Spacecraft sensor intelligent calibration method and system

Abstract

The application discloses a kind of spacecraft sensor intelligent calibration method and system, belong to sensor calibration technical field.The method includes the following steps: according to the historical spacecraft working environment influence parameter of each motion route segment, spacecraft sensor is calibrated once;Acquire the environment data of current motion route segment and process, obtain real-time spacecraft working environment influence parameter, and monitor sensor performance data, and comprehensive analysis obtains spacecraft sensor interference evaluation value;According to spacecraft sensor interference evaluation value, secondary calibration is judged, and according to real-time spacecraft working environment influence parameter and historical spacecraft working environment influence parameter, secondary calibration is carried out, obtains the sensor calibration parameter after secondary calibration, according to sensor performance index and sensor calibration parameter, the spacecraft sensor after secondary calibration is evaluated feedback, improve sensor environmental adaptability and calibration accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensor calibration, in particular to a spacecraft sensor intelligent calibration method and system. BACKGROUND

[0002] In space missions, sensors play a crucial role, providing data that has a decisive influence on the attitude control, navigation and positioning, and environmental monitoring of spacecraft. However, due to the complexity of the space environment and the limitations of the sensor itself, there is often some error in the sensor data, and the sensor needs to be calibrated regularly to ensure the accuracy and reliability of its measurement results.

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

[0004] For example, the SOC characteristic calibration method for spacecraft battery pack simulator announced in the invention patent with announcement number CN109782188B, including: simulator SOC curve generation module, standard SOC curve generation module and calibration module, wherein the simulator SOC curve generation module extracts the SOC curve from the actual data, and uses the improved adaptive Kalman filtering 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, to obtain the standard model of the battery, which is used to generate the standard SOC curve.

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

[0006] However, in the process of implementing the technical scheme of the present application, the present application finds that the above-mentioned technology at least has the following technical problems:

[0007] In the prior art, when calibrating a spacecraft, due to the complex and dynamically changing working environment of the spacecraft, the accuracy of the sensor will be affected by environmental factors and deviate as the mission time continues, resulting in insufficient adaptability of the sensor to the environment and low calibration accuracy. SUMMARY

[0008] The present application provides a spacecraft sensor intelligent calibration method and system, which solves the problem of low calibration accuracy in the prior art when calibrating a spacecraft due to the complex and dynamically changing working environment of the spacecraft, the accuracy of the sensor will be affected by environmental factors and deviate as the mission time continues, resulting in insufficient adaptability of the sensor to the environment and low calibration accuracy, and improves the environmental adaptability and calibration accuracy of the sensor.

[0009] The present application provides a spacecraft sensor intelligent calibration method, comprising the following steps: dividing the spacecraft motion route to obtain each motion route segment, and obtaining the historical environment data of each motion route segment in the adjacent motion period, processing to obtain the historical spacecraft working environment influence parameter of each motion route segment, and performing a calibration on the spacecraft sensor according to the historical spacecraft working environment influence parameter of each motion route segment; collecting and processing the environment data of the current motion route segment to obtain the real-time spacecraft working environment influence parameter, and monitoring the sensor performance data to obtain the spacecraft sensor interference evaluation value through comprehensive analysis; performing secondary calibration judgment according to the spacecraft sensor interference evaluation value, and performing secondary calibration according to the real-time spacecraft working environment influence parameter and the historical spacecraft working environment influence parameter to obtain the sensor calibration parameter after secondary calibration, and evaluating and feeding back the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameter.

[0010] Further, the step of obtaining the historical environment data of each motion route segment in the adjacent motion period and processing to obtain the historical spacecraft working environment influence parameter of each motion route segment comprises: the historical environment data includes temperature, radiation intensity and atmospheric resistance intensity; obtaining the reference temperature, allowable deviation temperature, critical radiation intensity and critical atmospheric resistance intensity of each motion route segment from the sensor calibration database; and comprehensively analyzing to obtain the historical spacecraft working environment influence parameter of each motion route segment.

