runge-Kutta method uses the RKF78 formula, controlling the step size through local truncation error estimation. The integrator supports multi-stage parallel computation, improving computational efficiency. In special cases, it automatically switches to the Adams method to ensure numerical stability.

[0152] This embodiment designs a reliable coordinate conversion process. The conversion between orbital elements and position and velocity vectors uses analytical formulas to avoid the accumulation of numerical errors. The coordinate system transformation takes into account the effects of Earth's rotation and polar motion, achieving precise conversion between the inertial and Earth-fixed frames. The conversion process includes updating the polar motion parameters.

[0153] This embodiment establishes a complete relative motion calculation framework. Relative motion is described using the Hill coordinate system, and relative position and velocity are calculated through coordinate transformation. The calculation process takes into account the influence of J2 perturbations, achieving long-term prediction accuracy. Relative motion parameters are smoothed through filtering.

[0154] This embodiment establishes a reliable multi-satellite motion simulation system through precise dynamic modeling and efficient numerical calculations. This solution improves computational efficiency through multi-level optimization while ensuring computational accuracy. The overall design fully considers the complexity of the space environment and achieves a high degree of consistency with actual motion patterns. Through a complete dynamic model and precise numerical methods, reliable state prediction is provided for multi-satellite coordinated control, supporting orbit design and mission planning in complex mission scenarios.

[0155] In one embodiment of the time-space reference synchronization method for multi-satellite collaborative missions of the present application, see Figure 7 , and can also include the following:

[0156] Step S701: receiving attitude and orbit control instructions sent by each satellite system under test through the communication driver module, parsing the thruster switching timing and torque wheel speed change in the control instructions, converting the control instructions into force vectors and torque vectors based on the actuator characteristics of the satellite system under test, and superimposing acceleration and angular acceleration terms corresponding to the force vectors and torque vectors in the dynamic model;

[0157] Step S702: Use the numerical integration method to calculate the satellite motion state after superimposing the control amount, update the orbital elements and attitude quaternion of each satellite system to be measured, calculate the relative position, relative velocity, and relative attitude angle between each satellite based on the unified time and space reference, and synchronously broadcast the calculated relative motion state data to each satellite system to be measured through the communication link according to the preset broadcast period.

[0158] Optionally, this embodiment utilizes a multi-channel parallel processing mechanism for control command reception. The communication driver module receives control commands from each satellite via independent hardware buffers and implements real-time response using interrupts. The command parsing process utilizes a state machine design, supporting segmented command reception and reassembly. The parsing module implements command validity verification, including checksum checks and timing validation.

[0159] This embodiment achieves accurate thruster characteristic modeling. The thruster on / off sequence is converted into a pulse sequence, and the thrust magnitude of each pulse is obtained through a table lookup. The model considers the thruster installation matrix and jet interference effects, enabling calculation of the synergistic effects of multiple thrusters. Thrust characteristics are dynamically updated as fuel consumption increases.

[0160] This embodiment designs a complete torque wheel dynamics model. Speed ​​changes are converted to output torque using the torque wheel's moment of inertia, accounting for bearing friction and motor characteristics. The model incorporates the torque wheel's gyroscopic effect, enabling coupled dynamics calculations with the satellite itself. Speed ​​limits are handled using a saturation function.

[0161] This embodiment establishes an innovative framework for actuator characteristic conversion. Force vector calculations utilize a geometric projection method, accounting for actuator installation errors. Torque vectors are calculated using the cross product of moment arms, accounting for the effects of installation eccentricity. Characteristic conversion supports multiple actuator types, providing a unified modeling interface.

[0162] This embodiment implements an efficient dynamic superposition algorithm. Control variable superposition employs a step-by-step integration method, first calculating the natural motion term and then superimposing the control action term. The acceleration term accounts for the effects of mass change, and the angular acceleration term includes dynamic updates of the moment of inertia. This superposition process achieves numerical stability control.

[0163] This embodiment designs a reliable numerical integration strategy. Integration uses the variable-step Adams-Bashforth method, leveraging historical data to improve computational efficiency. Integration error is estimated using the Richardson extrapolation method, enabling adaptive adjustment of the step size. In exceptional cases, the method automatically switches to a single-step method to ensure computational stability.

