Intelligent calibration method and system for spacecraft sensor

Abstract

The invention discloses an intelligent calibration method and system for a spacecraft sensor, and belongs to the technical field of sensor calibration. The method comprises the following steps: carrying out primary calibration on a spacecraft sensor according to historical spacecraft working environment influence parameters of each motion route section; environment data of a current movement route section are collected and processed, real-time spacecraft working environment influence parameters are obtained, sensor performance data are monitored, and a spacecraft sensor interference evaluation value is obtained through comprehensive analysis; secondary calibration judgment is carried out according to the spacecraft sensor interference evaluation value, secondary calibration is carried out according to the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters, and sensor calibration parameters after secondary calibration are obtained; the spacecraft sensor after secondary calibration is evaluated and fed back according to the sensor performance index and the sensor calibration parameter, and the environmental adaptability and the calibration accuracy of the sensor are improved.

Description

Technical Field

[0001] The present invention relates to the field of sensor calibration technology, and in particular to a method and system for intelligent calibration of a spacecraft sensor. Background Art

[0002] Sensors play a vital role in space missions. The data they provide has a decisive impact on the attitude control, navigation and positioning of aircraft, and environmental monitoring. However, due to the complexity of the space environment and the limitations of the sensor's own characteristics, sensor data often has certain errors, and sensors need to be calibrated regularly to ensure the accuracy and reliability of their measurement results.

[0003] Existing technologies achieve intelligent calibration of spacecraft sensors mainly by integrating intelligent algorithms and advanced data processing technologies. These methods include using microprocessors and integrated circuit technology, combined with powerful software algorithms, to achieve online calibration and error compensation of sensors.

[0004] For example, the invention patent with announcement number: CN109782188B announces a method for calibrating the SOC characteristics of a spacecraft battery pack simulator, including: a simulator SOC curve generation module, a standard SOC curve generation module and a calibration module, wherein the simulator SOC curve generation module extracts the SOC curve from actual data, and uses an improved adaptive Kalman filter algorithm to form the SOC characteristic curve output by the spacecraft battery pack simulator; wherein the standard SOC curve generation module establishes an equivalent circuit model of the spacecraft battery pack based on the modeling method of the second-order RC equivalent circuit model, and then combines the recursive least squares method to identify the parameters of the circuit model, and obtains a standard model of the battery for generating a standard SOC curve.

[0005] For example, the low-orbit spacecraft space potential detector calibration platform announced by the invention patent with announcement number: CN102540127B includes: a low-Earth orbit space plasma environment simulation cabin, a three-dimensional mobile test platform is arranged in the vacuum chamber of the simulation cabin, a standard probe assembly and a probe assembly to be tested are arranged on the three-dimensional mobile test platform, the standard probe assembly is connected to the standard probe measurement circuit, the probe assembly to be tested is connected to the probe measurement circuit to be tested, the vacuum chamber shell of the simulation cabin is respectively connected to the plasma source and the vacuum acquisition system, the probe measurement circuit to be tested includes a computer data processing device and a data acquisition device connected to each other, the data acquisition device is respectively connected to the probe voltage detection circuit, the probe current detection circuit and the probe scanning power supply circuit, and the probe voltage detection circuit, the probe current detection circuit and the probe scanning power supply circuit are all connected to the probe.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems: In the prior art, when calibrating a spacecraft, due to the complex and dynamically changing working environment of the spacecraft, as the mission time continues, the accuracy of the sensor will be affected by environmental factors and produce deviations, resulting in insufficient adaptability of the sensor to the environment and low calibration accuracy. Summary of the invention

[0007] The present invention provides a method and system for intelligent calibration of spacecraft sensors, thereby solving the problem in the prior art that, when calibrating a spacecraft, the accuracy of the sensor may be affected by environmental factors and deviate as the mission time goes on, due to the complex and dynamically changing working environment of the spacecraft. This leads to insufficient adaptability of the sensor to the environment and low calibration accuracy, thereby improving the environmental adaptability and calibration accuracy of the sensor.

[0008] The present invention provides a method for intelligent calibration of spacecraft sensors, comprising the following steps: dividing a spacecraft motion route to obtain each motion route segment, acquiring historical environmental data of each motion route segment in adjacent motion cycles, processing to obtain historical spacecraft working environment impact parameters of each motion route segment, and performing a primary calibration on the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion route segment; collecting and processing environmental data of a current motion route segment to obtain real-time spacecraft working environment impact parameters, monitoring sensor performance data, and performing comprehensive analysis to obtain a spacecraft sensor interference evaluation value; performing secondary calibration judgment according to the spacecraft sensor interference evaluation value, performing secondary calibration according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, acquiring sensor calibration parameters after secondary calibration, and performing evaluation feedback on the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameters.

[0009] Furthermore, the steps of obtaining historical environmental data of each motion route segment of adjacent motion cycles and processing to obtain historical spacecraft working environment influencing parameters of each motion route segment include: the historical environmental data includes temperature, radiation intensity and atmospheric drag intensity; obtaining the reference temperature, allowable deviation temperature, critical radiation intensity and critical atmospheric drag intensity of each motion route segment from the sensor calibration database; and obtaining the historical spacecraft working environment influencing parameters of each motion route segment through comprehensive analysis.