[0011] Further, the step of calibrating the spacecraft sensor according to the historical spacecraft working environment influence parameter of each motion route segment comprises: obtaining a spacecraft working environment influence parameter threshold from a sensor calibration database; comparing the historical spacecraft working environment influence parameter of each motion route segment with the spacecraft working environment influence parameter threshold; if the historical spacecraft working environment influence parameter of a motion route segment is greater than or equal to the spacecraft working environment influence parameter threshold, calibrating according to the difference between the historical spacecraft working environment influence parameter of the motion route segment and the spacecraft working environment influence parameter threshold; and if the historical spacecraft working environment influence parameter of a motion route segment is less than the spacecraft working environment influence parameter threshold, not performing additional operations.

[0012] Further, the step of monitoring the sensor performance data comprises: the sensor performance data including a response frequency, a zero-point drift and a detection distance; obtaining a critical response frequency, a critical zero-point drift, a reference detection distance and an allowable deviation detection distance from a sensor calibration database; and comprehensively analyzing to obtain a sensor performance index.

[0013] Further, the step of comprehensively analyzing to obtain the spacecraft sensor interference evaluation value comprises: obtaining a critical real-time spacecraft working environment influence parameter and a critical sensor performance index from a sensor calibration database; and comprehensively analyzing according to the real-time spacecraft working environment influence parameter, the sensor performance index, the critical real-time spacecraft working environment influence parameter and the critical sensor performance index to obtain the spacecraft sensor interference evaluation value.

[0014] Further, the spacecraft sensor interference evaluation value is obtained in the following manner:

[0015] ;

[0016] In the formula, represents the spacecraft sensor interference evaluation value, represents a spacecraft sensor interference evaluation influence factor corresponding to the real-time spacecraft working environment influence parameter, represents a spacecraft sensor interference evaluation influence factor corresponding to the sensor performance index, represents the real-time spacecraft working environment influence parameter, represents the critical real-time spacecraft working environment influence parameter, represents the sensor performance index, represents the critical sensor performance index.

[0017] Further, the step of performing secondary calibration according to the spacecraft sensor interference evaluation value comprises: obtaining a spacecraft sensor interference evaluation threshold from the sensor calibration database; comparing the spacecraft sensor interference evaluation value with the spacecraft sensor interference evaluation threshold; if the spacecraft sensor interference evaluation value is greater than or equal to the spacecraft sensor interference evaluation threshold, performing secondary calibration; and if the spacecraft sensor interference evaluation value is less than the spacecraft sensor interference evaluation threshold, not performing additional operations.

[0018] Further, the step of performing secondary calibration according to the real-time spacecraft working environment influence parameter and the historical spacecraft working environment influence parameter comprises: marking the absolute value of the difference between the real-time spacecraft working environment influence parameter and the historical spacecraft working environment influence parameter as a deviation spacecraft working environment influence parameter; matching the deviation spacecraft working environment influence parameter with a calibration level corresponding to each deviation spacecraft working environment influence parameter in the sensor calibration database to obtain a calibration level, and performing secondary calibration according to the calibration level.

[0019] Further, the step of performing evaluation feedback on the secondary calibrated spacecraft sensor according to the sensor performance index and the sensor calibration parameter comprises: the sensor calibration parameter comprises harmonic distortion, quantum efficiency and center wavelength demodulation deviation; obtaining a critical harmonic distortion, a critical quantum efficiency and a critical center wavelength demodulation deviation from the sensor calibration database; comprehensively analyzing to obtain a sensor calibration evaluation value, and performing evaluation feedback according to the sensor calibration evaluation value.

[0020] The spacecraft sensor intelligent calibration system provided in the embodiments of the present application comprises a primary calibration module, an interference evaluation module and a secondary calibration module; wherein the primary calibration module is configured to divide a spacecraft motion route to obtain each motion route segment, obtain historical environment data of each motion route segment in a neighboring motion period, process to obtain historical spacecraft working environment influence parameters of each motion route segment, and perform primary calibration on a spacecraft sensor according to the historical spacecraft working environment influence parameters of each motion route segment; the interference evaluation module is configured to process environment data of a current motion route segment to obtain real-time spacecraft working environment influence parameters, and monitor sensor performance data to comprehensively analyze to obtain a spacecraft sensor interference evaluation value; and the secondary calibration module is configured to perform secondary calibration judgment according to the spacecraft sensor interference evaluation value, perform secondary calibration according to the real-time spacecraft working environment influence parameter and the historical spacecraft working environment influence parameter, obtain sensor calibration parameters after secondary calibration, and perform evaluation feedback on the secondary calibrated spacecraft sensor according to the sensor performance index and the sensor calibration parameter.