[0164] This embodiment establishes a precise state update mechanism. Orbital element updates employ a variational equation approach, avoiding frequent coordinate transformations. Attitude quaternions are updated via exponential mapping, maintaining unit constraints. The state update process includes numerical truncation error control.

[0165] This embodiment implements an efficient relative motion calculation method. Relative position is calculated through differential calculation, and relative velocity is determined using numerical differentiation. Relative attitude angles are calculated using quaternion difference products, avoiding singularity issues. The calculation process also implements error accumulation control.

[0166] This embodiment designs a reliable data broadcast mechanism. The broadcast cycle is dynamically adjusted based on task requirements to ensure data timeliness. Data packaging uses compression encoding to optimize bandwidth utilization. The broadcast process implements packet retransmission and timeout handling to improve transmission reliability.

[0167] This embodiment establishes a complete synchronization control framework. Data synchronization utilizes a time-stamping mechanism to ensure that each satellite receives status information at the same instant. The synchronization process takes communication delay compensation into account, achieving precise time alignment. The system supports data caching and interpolation.

[0168] This embodiment establishes a reliable multi-satellite coordinated control simulation system through precise control variable modeling and efficient state updates. This solution improves computational efficiency through multi-level optimization while ensuring simulation accuracy. The overall design fully considers the specific requirements 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 coordinated control, supporting formation control and mission planning in complex mission scenarios. The coordinated motion simulation verification of the multi-satellite system is achieved, providing important technical support for actual mission execution.

[0169] 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, 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 of the multi-satellite collaborative missions, see Figure 8 The time and space reference synchronization device for the multi-satellite collaborative mission specifically includes the following contents:

[0170] The multi-satellite collaboration module 10 is used to construct a multi-satellite collaborative mission verification system. The verification system includes a pulse-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested. The pulse-second controller, the simulation industrial computer, and the satellite systems to be tested establish communication connections. The simulation industrial computer establishes a pulse transmission delay compensation model and calculates the pulse delay compensation amount for each satellite system to be tested based on the transmission delay compensation model.

[0171] The unified space-time reference module 20 is used to establish a unified space-time reference for multi-satellite collaborative missions. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test through a splitter. The simulation industrial computer uses 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 under test.

[0172] The collaborative motion module 30 is used to build a multi-satellite collaborative motion environment based on the unified time and space reference. The simulation industrial computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravity, atmospheric drag, and light pressure. Based on the dynamic model, the orbit and attitude parameters of each of the satellite systems to be tested are calculated, and control instructions sent by each of the satellite systems to be tested are received. The control instructions are converted into force and torque parameters. The relative motion state of multiple satellites is updated according to the force and torque parameters, and the relative motion data of each of the satellite systems to be tested are synchronously broadcast according to the unified time and space reference.

[0173] As can be seen from the above description, the time-space reference synchronization device for multi-satellite collaborative missions 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, thereby achieving 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 instructions, 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.

[0174] From a hardware perspective, in order to achieve accurate updates and synchronized broadcasts of the relative motion states of multiple satellites and provide a reliable collaborative control verification solution for complex space missions, this application provides an embodiment of an electronic device for implementing all or part of the spatiotemporal reference synchronization method for multi-satellite collaborative missions. The electronic device specifically includes the following:

[0175] A processor, memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the communications interface is used to transmit information between the spatiotemporal reference synchronization device for a multi-satellite collaborative mission and related devices such as core business systems, user terminals, and related databases; the logic controller can be a desktop computer, a tablet computer, a mobile terminal, etc., but this embodiment is not limited thereto. In this embodiment, the logic controller can be implemented with reference to the embodiments of the spatiotemporal reference synchronization method for a multi-satellite collaborative mission and the embodiments of the spatiotemporal reference synchronization device for a multi-satellite collaborative mission in the embodiments, the contents of which are incorporated herein and any repetitions are omitted.

[0176] 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.

[0177] In practical applications, portions of the spatiotemporal reference synchronization method for multi-satellite collaborative missions can be executed on the electronic device side as described above, or all operations can be performed on the client device. The specific selection can be based on the processing capabilities of the client device and the limitations of the user's usage scenario. This application does not impose any restrictions on this. If all operations are performed on the client device, the client device may also include a processor.