[0010] Furthermore, the step of calibrating the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion route segment includes: obtaining the spacecraft working environment impact parameter threshold from the sensor calibration database; comparing the historical spacecraft working environment impact parameters of each motion route segment with the spacecraft working environment impact parameter threshold; if the historical spacecraft working environment impact parameters of a certain motion route segment are greater than or equal to the spacecraft working environment impact parameter threshold, calibrating according to the difference between the historical spacecraft working environment impact parameters of the motion route segment and the spacecraft working environment impact parameter threshold; if the historical spacecraft working environment impact parameters of a certain motion route segment are less than the spacecraft working environment impact parameter threshold, no additional operation is performed.

[0011] Furthermore, the step of monitoring the sensor performance data includes: the sensor performance data includes response frequency, zero drift and detection distance; obtaining the critical response frequency, critical zero drift, reference detection distance and allowable deviation detection distance from the sensor calibration database; and comprehensively analyzing to obtain the sensor performance index.

[0012] Furthermore, the step of comprehensively analyzing and obtaining a spacecraft sensor interference assessment value includes: obtaining critical real-time spacecraft working environment impact parameters and critical sensor performance indexes from a sensor calibration database; and comprehensively analyzing and obtaining a spacecraft sensor interference assessment value based on real-time spacecraft working environment impact parameters, sensor performance index, critical real-time spacecraft working environment impact parameters and critical sensor performance index.

[0013] Furthermore, the spacecraft sensor interference evaluation value is obtained as follows: ; In the formula, represents the interference assessment value of the spacecraft sensor, represents the spacecraft sensor interference assessment impact factor corresponding to the real-time spacecraft working environment impact parameter, represents the spacecraft sensor interference assessment impact factor corresponding to the sensor performance index, represents the real-time spacecraft working environment influencing parameters, represents the critical real-time spacecraft working environment influencing parameters, represents the sensor performance index, Represents the critical sensor performance index.

[0014] Furthermore, the step of performing a secondary calibration judgment based on the spacecraft sensor interference assessment value includes: obtaining a spacecraft sensor interference assessment threshold from a sensor calibration database; comparing the spacecraft sensor interference assessment value with the spacecraft sensor interference assessment threshold; if the spacecraft sensor interference assessment value is greater than or equal to the spacecraft sensor interference assessment threshold, performing a secondary calibration; if the spacecraft sensor interference assessment value is less than the spacecraft sensor interference assessment threshold, no additional operation is performed.

[0015] Furthermore, the step of performing secondary calibration based on the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters includes: marking the absolute value of the difference between the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters as deviation spacecraft working environment influence parameters; matching the deviation spacecraft working environment influence parameters with the calibration levels corresponding to the deviation spacecraft working environment influence parameters preset in the sensor calibration database to obtain the calibration level, and performing secondary calibration based on the calibration level.

[0016] Furthermore, the step of providing evaluation and feedback on the spacecraft sensor after secondary calibration based on the sensor performance index and the sensor calibration parameters includes: the sensor calibration parameters include harmonic distortion, quantum efficiency and center wavelength demodulation deviation; obtaining the critical harmonic distortion, critical quantum efficiency and critical center wavelength demodulation deviation from the sensor calibration database; comprehensively analyzing to obtain the sensor calibration evaluation value, and providing evaluation and feedback based on the sensor calibration evaluation value.

[0017] The embodiment of the present application provides an intelligent calibration system for spacecraft sensors, including a primary calibration module, an interference assessment module and a secondary calibration module; wherein the primary calibration module is used to divide the spacecraft motion route to obtain each motion route segment, and obtain the historical environmental data of each motion route segment in the adjacent motion cycle, process to obtain the historical spacecraft working environment impact parameters of each motion route segment, and perform a primary calibration on the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion route segment; the interference assessment module is used to collect and process the environmental data of the current motion route segment to obtain the real-time spacecraft working environment impact parameters, and monitor the sensor performance data, and comprehensively analyze to obtain the spacecraft sensor interference assessment value; the secondary calibration module is used to perform a secondary calibration judgment according to the spacecraft sensor interference assessment value, and perform a secondary calibration according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, obtain the sensor calibration parameters after the secondary calibration, and evaluate and feedback the spacecraft sensor after the secondary calibration according to the sensor performance index and the sensor calibration parameters.

[0018] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The present invention provides a method and system for intelligent calibration of spacecraft sensors, thereby enabling refined historical environmental data analysis and real-time environmental data monitoring for each segment of a spacecraft's motion path, thereby achieving high-precision primary calibration of spacecraft sensors and secondary calibration based on real-time environmental changes, effectively improving the adaptability and accuracy of sensors in different working environments.

[0019] 2. The present invention calibrates the spacecraft sensor once according to the historical spacecraft working environment influencing parameters of each motion route segment, thereby fully considering the environmental differences faced by the spacecraft in different motion stages, thereby achieving refinement and targeting of sensor calibration, and improving the adaptability and accuracy of the sensor in different working environments.

[0020] 3. The present invention evaluates and provides feedback on the spacecraft sensor after secondary calibration based on the sensor performance index and sensor calibration parameters, thereby being able to comprehensively measure the actual performance of the sensor after the calibration process, thereby achieving accurate verification and continuous optimization of the sensor calibration effect, and ensuring the high precision and long-term reliability of the spacecraft sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of the intelligent calibration method for spacecraft sensors provided in an embodiment of the present application.

[0022] Figure 2 A diagram of changes in parameters affecting the spacecraft working environment based on the intelligent calibration method for spacecraft sensors provided in an embodiment of the present application.