[0021] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0022] 1. The spacecraft sensor intelligent calibration method and system provided by the present application can perform fine historical environment data analysis and real-time environment data monitoring for each movement route segment of the spacecraft, thereby realizing high-precision one-time calibration of the spacecraft sensor and secondary calibration based on real-time environmental changes, and effectively improving the adaptability and accuracy of the sensor in different working environments.

[0023] 2. The present application can fully consider the environmental differences faced by the spacecraft in different movement stages by one-time calibration of the spacecraft sensor according to the historical spacecraft working environment influence parameters of each movement route segment, thereby realizing fine and targeted sensor calibration and improving the adaptability and accuracy of the sensor in different working environments.

[0024] 3. The present application can comprehensively measure the actual performance of the sensor after the calibration process by evaluating and feeding back the spacecraft sensor after secondary calibration according to the sensor performance index and sensor calibration parameters, thereby realizing accurate verification and continuous optimization of the calibration effect of the sensor and ensuring the high precision and long-term reliability of the spacecraft sensor. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The spacecraft sensor intelligent calibration method flowchart provided by the present application.

[0026] Figure 2 The spacecraft working environment influence parameter change diagram based on the spacecraft sensor intelligent calibration method provided by the present application.

[0027] Figure 3 The structural schematic diagram of the spacecraft sensor intelligent calibration system provided by the present application. DETAILED DESCRIPTION

[0028] The embodiment of the application provides a spacecraft sensor intelligent calibration method and system, which solves the problem of low calibration accuracy in the prior art when a spacecraft is calibrated. Because the working environment of the spacecraft is complex and dynamically changes, the precision of the sensor is affected by environmental factors and deviates with the extension of the task time, resulting in insufficient adaptability of the sensor to the environment. The motion route of the spacecraft is divided to obtain each motion route segment, and historical environment data of each motion route segment in a neighboring motion cycle is obtained. Historical spacecraft working environment influence parameters of each motion route segment are obtained by processing, and the spacecraft sensor is calibrated once according to the historical spacecraft working environment influence parameters. The environment data of the current motion route segment is collected and processed to obtain real-time spacecraft working environment influence parameters, and the sensor performance data is monitored. The spacecraft sensor interference evaluation value is obtained through comprehensive analysis. The second calibration is judged according to the spacecraft sensor interference evaluation value, and the second calibration is performed according to the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters. The sensor calibration parameters after the second calibration are obtained, and the spacecraft sensor after the second calibration is evaluated and fed back according to the sensor performance index and the sensor calibration parameters, so that the environmental adaptability and calibration accuracy of the sensor are improved.

[0029] The technical solution in the embodiment of the application solves the problem of low calibration accuracy in the prior art when a spacecraft is calibrated. Because the working environment of the spacecraft is complex and dynamically changes, the precision of the sensor is affected by environmental factors and deviates with the extension of the task time, resulting in insufficient adaptability of the sensor to the environment. The overall idea is as follows:

[0030] By dividing the motion route of the spacecraft into different segments, obtaining historical environment data and current environment data of each motion segment, and combining real-time performance monitoring of the sensor, the sensor is calibrated in stages. First, the historical environment data is used to preliminarily calibrate the sensor to obtain calibration parameters. Then, the environment data of the current motion segment is collected and the sensor performance is monitored to calculate the interference evaluation value and perform the second calibration. Finally, the sensor calibration parameters are adjusted through comprehensive analysis of real-time and historical environment data, and the calibration effect is evaluated and fed back based on the sensor performance index, so that the high precision and stability of the spacecraft sensor in the entire task cycle are ensured, and the purpose of intelligent and accurate calibration of the spacecraft sensor is achieved.

[0031] In order to better understand the above technical solution, the above technical solution will be described in detail in combination with the drawings in the specification and specific embodiments.