[0178] The aforementioned client device may include a communication module (i.e., a communication unit) capable of establishing a communication connection with a remote server to facilitate data transmission with the server. The server may include a server at the task scheduling center or, in other implementation scenarios, a server on an intermediate platform, such as a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may comprise a single computer device, a server cluster consisting of multiple servers, or a distributed server configuration.

[0179] Figure 9 Schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Figure 9 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that the Figure 9 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0180] In one embodiment, the spatiotemporal reference synchronization method for a multi-satellite collaborative mission may be integrated into the central processing unit 9100. The central processing unit 9100 may be configured to perform the following control:

[0181] Step S101: Constructing a multi-satellite collaborative mission verification system, 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. A communication connection is established between the pulse-per-second 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 a pulse delay compensation amount for each of the satellite systems to be tested based on the transmission delay compensation model;

[0182] Step S102: Establishing a unified space-time benchmark for the multi-satellite collaborative mission. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test.

[0183] Step S103: A multi-satellite collaborative motion environment is constructed based on the unified time-space reference. The simulation industrial computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure. The orbit and attitude parameters of each of the satellite systems to be tested are calculated based on the dynamic model. Control instructions sent by each of the satellite systems to be tested are received, and the control instructions are converted into force and torque parameters. The relative motion state of multiple satellites is updated according to the force and torque parameters, and the relative motion data of each of the satellite systems to be tested are synchronously broadcast according to the unified time-space reference.

[0184] As can be seen from the above description, 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, thereby achieving precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision spatiotemporal 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 instructions, it realizes the precise update and synchronous broadcast of the relative motion status of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0185] In another embodiment, the space-time reference synchronization device for multi-satellite collaborative missions can be configured separately from the central processor 9100. For example, the space-time reference synchronization device for multi-satellite collaborative missions can be configured as a chip connected to the central processor 9100, and the space-time reference synchronization method function of multi-satellite collaborative missions can be realized through the control of the central processor.

[0186] like Figure 9 As shown, the electronic device 9600 may further 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 Figure 9 In addition, the electronic device 9600 may also include all components shown in Figure 9 For components not shown, reference may be made to the prior art.

[0187] like Figure 9 As shown, the central processing unit 9100 is sometimes also referred to as a controller or 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.

[0188] Memory 9140 can be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned failure-related information and also store programs that execute the relevant information. The CPU 9100 can execute the programs stored in memory 9140 to implement information storage or processing.

[0189] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 may be, for example, a keypad or touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0190] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), or SIM card. Alternatively, it may be a memory that retains information even when power is off, can be selectively erased, and is capable of storing additional data. Examples of such memory are sometimes referred to as EPROMs. 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 for storing application programs and function programs, or processes used by the central processing unit 9100 to execute operations of the electronic device 9600.

[0191] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, images, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various driver programs 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.).

[0192] The communication module 9110 is a transmitter / receiver that transmits 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.

[0193] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless local area network modules. The communication module 9110 (transmitter / receiver) is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130, providing audio output via the speaker 9131 and receiving audio input from the microphone 9132, thereby implementing common telecommunication functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Furthermore, the audio processor 9130 is coupled to the central processing unit 9100, enabling local recording via the microphone 9132 and playback of stored audio via the speaker 9131.

[0194] Embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps of the method for spatiotemporal synchronization of a multi-satellite collaborative task whose execution subject is a server or a client in the above-mentioned embodiment. 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 synchronization of a multi-satellite collaborative task whose execution subject is a server or a client in the above-mentioned embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0195] Step S101: Constructing a multi-satellite collaborative mission verification system, 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. A communication connection is established between the pulse-per-second 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 a pulse delay compensation amount for each of the satellite systems to be tested based on the transmission delay compensation model;

[0196] Step S102: Establishing a unified space-time benchmark for the multi-satellite collaborative mission. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test.