[0023] Figure 3 A schematic diagram of the structure of the spacecraft sensor intelligent calibration system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiment of the present application provides a method and system for intelligent calibration of spacecraft sensors, which solves the problem in the prior art that, when calibrating a spacecraft, the accuracy of the sensor will be affected by environmental factors and produce deviations as the mission time continues, due to the complexity and dynamic changes of the working environment of the spacecraft. This leads to insufficient adaptability of the sensor to the environment and low calibration accuracy. The motion route of the spacecraft is divided to obtain each motion route segment, and historical environmental data of each motion route segment in adjacent motion cycles is obtained, and the historical spacecraft working environment impact parameters of each motion route segment are obtained by processing, and the spacecraft sensor is calibrated once according to the historical spacecraft working environment impact parameters of each motion route segment; the environmental data of the current motion route segment is collected and processed to obtain the real-time spacecraft working environment impact parameters, and the sensor performance data is monitored, and the spacecraft sensor interference evaluation value is obtained by comprehensive analysis; a secondary calibration judgment is made according to the spacecraft sensor interference evaluation value, and a secondary calibration is performed according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, and the sensor calibration parameters after the secondary calibration are obtained. The spacecraft sensor after the secondary calibration is evaluated and fed back according to the sensor performance index and the sensor calibration parameters, thereby improving the sensor environmental adaptability and calibration accuracy.

[0025] The technical solution in the embodiment of the present application is to solve the above problem that when calibrating a spacecraft, the working environment of the spacecraft is complex and dynamically changing. As the mission time continues, the accuracy of the sensor will be affected by environmental factors and produce deviations, resulting in insufficient adaptability of the sensor to the environment and low calibration accuracy. The overall idea is as follows: By dividing the spacecraft's movement path into different sections, obtaining historical and current environmental data for each movement section, and combining it with real-time performance monitoring of the sensor, a staged sensor calibration is performed. First, the sensor is preliminarily calibrated using historical environmental data to obtain calibration parameters. Then, the environmental data of the current movement section is collected and the sensor performance is monitored. The interference assessment value is calculated and a secondary calibration is performed. Finally, through comprehensive analysis of real-time and historical environmental data, the sensor calibration parameters are adjusted, and the calibration effect is evaluated and feedback is given based on the sensor performance index, thereby ensuring the high accuracy and stability of the spacecraft sensor throughout the entire mission cycle, and achieving the purpose of intelligent and precise calibration of spacecraft sensors.

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] like Figure 1As shown, it is a flow chart of the intelligent calibration method of spacecraft sensors provided in an embodiment of the present application, and the method includes the following steps: dividing the spacecraft motion route to obtain each motion route segment, and obtaining the historical environmental data of each motion route segment of the adjacent motion cycle, processing to obtain the historical spacecraft working environment impact parameters of each motion route segment, and calibrating the spacecraft sensor once according to the historical spacecraft working environment impact parameters of each motion route segment; collecting and processing the environmental data of the current motion route segment to obtain the real-time spacecraft working environment impact parameters, and monitoring the sensor performance data, and comprehensively analyzing to obtain the spacecraft sensor interference evaluation value; performing secondary calibration judgment according to the spacecraft sensor interference evaluation value, and performing secondary calibration according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, obtaining the sensor calibration parameters after the secondary calibration, and performing evaluation feedback on the spacecraft sensor after the secondary calibration according to the sensor performance index and the sensor calibration parameters.

[0028] In this embodiment, the present invention can clarify each movement route segment by dividing the movement route of the spacecraft, which is helpful for the subsequent accurate acquisition of environmental data of different route segments; the historical spacecraft working environment impact parameters of each movement route segment reflect the working environment characteristics that the spacecraft may encounter in different route segments, and based on these historical impact parameters, the spacecraft sensor is calibrated once to ensure that the sensor can adapt to different working environments in the initial stage; then the environmental data of the current movement route segment is collected, and the sensor performance data is monitored in real time, and the interference evaluation value of the spacecraft sensor obtained by comprehensive analysis reflects the working performance and interference degree of the sensor in the current environment, and a secondary calibration judgment is performed based on this, and the secondary calibration will comprehensively consider the real-time and historical working environment impact parameters to ensure that the sensor can maintain high accuracy and stability in the current and future environments. The present invention has significant benefits and effects in improving the calibration accuracy of spacecraft sensors, enhancing environmental adaptability, realizing dynamic calibration, and optimizing sensor performance.

[0029] In addition, the sensor calibration database is used to store data related to the intelligent calibration method of spacecraft sensors, including: reference temperature of each motion route segment, allowable deviation temperature, critical radiation intensity, critical atmospheric drag intensity, historical spacecraft working environment influencing parameter influencing factors corresponding to temperature, critical sensor performance index and spacecraft working environment influencing parameter thresholds, etc. The data in the sensor calibration database can be directly obtained through public databases such as Adafruit IO and ThingSpeak, or through industry cooperation with sensor manufacturers or relevant scientific research institutions.

[0030] Furthermore, the steps of obtaining historical environmental data of each motion route segment of adjacent motion cycles and processing to obtain historical spacecraft working environment influencing parameters of each motion route segment include: the historical environmental data includes temperature, radiation intensity and atmospheric drag intensity; obtaining the reference temperature, allowable deviation temperature, critical radiation intensity and critical atmospheric drag intensity of each motion route segment from the sensor calibration database; and obtaining the historical spacecraft working environment influencing parameters of each motion route segment through comprehensive analysis.