[0032] As Figure 1As shown, the spacecraft sensor intelligent calibration method flowchart provided by the embodiment of the application comprises the following steps: dividing the spacecraft movement route to obtain each movement route segment, obtaining the historical environment data of each movement route segment in the adjacent movement period, processing to obtain the historical spacecraft working environment influence parameter of each movement route segment, and performing primary calibration on the spacecraft sensor according to the historical spacecraft working environment influence parameter of each movement route segment; collecting and processing the environment data of the current movement route segment to obtain the real-time spacecraft working environment influence parameter, 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 influence parameter and the historical spacecraft working environment influence parameter, obtaining the sensor calibration parameter after secondary calibration, and evaluating and feeding back the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameter.

[0033] In the embodiment, the movement route of the spacecraft is divided, and each movement route segment can be determined, which helps to accurately obtain the environment data of different route segments in the subsequent process; the historical spacecraft working environment influence parameter of each movement route segment reflects the working environment characteristics that the spacecraft may encounter in different route segments, and based on these historical influence parameters, the spacecraft sensor is calibrated once to ensure that the sensor can adapt to different working environments in the initial stage; then the environment data of the current movement route segment is collected, 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 secondary calibration is performed based on this. The secondary calibration considers the real-time and historical working environment influence parameters to ensure that the sensor can maintain high precision and stability in the current and future possible environments. The present application has significant benefits and effects in improving the calibration precision of the spacecraft sensor, enhancing the environmental adaptability, realizing dynamic calibration, and optimizing the sensor performance.

[0034] In addition, the sensor calibration database is used to store the data related to the spacecraft sensor intelligent calibration method, including: each movement route segment reference temperature, allowable deviation temperature, critical radiation intensity, critical atmospheric resistance intensity, historical spacecraft working environment influence parameter influence factor corresponding to the temperature, critical sensor performance index, and spacecraft working environment influence parameter threshold, etc. The data in the sensor calibration database can be directly obtained through public databases such as Adafruit IO and ThingSpeak, or can be obtained through cooperation with sensor manufacturers or related scientific research institutions and other industries.

[0035] Further, the historical environment data of each motion route segment in the adjacent motion cycle is acquired, and the historical spacecraft working environment influence parameters of each motion route segment are obtained by processing the historical environment data, wherein the historical environment data includes temperature, radiation intensity, and atmospheric resistance intensity; the reference temperature, the allowable deviation temperature, the critical radiation intensity, and the critical atmospheric resistance intensity of each motion route segment are acquired from a sensor calibration database; and the historical spacecraft working environment influence parameters of each motion route segment are obtained by comprehensive analysis.

[0036] The spacecraft working environment influence parameters of each motion route segment are acquired in the following manner:

[0037] ;

[0038] In the formula, represents the spacecraft working environment influence parameter of the ith motion route segment, represents the temperature corresponding spacecraft working environment influence parameter influence factor, represents the radiation intensity corresponding spacecraft working environment influence parameter influence factor, represents the atmospheric resistance intensity corresponding spacecraft working environment influence parameter influence factor, represents the temperature of the ith motion route segment, represents the reference temperature of the ith motion route segment, represents the allowable deviation temperature, represents the radiation intensity of the ith motion route segment, represents the critical radiation intensity, represents the atmospheric resistance intensity of the ith motion route segment, represents the critical atmospheric resistance intensity, wherein i is the number of each motion route segment, i = 1, 2, 3, …, N, and N is the total number of motion route segments.

[0039] 、 and The temperature, radiation intensity and atmospheric resistance intensity are respectively corresponding to the preset spacecraft working environment impact parameter influence factor in the sensor calibration database. The influence factors are numerical indicators for measuring the influence of the above parameters on the spacecraft working environment impact parameter. Specifically, there is a mapping relationship table between the temperature, radiation intensity and atmospheric resistance intensity and the spacecraft working environment impact parameter influence factor. Each possible parameter value and its corresponding spacecraft working environment impact parameter influence factor are recorded in the table. The mapping relationship can be one-to-one or many-to-one. For example, in actual application, when the spacecraft working environment impact parameter of a certain motion route segment needs to be evaluated, the measured temperature, radiation intensity and atmospheric resistance intensity can be respectively input into the corresponding mapping relationship table, and the spacecraft working environment impact parameter influence factor corresponding to these values can be quickly found. The value of the influence factor ranges from 0 to 1.