[0197] Step S103: A multi-satellite collaborative motion environment is constructed based on the unified time-space reference. The simulation industrial computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure. The orbit and attitude parameters of each of the satellite systems to be tested are calculated based on the dynamic model. Control instructions sent by each of the satellite systems to be tested are received, and the control instructions are converted into force and torque parameters. The relative motion state of multiple satellites is updated according to the force and torque parameters, and the relative motion data of each of the satellite systems to be tested are synchronously broadcast according to the unified time-space reference.

[0198] As can be seen from the above description, 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, thereby achieving precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision spatiotemporal 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 instructions, 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.

[0199] Embodiments of the present application also provide a computer program product capable of implementing all steps of the spatiotemporal reference synchronization method for multi-satellite collaborative tasks in the above-mentioned embodiment, where the execution subject is a server or a client. When the computer program / instructions are executed by a processor, the steps of the spatiotemporal reference synchronization method for multi-satellite collaborative tasks are implemented. For example, the computer program / instructions implement the following steps:

[0200] Step S101: Constructing a multi-satellite collaborative mission verification system, 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. A communication connection is established between the pulse-per-second 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 a pulse delay compensation amount for each of the satellite systems to be tested based on the transmission delay compensation model;

[0201] Step S102: Establishing a unified space-time benchmark for the multi-satellite collaborative mission. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test.

[0202] Step S103: A multi-satellite collaborative motion environment is constructed based on the unified time-space reference. The simulation industrial computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure. The orbit and attitude parameters of each of the satellite systems to be tested are calculated based on the dynamic model. Control instructions sent by each of the satellite systems to be tested are received, and the control instructions are converted into force and torque parameters. The relative motion state of multiple satellites is updated according to the force and torque parameters, and the relative motion data of each of the satellite systems to be tested are synchronously broadcast according to the unified time-space reference.

[0203] As can be seen from the above description, 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, thereby achieving precise time synchronization of a multi-satellite system. An innovative multi-source navigation information fusion algorithm is designed to obtain high-precision spatiotemporal 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 instructions, it achieves precise updating and synchronous broadcasting of the relative motion status of multiple satellites, providing a reliable collaborative control verification solution for complex space missions.

[0204] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatuses, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, 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 magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0205] 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 produce 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 flowcharts and / or block diagrams. 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.

[0206] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0208] Specific embodiments are used in the present invention 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 ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for synchronizing time and space references for multi-satellite collaborative missions, characterized in that: The method comprises: A multi-satellite collaborative mission verification system is constructed, the verification system comprising a pulse-per-second controller, a simulation industrial computer, a verification server, and multiple groups of satellite systems to be tested, wherein communication connections are established between the pulse-per-second controller, the simulation industrial computer, and the satellite systems to be tested; delay characteristics of the communication links between the simulation industrial computer and each satellite system to be tested are measured, multiple groups of signal round-trip delay data are collected, a transmission delay compensation model including signal transmission delay, protocol processing delay, and hardware response delay is established, input parameters of the transmission delay compensation model are set as communication distance, signal bandwidth, and processor load rate, and the delay parameters of the transmission delay compensation model are calibrated; 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, baud rate correction is performed on the transmission delay of the serial communication link, protocol overhead correction is performed on the transmission delay of the bus communication link, and the corrected transmission delay is stored as a pulse delay compensation amount in a compensation parameter table; Establishing a unified space-time benchmark for multi-satellite collaborative missions, the pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test 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 under test. A multi-satellite collaborative motion environment is constructed based on the unified space-time reference, the simulation industrial control computer establishes a dynamic model that includes non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure, calculates the orbit and attitude parameters of each of the satellite systems to be tested based on the dynamic model, receives control instructions sent by each of the satellite systems 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 of the satellite systems to be tested according to the unified space-time reference.