[0031] The method for obtaining the spacecraft working environment influencing parameters of each motion path segment is as follows: ; In the formula, represents the spacecraft working environment influencing parameter of the i-th motion path segment, Indicates the influencing factor of the spacecraft working environment influencing parameters corresponding to temperature, Indicates the influence factor of the spacecraft working environment parameters corresponding to the radiation intensity, Indicates the influence factor of the spacecraft working environment parameters corresponding to the atmospheric drag strength, represents the temperature of the i-th motion path segment, represents the reference temperature of the i-th motion path segment, Indicates the allowable deviation temperature, represents the radiation intensity of the i-th motion path segment, represents the critical radiation intensity, represents the atmospheric drag strength of the ith motion path segment, represents the critical atmospheric drag intensity, where i is the number of each motion path segment, i=1,2,3,...,N, and N is the total number of motion path segments.

[0032] , and The influencing factors of the spacecraft working environment parameters corresponding to the temperature, radiation intensity and atmospheric drag intensity preset in the sensor calibration database are numerical indicators that measure the influence of the above parameters on the spacecraft working environment parameters. Specifically, there is a mapping relationship table with the influencing factors of the spacecraft working environment parameters for each of the temperature, radiation intensity and atmospheric drag intensity. The table records each possible parameter value and its corresponding influencing factor of the spacecraft working environment parameters. These mapping relationships can be one-to-one or many-to-one. For example, in practical applications, when it is necessary to evaluate the spacecraft working environment parameters of a certain motion route segment, the measured temperature, radiation intensity and atmospheric drag intensity can be input into their respective corresponding mapping relationship tables, and the influencing factors of the spacecraft working environment parameters corresponding to these values ​​can be quickly found, where the value range of the influencing factor is between 0 and 1.

[0033] In this embodiment, the temperature can be directly measured by placing infrared thermometers, thermal radiation sensors and other equipment at the monitoring points on the surface of the spacecraft; the radiation intensity can be directly measured at the monitoring points on the surface of the spacecraft using a radiometer; the atmospheric drag intensity can be calculated by measuring the air density at the monitoring points of the spacecraft, the speed of the spacecraft relative to the atmosphere and the projected area of ​​the spacecraft in the direction of travel. The atmospheric drag intensity is obtained in the following manner: ; In the formula, F represents the atmospheric resistance strength, represents the air density, which can be directly measured at the spacecraft monitoring point using an atmospheric density detection instrument. v represents the speed of the spacecraft relative to the atmosphere, which can be measured by instruments such as speed sensors and anemometers installed on the surface of the spacecraft. represents the drag coefficient, which can be directly obtained from the sensor calibration database, and A represents the projected area of ​​the spacecraft in the direction of travel. These parameters are interrelated. For example, when solar radiation increases, the density of the upper atmosphere increases due to the increase in temperature, thereby increasing the drag on the spacecraft; when solar radiation increases, the ambient temperature of the spacecraft will also increase accordingly. The parameters affecting the spacecraft's working environment obtained by comprehensive analysis can identify which route segments may be affected by high temperature, strong radiation or high atmospheric drag. At the same time, according to the impact of different environmental characteristics on sensor performance, the calibration requirements of sensors in different route segments can be determined.

[0034] The influence factor of the historical spacecraft working environment parameters corresponding to temperature is set to 0.2, the influence factor of the historical spacecraft working environment parameters corresponding to radiation intensity is set to 0.4, the influence factor of the historical spacecraft working environment parameters corresponding to atmospheric drag intensity is set to 0.4, the temperature is set to 0℃, the reference temperature is set to 10℃, the allowable deviation temperature is set to 20℃, the critical radiation intensity is set to 5Bq, the atmospheric drag intensity is set to 80N, and the critical atmospheric drag intensity is set to 100N. When the radiation intensity continues to increase, the spacecraft working environment parameters are calculated. As shown in Table 1, the change diagram of the spacecraft working environment parameters based on the intelligent calibration method of spacecraft sensors.

[0035] Table 1 Data table of spacecraft working environment influencing parameters based on spacecraft sensor intelligent calibration method

[0036] like Figure 2 As shown in Table 1 and Figure 2It can be seen that when the influence factors of historical spacecraft working environment parameters corresponding to temperature, the influence factors of historical spacecraft working environment parameters corresponding to radiation intensity, the influence factors of historical spacecraft working environment parameters corresponding to atmospheric drag intensity, temperature, reference temperature, allowable deviation temperature, radiation intensity, critical radiation intensity and critical atmospheric drag intensity remain unchanged, and the atmospheric drag intensity continues to increase, the spacecraft working environment influencing parameters also continue to increase.

[0037] Furthermore, the step of calibrating the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion route segment includes: obtaining the spacecraft working environment impact parameter threshold from the sensor calibration database; comparing the historical spacecraft working environment impact parameters of each motion route segment with the spacecraft working environment impact parameter threshold; if the historical spacecraft working environment impact parameters of a certain motion route segment are greater than or equal to the spacecraft working environment impact parameter threshold, calibrating according to the difference between the historical spacecraft working environment impact parameters of the motion route segment and the spacecraft working environment impact parameter threshold; if the historical spacecraft working environment impact parameters of a certain motion route segment are less than the spacecraft working environment impact parameter threshold, no additional operation is performed.