[0040] In the embodiment, the temperature can be directly measured by placing infrared thermometers, thermal radiation sensors and other devices at the spacecraft surface monitoring points. The radiation intensity can be directly measured by a radiation meter at the spacecraft surface monitoring points. The atmospheric resistance intensity can be calculated by measuring the air density at the spacecraft monitoring points, the speed of the spacecraft relative to the atmosphere and the projection area of the spacecraft in the direction of travel. The atmospheric resistance intensity can be obtained as follows: ; in the formula, F represents the atmospheric resistance intensity, ρ represents the air density, which can be directly measured at the spacecraft monitoring points by using an atmospheric density detection instrument, v represents the speed of the spacecraft relative to the atmosphere, which can be measured by installing instruments such as speed sensors and anemometers on the surface of the spacecraft, Cd represents the drag coefficient, which can be directly obtained from the sensor calibration database, and A represents the projection area of the spacecraft in the direction of travel. These parameters are related to each other. For example, when the solar radiation is enhanced, the high atmosphere will increase in density due to the increase in temperature, thereby increasing the resistance to the spacecraft. When the solar radiation is enhanced, the environmental temperature of the spacecraft will also increase accordingly. The spacecraft working environment impact parameter obtained by comprehensive analysis can identify which route segments may be affected by high temperature, strong radiation or high atmospheric resistance. According to the influence of different environmental characteristics on the performance of the sensor, the calibration requirements of the sensor in different route segments can be determined.

[0041] The historical spacecraft working environment influence parameter influence factor corresponding to the temperature is set to 0.2, the historical spacecraft working environment influence parameter influence factor corresponding to the radiation intensity is set to 0.4, the historical spacecraft working environment influence parameter influence factor corresponding to the atmospheric resistance 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 resistance intensity is set to 80N, and the critical atmospheric resistance intensity is set to 100N. The spacecraft working environment influence parameter is calculated under the condition that the radiation intensity continuously increases. As shown in Table 1, the spacecraft working environment influence parameter change diagram based on the spacecraft sensor intelligent calibration method.

[0042] Table 1 spacecraft working environment influence parameter data table based on spacecraft sensor intelligent calibration method

[0043]

[0044] As shown in Table 1 and Figure 2 the spacecraft working environment influence parameter change diagram based on the spacecraft sensor intelligent calibration method provided by the embodiments of the present application. As shown in Table 1 and Figure 2 It can be seen that under the condition that the historical spacecraft working environment influence parameter influence factor corresponding to the temperature, the historical spacecraft working environment influence parameter influence factor corresponding to the radiation intensity, the historical spacecraft working environment influence parameter influence factor corresponding to the atmospheric resistance intensity, the temperature, the reference temperature, the allowable deviation temperature, the radiation intensity, the critical radiation intensity and the critical atmospheric resistance intensity are unchanged, and the atmospheric resistance intensity continuously increases, the spacecraft working environment influence parameter also continuously increases.

[0045] Further, the step of calibrating the spacecraft sensor according to the historical spacecraft working environment influence parameter of each motion route segment includes: obtaining a spacecraft working environment influence parameter threshold from a sensor calibration database; comparing the historical spacecraft working environment influence parameter of each motion route segment with the spacecraft working environment influence parameter threshold, if the historical spacecraft working environment influence parameter of a certain motion route segment is greater than or equal to the spacecraft working environment influence parameter threshold, then calibrating according to the difference between the historical spacecraft working environment influence parameter of the motion route segment and the spacecraft working environment influence parameter threshold, and if the historical spacecraft working environment influence parameter of a certain motion route segment is less than the spacecraft working environment influence parameter threshold, then no additional operation is performed.