2. The time-space reference synchronization method for multi-satellite collaborative mission according to claim 1, characterized in that: The multi-satellite collaborative mission verification system is constructed, wherein the verification system includes a pulse-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-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 based on 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 between the simulation industrial computer and the verification server through an Ethernet switch, and 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 second pulse 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 mission according to claim 1, characterized in that: The method of establishing a unified time-space benchmark for a multi-satellite collaborative mission, 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 synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test via a splitter, includes: The clock signal output by the standard atomic clock is connected to a pulse-per-second controller. The pulse-per-second controller generates a standard pulse-per-second signal based on the clock signal. The simulation industrial computer receives the standard pulse-per-second signal and uses it as a unified clock reference. The pulse delay compensation amount of each satellite system to be measured is read from a compensation parameter table. The synchronization pulse broadcast time of each satellite system to be measured is calculated, and a pulse broadcast queue is established in the simulation industrial computer. The synchronization pulses in the pulse broadcast queue are sorted according to the compensated broadcast time, and the synchronization pulses to be broadcast are distributed to the corresponding communication links through a splitter. The splitter selects the corresponding driver interface according to the type of communication link, broadcasts the synchronization pulses to each of the satellite systems to be tested according to the broadcast timing, and updates the status flag of the pulse broadcast queue after the broadcast is completed.

4. The time-space reference synchronization method for multi-satellite collaborative mission according to claim 3, characterized in that: The simulation industrial control 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, a check code is calculated and encryption is 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.

5. The time-space reference synchronization method for multi-satellite collaborative mission according to claim 4, characterized in that: The multi-satellite coordinated motion environment is constructed based on the unified space-time reference, the simulation industrial control computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravitational forces, 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: A dynamic model of the multi-satellite coordinated motion environment is established based on the unified space-time reference, the non-spherical gravitational perturbation is expanded to 15th order, a celestial coordinate calculation model of the sun and the moon is established, the atmospheric drag is calculated using the NRLMSISE-00 atmospheric density model, a light pressure model is established that takes into account the reflective properties of the satellite surface materials, and the time parameters of the dynamic model are aligned with the unified space-time reference; Orbital dynamics and attitude dynamics modeling is performed on each satellite system to be tested. The dynamic model is numerically integrated and solved using the variable step-size Runge-Kutta method. The six orbital parameters and attitude quaternions of the satellite in the unified space-time reference are calculated. The orbital parameters are converted into position and velocity vectors in an inertial coordinate system, and the relative motion state parameters between the satellites are calculated.

6. The time-space reference synchronization method for multi-satellite collaborative mission according to claim 5, characterized in that: The receiving control instructions sent by each of the satellite systems to be measured, 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 measured according to the unified time and space reference, includes: receiving attitude and orbit control instructions sent by each satellite system under test through the communication drive module, parsing the thruster switching 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 under test, and superimposing 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 using a numerical integration method, the orbital elements and attitude quaternions of each satellite system to be measured are updated, the relative position, relative velocity, and relative attitude angle between each satellite are calculated based on the unified time and space reference, and the calculated relative motion state data is synchronously broadcast to each satellite system to be measured through the communication link according to a preset broadcast period.

7. A time-space reference synchronization device for multi-satellite collaborative missions, characterized in that: The device comprises: A multi-satellite collaboration module is used to build a multi-satellite collaborative mission 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 delay characteristics of the communication link between the simulation 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 as 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 transmission delay of the serial communication link is corrected for baud rate, and the transmission delay of the bus communication link is corrected for protocol overhead, and the corrected transmission delay is stored as the pulse delay compensation amount in the compensation parameter table; A unified space-time reference module is configured to establish a unified space-time reference for multi-satellite collaborative missions. The pulse-per-second controller outputs a standard pulse-per-second signal to the simulation industrial computer. After receiving the standard pulse-per-second signal, the simulation industrial computer compensates the synchronization pulse broadcasting time of each satellite system under test according to the pulse delay compensation amount, and broadcasts the compensated synchronization pulse to each satellite system under test via a splitter. The simulation industrial computer uses 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 under test. The collaborative motion module is used to construct a multi-satellite collaborative motion environment based on the unified space-time reference, wherein the simulation industrial computer establishes a dynamic model including non-spherical gravitational perturbations, solar and lunar gravitational forces, atmospheric drag, and light pressure, calculates the orbit and attitude parameters of each of the satellite systems under test based on the dynamic model, receives control instructions sent by each of the satellite systems under test, 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 of the satellite systems under test according to the unified space-time reference.

8. 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 time-space reference synchronization method for multi-satellite collaborative missions described in any one of claims 1 to 6 are implemented.

9. 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 6 are implemented.

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