[0038] In this embodiment, the threshold of the spacecraft working environment influencing parameter is a preset value used to evaluate whether the spacecraft sensor needs to be calibrated in the current environment. By comparing the historical environment and the threshold, it is possible to quickly determine which route segments of sensors need to be calibrated and which do not, thereby avoiding unnecessary calibration work and improving efficiency; calibrating the sensor performance under different environmental conditions can ensure that the sensor can maintain high accuracy and stability in different environments and enhance its adaptability to the environment. When the historical spacecraft working environment influencing parameter of a certain motion route segment is greater than or equal to the threshold, a suitable calibration device can be selected according to the type of sensor and calibration requirements. For example, for a temperature sensor, a heat source calibration method or a cold end compensation calibration method can be used for calibration; for an acceleration sensor, a centrifuge or a gravity field method may be used for calibration; at the same time, ensure that the calibration environment is stable and meets the calibration requirements. For example, for sensors that require a specific temperature or pressure environment, the environmental parameters should be adjusted to meet the calibration conditions. After the calibration is completed, a verification test is performed using different input values ​​to ensure that the output of the sensor is accurate and stable.

[0039] Furthermore, the step of monitoring the sensor performance data includes: the sensor performance data includes response frequency, zero drift and detection distance; obtaining the critical response frequency, critical zero drift, reference detection distance and allowable deviation detection distance from the sensor calibration database; and comprehensively analyzing to obtain the sensor performance index.

[0040] The sensor performance index is obtained as follows: ; In the formula, represents the sensor performance index, Indicates the sensor performance index influencing factor corresponding to the response frequency, Indicates the sensor performance index influencing factor corresponding to zero drift, Indicates the sensor performance index influencing factor corresponding to the detection distance, represents the response frequency, represents the critical response frequency, Indicates zero drift, represents the critical zero drift, Indicates the detection distance, Indicates the reference detection distance, It represents the allowable deviation detection distance, and e is a natural constant.

[0041] , and They are the sensor performance index influencing factors corresponding to the response frequency, zero drift and detection distance preset in the sensor calibration database. These influencing factors are numerical indicators that measure the influence of the above parameters on the sensor performance index. Specifically, there is a mapping relationship table for each of the response frequency, zero drift and detection distance, which records each possible parameter value and its corresponding sensor performance index influencing factor. These mapping relationships can be one-to-one or many-to-one. For example, in actual applications, when it is necessary to evaluate the sensor performance index, the measured response frequency, zero drift and detection distance can be input into their respective corresponding mapping relationship tables, and the sensor performance index influencing factors corresponding to these values ​​can be quickly found, where the value range of the influencing factor is between 0 and 1.

[0042] In this embodiment, the response frequency can be obtained by observing the frequency response of the output signal after inputting a known frequency signal into the sensor, and by observing the relationship between the input signal and the output signal, a frequency response curve is drawn, wherein the X-axis of the frequency response curve is the frequency of the input signal, and the Y-axis is the amplitude of the output signal. The frequency point with the largest response amplitude in the frequency response curve is the response frequency; the zero drift can be obtained by obtaining the initial output value of the sensor when there is no input signal and the current output value of the sensor, and the difference is the zero drift, and the output value is the output level; the detection distance can be directly measured by placing a radar sensor or other equipment at the monitoring point on the sensor surface. The three are interrelated. For example, when the response frequency of the sensor is high, the working speed of its internal circuits and components will also increase accordingly, which may lead to an increase in zero drift, and may also lead to an increase in signal attenuation and interference, thereby affecting the stability and accuracy of the detection distance. The sensor performance index obtained by comprehensive analysis can be used to comprehensively evaluate the performance of the sensor. At the same time, according to the requirements of different application scenarios for sensor performance, it can be judged whether the sensor is suitable for the scenario.

[0043] Furthermore, the step of comprehensively analyzing and obtaining a spacecraft sensor interference assessment value includes: obtaining critical real-time spacecraft working environment impact parameters and critical sensor performance indexes from a sensor calibration database; and comprehensively analyzing and obtaining a spacecraft sensor interference assessment value based on real-time spacecraft working environment impact parameters, sensor performance index, critical real-time spacecraft working environment impact parameters and critical sensor performance index.

[0044] In this embodiment, when the real-time working environment influencing parameters change, the sensor performance index will also be affected accordingly. For example, a high temperature environment may cause the sensor accuracy to decrease, and a strong radiation environment may cause the sensor performance to be unstable. By real-time monitoring and analyzing the spacecraft working environment influencing parameters, the possible interference or influence on the sensor can be discovered in time. Combined with the changes in the sensor performance index, the specific degree of such interference or influence on the sensor performance can be evaluated, thereby providing a decision-making basis for subsequent sensor calibration, maintenance or replacement.

[0045] Furthermore, the spacecraft sensor interference evaluation value is obtained as follows: ; In the formula, represents the interference assessment value of the spacecraft sensor, represents the spacecraft sensor interference assessment impact factor corresponding to the real-time spacecraft working environment impact parameter, represents the spacecraft sensor interference assessment impact factor corresponding to the sensor performance index, represents the real-time spacecraft working environment influencing parameters, represents the critical real-time spacecraft working environment influencing parameters, represents the sensor performance index, Represents the critical sensor performance index.

[0046] In this embodiment, and The spacecraft sensor interference assessment impact factors corresponding to the real-time spacecraft working environment impact parameters and sensor performance index preset in the sensor calibration database are numerical indicators that measure the impact of the above parameters on the spacecraft sensor interference assessment value. Specifically, there is a mapping relationship table for each of the real-time spacecraft working environment impact parameters and the sensor performance index, which records each possible parameter value and its corresponding spacecraft sensor interference assessment impact factor. These mapping relationships can be one-to-one or many-to-one. For example, in actual applications, when it is necessary to evaluate the spacecraft sensor interference assessment value, the measured real-time spacecraft working environment impact parameters and sensor performance index can be input into their respective corresponding mapping relationship tables, and the spacecraft sensor interference assessment impact factors corresponding to these values ​​can be quickly found, where the value range of the impact factor is between 0 and 1.