[0046] In the embodiment, the spacecraft working environment influence parameter threshold is a preset value for evaluating whether the spacecraft sensor needs to be calibrated in the current environment. By comparing the historical environment and the threshold, it can be quickly determined which route segment's sensor needs to be calibrated and which does not, thereby avoiding unnecessary calibration work and improving efficiency; calibration of sensor performance under different environmental conditions can ensure that the sensor maintains high precision and stability under different environments, enhancing its adaptability to the environment. When the historical spacecraft working environment influence parameter of a certain motion route segment is greater than or equal to the threshold, appropriate calibration equipment can be selected according to the type and calibration requirements of the sensor, for example, for temperature sensors, heat source calibration method or cold end compensation calibration method can be used for calibration processing; for acceleration sensors, centrifuge or gravity field method may be used for calibration; at the same time, 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 calibration is completed, verification tests are performed using different input values to ensure that the sensor output is accurate and stable.

[0047] Further, the step of monitoring the sensor performance data includes: the sensor performance data includes response frequency, zero drift and detection distance; the critical response frequency, the critical zero drift, the reference detection distance and the allowable deviation detection distance are obtained from the sensor calibration database; and the sensor performance index is obtained through comprehensive analysis.

[0048] The sensor performance index is obtained in the following manner:

[0049] ;

[0050] In the formula, represents the sensor performance index, represents the sensor performance index influence factor corresponding to the response frequency, represents the sensor performance index influence factor corresponding to the zero drift, represents the sensor performance index influence factor corresponding to the detection distance, represents the response frequency, represents the critical response frequency, represents the zero drift, represents the critical zero drift, represents the detection distance, represents the reference detection distance, represents the allowable deviation detection distance, and e is the natural constant.

[0051] , and The sensor performance index influence factors corresponding to the preset response frequency, zero drift and detection distance in the sensor calibration database are respectively the response frequency, zero drift and detection distance, and the influence factors are numerical indicators for measuring 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 influence factor. These mapping relationships can be one-to-one or many-to-one. For example, in actual application, when the sensor performance index needs to be evaluated, the measured response frequency, zero drift and detection distance can be respectively input into the corresponding mapping relationship table, and the sensor performance index influence factors corresponding to these values can be quickly found, wherein the value range of the influence factor is between 0 and 1.

[0052] In the embodiment, the response frequency can be obtained by inputting a known frequency signal to the sensor and observing the frequency response of the output signal, 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 maximum response amplitude in the frequency response curve is the response frequency; the zero drift can be obtained by obtaining the initial use output value of the sensor when there is no input signal and the current output value of the sensor, and the difference between the two is the zero drift, wherein the output value is the output level; the detection distance can be directly measured by placing a radar sensor or other device on the sensor surface monitoring point. The three are related to each other, for example, when the response frequency of the sensor is high, the working speed of the internal circuit and elements 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 comprehensively evaluate the performance of the sensor, and according to the requirements of different application scenarios for the performance of the sensor, it can be judged whether the sensor is suitable for the scene.

[0053] Further, the step of obtaining the spacecraft sensor interference evaluation value through comprehensive analysis includes: obtaining the critical real-time spacecraft working environment influence parameter and the critical sensor performance index from the sensor calibration database; obtaining the spacecraft sensor interference evaluation value through comprehensive analysis according to the real-time spacecraft working environment influence parameter, the sensor performance index, the critical real-time spacecraft working environment influence parameter and the critical sensor performance index.

[0054] In the embodiment, when the real-time working environment influence parameter changes, the sensor performance index will also be affected accordingly. For example, a high temperature environment can cause the sensor accuracy to decrease, and a strong radiation environment can cause the sensor performance to be unstable. By monitoring and analyzing the spacecraft working environment influence parameter in real time, the possible interference or influence on the sensor can be found in time, and combined with the change of the sensor performance index, the specific degree of the interference or influence on the sensor performance can be evaluated, thereby providing a basis for subsequent sensor calibration, maintenance or replacement.

[0055] Further, the spacecraft sensor interference evaluation value is obtained as follows:

[0056] ;

[0057] In the formula, represents the spacecraft sensor interference evaluation value, represents the spacecraft sensor interference evaluation influence factor corresponding to the real-time spacecraft working environment influence parameter, represents the spacecraft sensor interference evaluation influence factor corresponding to the sensor performance index, represents the real-time spacecraft working environment influence parameter, represents the critical real-time spacecraft working environment influence parameter, represents the sensor performance index, represents the critical sensor performance index.

[0058] In the embodiment, and respectively are the spacecraft sensor interference evaluation influence factors corresponding to the real-time spacecraft working environment influence parameter and the sensor performance index in the preset sensor calibration database, and these influence factors are numerical indicators for measuring the influence of the above-mentioned parameters on the spacecraft sensor interference evaluation value. Specifically, the real-time spacecraft working environment influence parameter and the sensor performance index each have a mapping relationship table, which records each possible parameter value and its corresponding spacecraft sensor interference evaluation influence factor. These mapping relationships can be one-to-one or many-to-one. For example, in actual application, when the spacecraft sensor interference evaluation value needs to be evaluated, the measured real-time spacecraft working environment influence parameter and the sensor performance index can be respectively input into the corresponding mapping relationship table, and the spacecraft sensor interference evaluation influence factors corresponding to these values can be quickly found, wherein the value range of the influence factor is between 0 and 1.

[0059] Further, the step of performing secondary calibration according to the spacecraft sensor interference evaluation value comprises: obtaining a spacecraft sensor interference evaluation threshold value from the sensor calibration database; comparing the spacecraft sensor interference evaluation value with the spacecraft sensor interference evaluation threshold value, if the spacecraft sensor interference evaluation value is greater than or equal to the spacecraft sensor interference evaluation threshold value, then performing secondary calibration, if the spacecraft sensor interference evaluation value is less than the spacecraft sensor interference evaluation threshold value, then no additional operation is performed.

[0060] In the present embodiment, the spacecraft sensor interference evaluation value is used to reflect the degree of interference of the sensor in the current working environment, combining the changes of real-time working environment influence parameters and sensor performance index, providing a reliable basis for spacecraft sensor state monitoring and performance evaluation. When the spacecraft sensor interference evaluation value is greater than or equal to the spacecraft sensor interference evaluation threshold value, the sensor state early warning mechanism can be triggered, i.e. secondary calibration is performed. By long-term monitoring and analysis of the change trend of the sensor interference evaluation value, a more scientific and reasonable sensor maintenance plan can be developed, for example, for sensors that are often severely interfered, the calibration and maintenance frequency can be increased; and for stable performance sensors, the maintenance cycle can be appropriately extended.

[0061] Further, the step of performing secondary calibration according to the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters comprises: 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 a deviation spacecraft working environment influence parameter; matching the deviation spacecraft working environment influence parameter with the calibration level corresponding to each deviation spacecraft working environment influence parameter preset in the sensor calibration database to obtain a calibration level, and performing secondary calibration according to the calibration level.

[0062] In the embodiment, when the calibration level is obtained, the bias space vehicle working environment influence parameter and the calibration level corresponding to each bias space vehicle working environment influence parameter preset in the sensor calibration database form a mapping set, and the bias space vehicle working environment influence parameter is input into the mapping set to obtain the calibration level corresponding to the bias space vehicle working environment influence parameter. The calibration level includes a first level, a second level and a third level. When being in the first level, it indicates that the bias is large and can have a significant impact on the normal operation of the space vehicle, and immediate measures need to be taken, and an emergency calibration program needs to be started immediately to adjust the sensor parameter or reconfigure the space vehicle working environment control system. When being in the second level, it indicates that the bias is moderate, although it will not have a serious impact on the space vehicle immediately, but it still needs to be concerned and handled in time, and a planned calibration task can be arranged to ensure that the calibration is carried out without affecting the current task of the space vehicle, and the monitoring of the space vehicle working environment and the sensor state is strengthened to discover any further changes in time. When being in the third level, it indicates that the bias is small and has limited impact on the operation of the space vehicle, and the calibration task can be included in the next regular maintenance plan, and no immediate action is needed, and the space vehicle working environment and the sensor state continue to be monitored to verify whether the bias persists or changes, and if the bias does not increase or has no trend of affecting the performance of the space vehicle, it can be handled together at the next maintenance. For example, the current bias space vehicle working environment influence parameter is 1.2, the bias space vehicle working environment influence parameter corresponding to the first level preset in the sensor calibration database is greater than 1, the bias space vehicle working environment influence parameter corresponding to the second level is [0.6, 1], and the bias space vehicle working environment influence parameter corresponding to the third level is (0, 0.6], so the current calibration level is the first level.