[0047] Furthermore, the step of performing a secondary calibration judgment based on the spacecraft sensor interference assessment value includes: obtaining a spacecraft sensor interference assessment threshold from a sensor calibration database; comparing the spacecraft sensor interference assessment value with the spacecraft sensor interference assessment threshold; if the spacecraft sensor interference assessment value is greater than or equal to the spacecraft sensor interference assessment threshold, performing a secondary calibration; if the spacecraft sensor interference assessment value is less than the spacecraft sensor interference assessment threshold, no additional operation is performed.

[0048] In this embodiment, the spacecraft sensor interference assessment value is used to reflect the degree of interference of the sensor in the current working environment. It combines the changes in the real-time working environment influencing parameters and the sensor performance index, and provides a reliable basis for the state monitoring and performance evaluation of the spacecraft sensor. When the spacecraft sensor interference assessment value is greater than or equal to the spacecraft sensor interference assessment threshold, the sensor state warning mechanism can be triggered, that is, a secondary calibration is performed. Through long-term monitoring and analysis of the changing trend of the sensor interference assessment value, a more scientific and reasonable sensor maintenance plan can be formulated. For example, for sensors that are often severely interfered, the frequency of calibration and maintenance can be increased; and for sensors with stable performance, the maintenance cycle can be appropriately extended.

[0049] Furthermore, the step of performing secondary calibration based on the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters includes: marking the absolute value of the difference between the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters as deviation spacecraft working environment influence parameters; matching the deviation spacecraft working environment influence parameters with the calibration levels corresponding to the deviation spacecraft working environment influence parameters preset in the sensor calibration database to obtain the calibration level, and performing secondary calibration based on the calibration level.

[0050] In this embodiment, when obtaining the calibration level, the deviation spacecraft working environment impact parameter and the calibration level corresponding to each deviation spacecraft working environment impact parameter preset in the sensor calibration database form a mapping set. By inputting the deviation spacecraft working environment impact parameter into the mapping set, the calibration level corresponding to the deviation spacecraft working environment impact parameter can be obtained. Among them, the calibration levels include the first level, the second level and the third level. When it is at the first level, it means that the deviation is large and may have a significant impact on the normal operation of the spacecraft. Immediate measures need to be taken, and the emergency calibration procedure needs to be immediately started to adjust the sensor parameters or reconfigure the spacecraft's working environment control system; when it is at the second level, it means that the deviation is moderate. Although it will not have an immediate serious impact on the spacecraft, it still needs attention and timely processing. The planned calibration task can be arranged to ensure that the calibration is carried out without affecting the current mission of the spacecraft, and the monitoring of the spacecraft's working environment and sensor status should be strengthened to detect any further changes in time; when it is at the third level, it means that the deviation is small and has limited impact on the operation of the spacecraft. It can be processed within the regular maintenance cycle, and the calibration task can be included in the next regular maintenance plan. No immediate action is required, and the spacecraft's working environment and sensor status continue to be monitored to verify whether the deviation persists or changes. If the deviation has no trend of increasing or affecting the performance of the spacecraft, it can be processed together during the next maintenance. For example, the current deviation spacecraft working environment impact parameter is 1.2, the deviation spacecraft working environment impact parameter range corresponding to the first level preset in the sensor calibration database is greater than 1, the deviation spacecraft working environment impact parameter range corresponding to the second level is [0.6,1], and the deviation spacecraft working environment impact parameter range corresponding to the third level is (0, 0.6], so the current calibration level is the first level.

[0051] Furthermore, the step of providing evaluation and feedback on the spacecraft sensor after secondary calibration based on the sensor performance index and the sensor calibration parameters includes: the sensor calibration parameters include harmonic distortion, quantum efficiency and center wavelength demodulation deviation; obtaining the critical harmonic distortion, critical quantum efficiency and critical center wavelength demodulation deviation from the sensor calibration database; comprehensively analyzing to obtain the sensor calibration evaluation value, and providing evaluation and feedback based on the sensor calibration evaluation value.

[0052] The sensor calibration evaluation value is obtained as follows: ; In the formula, represents the sensor calibration evaluation value, Indicates the sensor calibration assessment impact factor corresponding to the harmonic distortion, represents the sensor calibration evaluation impact factor corresponding to quantum efficiency, represents the sensor calibration evaluation impact factor corresponding to the central wavelength demodulation deviation, represents the sensor calibration evaluation influencing factor corresponding to the sensor performance index, Indicates the harmonic distortion. Indicates the reference harmonic distortion, Indicates the allowable deviation harmonic distortion, represents the quantum efficiency, represents the critical quantum efficiency, represents the central wavelength demodulation deviation, Indicates the demodulation deviation with reference to the central wavelength, Indicates the allowable deviation of the central wavelength demodulation deviation. represents the sensor performance index, Represents the critical sensor performance index.

[0053] In this embodiment, , , and The sensor calibration evaluation influencing factors corresponding to the harmonic distortion, quantum efficiency, center wavelength demodulation deviation and sensor performance index preset in the sensor calibration database are numerical indicators that measure the influence of the above parameters on the sensor calibration evaluation value. Specifically, there is a mapping relationship table for each of the harmonic distortion, quantum efficiency, center wavelength demodulation deviation and sensor performance index, and the table records each possible parameter value and its corresponding sensor calibration evaluation influencing factor. These mapping relationships can be one-to-one or many-to-one. For example, in actual applications, when it is necessary to evaluate the sensor calibration evaluation value, the measured harmonic distortion, quantum efficiency, center wavelength demodulation deviation and sensor performance index can be input into their respective corresponding mapping relationship tables, and the sensor calibration evaluation influencing factors corresponding to these values ​​can be quickly found, where the value range of the influencing factor is between 0 and 1.

[0054] In this embodiment, harmonic distortion refers to the harmful interference of various multiples of the original frequency, and the harmonic distortion can be measured by a signal analyzer; quantum efficiency reflects the conversion efficiency of the system between "input" (such as photons) and "output" (such as photoelectrons or current), which can be obtained by measuring the ratio of the average number of photoelectrons generated in a certain period of time (such as 1 minute) to the number of incident photons; the center wavelength demodulation deviation is usually used to describe the wavelength offset of devices such as optical fiber sensors during the demodulation process. The signal output by the sensor can be demodulated by the demodulation system, and the difference between the demodulated center wavelength and the standard wavelength is the center wavelength demodulation deviation. There is a certain correlation between the three indicators. For example, excessive harmonic distortion will cause distortion of the optical signal, which will not only reduce the quantum efficiency, but also increase the center wavelength demodulation deviation; and the decrease in quantum efficiency may further affect the sensitivity of the system, making it more difficult to accurately demodulate the signal and increase the demodulation deviation of the center wavelength. The sensor calibration evaluation value obtained by comprehensive analysis can accurately evaluate the performance of the calibrated sensor. When providing evaluation feedback based on the sensor calibration evaluation value, the sensor calibration evaluation value may be compared with the sensor calibration evaluation threshold preset in the sensor calibration database. If the sensor calibration evaluation value is greater than or equal to the sensor calibration evaluation threshold, it indicates that the sensor calibration accuracy meets the standard. If the sensor calibration evaluation value is less than the sensor calibration evaluation threshold, based on the analysis results of the calibration parameters, special attention is paid to performance indicators closely related to the calibration evaluation value, such as accuracy, stability, and response speed. Possible performance problems or potential risks, such as parameter fluctuations and abnormal values, are identified. The staff is immediately notified and warned to carry out maintenance. At the same time, a sensor performance monitoring plan is formulated, including regular calibration, performance testing, and data recording, to ensure that the sensor can continue to maintain high performance in future use.

[0055] like Figure 3As shown, it is a structural schematic diagram of the spacecraft sensor intelligent calibration system provided by the embodiment of the present application. The spacecraft sensor intelligent calibration system provided by the embodiment of the present application includes: a primary calibration module, an interference assessment module and a secondary calibration module, and also includes a sensor calibration database; wherein, the primary calibration module is used to divide the spacecraft motion route to obtain each motion route segment, and obtain the historical environmental data of each motion route segment in the adjacent motion cycle, process to obtain the historical spacecraft working environment impact parameters of each motion route segment, and perform a primary calibration on the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion route segment; the interference assessment module is used to collect and process the environmental data of the current motion route segment to obtain the real-time spacecraft working environment impact parameters, and monitor the sensor performance data, and comprehensively analyze to obtain the spacecraft sensor interference assessment value; the secondary calibration module is used to perform secondary calibration judgment according to the spacecraft sensor interference assessment value, and perform secondary calibration according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, obtain the sensor calibration parameters after the secondary calibration, and evaluate and feedback the spacecraft sensor after the secondary calibration according to the sensor performance index and the sensor calibration parameters.

[0056] In summary, the embodiments of the present application divide the spacecraft motion path into segments, obtain historical environmental data of each motion path segment in adjacent motion cycles, process the historical spacecraft working environment impact parameters of each motion path segment, and perform a primary calibration on the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion path segment; collect and process the environmental data of the current motion path segment to obtain real-time spacecraft working environment impact parameters, monitor the sensor performance data, and perform comprehensive analysis to obtain the spacecraft sensor interference evaluation value; perform secondary calibration judgment according to the spacecraft sensor interference evaluation value, and perform secondary calibration according to the real-time spacecraft working environment impact parameters and the historical spacecraft working environment impact parameters, obtain the sensor calibration parameters after the secondary calibration, and evaluate and feedback the spacecraft sensor after the secondary calibration according to the sensor performance index and the sensor calibration parameters, thereby improving the sensor environmental adaptability and calibration accuracy.

[0057] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. 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 disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0058] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to 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 flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0059] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0061] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0062] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for intelligent calibration of spacecraft sensors, characterized in that: The following steps are involved: The spacecraft motion path is divided into various motion path segments, and the historical environmental data of each motion path segment in the adjacent motion cycle is obtained, and the historical spacecraft working environment impact parameters of each motion path segment are obtained by processing, and the spacecraft sensor is calibrated once according to the historical spacecraft working environment impact parameters of each motion path segment; Collect and process the environmental data of the current motion route segment to obtain the real-time spacecraft working environment impact parameters, monitor the sensor performance data, and comprehensively analyze to obtain the spacecraft sensor interference assessment value; A secondary calibration judgment is performed based on the interference evaluation value of the spacecraft sensor, and a secondary calibration is performed based on the real-time spacecraft working environment influencing parameters and the historical spacecraft working environment influencing parameters to obtain the sensor calibration parameters after the secondary calibration. Evaluation feedback is performed on the spacecraft sensor after the secondary calibration based on the sensor performance index and the sensor calibration parameters.

2. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of obtaining the historical environmental data of each motion path segment of the adjacent motion cycle and processing to obtain the historical spacecraft working environment impact parameters of each motion path segment comprises: The historical environmental data include temperature, radiation intensity and atmospheric drag intensity; Obtain reference temperature, allowable deviation temperature, critical radiation intensity and critical atmospheric drag intensity of each motion route segment from the sensor calibration database; The historical spacecraft working environment influencing parameters of each motion path segment are obtained through comprehensive analysis.

3. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of calibrating the spacecraft sensor once according to the historical spacecraft working environment influencing parameters of each motion path segment comprises: Obtaining the threshold values ​​of spacecraft working environment influencing parameters from the sensor calibration database; The historical spacecraft working environment impact parameters of each motion route segment are compared with the spacecraft working environment impact parameter threshold. If the historical spacecraft working environment impact parameters of a certain motion route segment are greater than or equal to the spacecraft working environment impact parameter threshold, calibration is performed based on the difference between the historical spacecraft working environment impact parameters of the motion route segment and the spacecraft working environment impact parameter threshold. If the historical spacecraft working environment impact parameters of a certain motion route segment are less than the spacecraft working environment impact parameter threshold, no additional operation is performed.

4. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of monitoring the sensor performance data comprises: The sensor performance data includes response frequency, zero drift and detection distance; Obtain critical response frequency, critical zero point drift, reference detection distance and allowable deviation detection distance from the sensor calibration database; The sensor performance index is obtained through comprehensive analysis.

5. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of comprehensively analyzing and obtaining the interference evaluation value of the spacecraft sensor comprises: Obtain critical real-time spacecraft working environment impact parameters and critical sensor performance indexes from the sensor calibration database; The spacecraft sensor interference assessment value is obtained by comprehensive analysis of real-time spacecraft working environment influencing parameters, sensor performance index, critical real-time spacecraft working environment influencing parameters and critical sensor performance index.

6. The intelligent calibration method for spacecraft sensors as claimed in claim 5, characterized in that: The spacecraft sensor interference evaluation value is obtained in the following manner: ； In the formula, represents the spacecraft sensor interference assessment value, represents the spacecraft sensor interference assessment impact factor corresponding to the real-time spacecraft working environment impact parameter, represents the spacecraft sensor interference assessment impact factor corresponding to the sensor performance index, represents the real-time spacecraft working environment influencing parameters, represents the critical real-time spacecraft working environment influencing parameters, represents the sensor performance index, Represents the critical sensor performance index.

7. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of performing secondary calibration judgment according to the interference evaluation value of the spacecraft sensor includes: Obtaining a spacecraft sensor interference assessment threshold from a sensor calibration database; The spacecraft sensor interference assessment value is compared with the spacecraft sensor interference assessment threshold. If the spacecraft sensor interference assessment value is greater than or equal to the spacecraft sensor interference assessment threshold, a secondary calibration is performed. If the spacecraft sensor interference assessment value is less than the spacecraft sensor interference assessment threshold, no additional operation is performed.

8. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of performing secondary calibration according to the real-time spacecraft working environment influencing parameters and the historical spacecraft working environment influencing parameters comprises: The absolute value of the difference between the real-time spacecraft working environment influencing parameter and the historical spacecraft working environment influencing parameter is marked as the deviation spacecraft working environment influencing parameter; The deviation spacecraft working environment impact parameters are matched with the calibration levels corresponding to the deviation spacecraft working environment impact parameters preset in the sensor calibration database to obtain the calibration level, and a secondary calibration is performed according to the calibration level.

9. The intelligent calibration method for spacecraft sensors according to claim 1, characterized in that: The step of providing evaluation feedback on the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameters comprises: The sensor calibration parameters include harmonic distortion, quantum efficiency and central wavelength demodulation deviation; Obtain critical harmonic distortion, critical quantum efficiency and critical center wavelength demodulation deviation from the sensor calibration database; The sensor calibration evaluation value is obtained through comprehensive analysis, and evaluation feedback is performed based on the sensor calibration evaluation value.

10. A spacecraft sensor intelligent calibration system, using the spacecraft sensor intelligent calibration method according to any one of claims 1 to 9, characterized in that: It includes a primary calibration module, an interference assessment module, a secondary calibration module and a sensor calibration database; The one-time calibration module is used to divide the spacecraft motion path to obtain each motion path segment, obtain the historical environmental data of each motion path segment in the adjacent motion cycle, process and obtain the historical spacecraft working environment impact parameters of each motion path segment, and perform one-time calibration on the spacecraft sensor according to the historical spacecraft working environment impact parameters of each motion path segment; The interference assessment module is used to collect and process the environmental data of the current motion route segment to obtain the real-time spacecraft working environment impact parameters, monitor the sensor performance data, and comprehensively analyze to obtain the spacecraft sensor interference assessment value; The secondary calibration module is used to perform secondary calibration judgment based on the interference evaluation value of the spacecraft sensor, and to perform secondary calibration based on the real-time spacecraft working environment influencing parameters and the historical spacecraft working environment influencing parameters, to obtain the sensor calibration parameters after the secondary calibration, and to evaluate and feedback the spacecraft sensor after the secondary calibration based on the sensor performance index and the sensor calibration parameters.

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