[0063] Further, the step of evaluating and feeding back the space vehicle sensor after secondary calibration according to the sensor performance index and the sensor calibration parameter includes: the sensor calibration parameter includes harmonic distortion, quantum efficiency and center wavelength demodulation bias; the critical harmonic distortion, the critical quantum efficiency and the critical center wavelength demodulation bias are obtained from the sensor calibration database; the sensor calibration evaluation value is obtained by comprehensive analysis, and the evaluation and feedback are carried out according to the sensor calibration evaluation value.

[0064] The sensor calibration evaluation value is obtained in the following manner:

[0065] ;

[0066] In the formula, the sensor calibration evaluation value is represented by, the sensor calibration evaluation influence factor corresponding to the harmonic distortion is represented by, the sensor calibration evaluation influence factor corresponding to the quantum efficiency is represented by, an impact factor of sensor calibration evaluation corresponding to a center wavelength demodulation deviation, an impact factor of sensor calibration evaluation corresponding to a sensor performance index, a harmonic distortion degree, a reference harmonic distortion degree, an allowable deviation harmonic distortion degree, a quantum efficiency, a critical quantum efficiency, a center wavelength demodulation deviation, a reference center wavelength demodulation deviation, an allowable deviation center wavelength demodulation deviation, a sensor performance index, a critical sensor performance index.

[0067] In the embodiment, , , and are respectively an impact factor of sensor calibration evaluation corresponding to a harmonic distortion degree, a quantum efficiency, a center wavelength demodulation deviation and a sensor performance index preset in a sensor calibration database, and these impact factors are numerical indicators for measuring the influence of the above-mentioned parameters on the sensor calibration evaluation value. Specifically, there is a mapping relationship table for each of the harmonic distortion degree, the quantum efficiency, the center wavelength demodulation deviation and the sensor performance index, and each possible parameter value and its corresponding impact factor of sensor calibration evaluation are recorded in the table. These mapping relationships can be one-to-one or many-to-one. For example, in actual application, when the sensor calibration evaluation value needs to be evaluated, the measured harmonic distortion degree, quantum efficiency, center wavelength demodulation deviation and sensor performance index can be respectively input into the corresponding mapping relationship table, and the impact factor of sensor calibration evaluation corresponding to these values can be quickly found, wherein the value range of the impact factor is between 0 and 1.

[0068] In the present embodiment, the harmonic distortion refers to the harmful interference of various multiples of the original frequency, and the harmonic distortion degree can be measured by a signal analyzer; the quantum efficiency reflects the conversion efficiency between the "input" (such as photons) and the "output" (such as photoelectrons or current) of the system, and can be obtained by measuring the ratio of the average number of photoelectrons generated to the number of incident photons in a certain time (such as 1 minute); the center wavelength demodulation deviation is usually used to describe the wavelength shift of devices such as optical fiber sensors during demodulation, and can be obtained by demodulating the signal output by the sensor through the demodulation system. The difference between the center wavelength obtained by demodulation and the standard wavelength is the center wavelength demodulation deviation. There is a certain correlation between the three indicators, for example, if the harmonic distortion degree is too high, it will cause distortion of the optical signal, not only leading to a decrease in quantum efficiency, but also possibly leading to an increase in 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 increasing 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 evaluating and feeding back according to the sensor calibration evaluation value, the sensor calibration evaluation value can be compared with the preset sensor calibration evaluation threshold in the sensor calibration database. If the sensor calibration evaluation value is greater than or equal to the sensor calibration evaluation threshold, it means that the sensor calibration accuracy meets the standard, and if the sensor calibration evaluation value is less than the sensor calibration evaluation threshold, based on the analysis result of the calibration parameter, the performance indicators closely related to the calibration evaluation value, such as accuracy, stability and response speed, are particularly focused on, the possible performance problems or potential risks, such as parameter fluctuation, abnormal value, etc., are identified, and the warning staff is immediately notified for maintenance, and a sensor performance monitoring plan is developed, including regular calibration, performance test and data recording, etc., to ensure that the sensor can continuously maintain high performance in future use.

[0069] As Figure 3As shown in the figure, the structure of the spacecraft sensor intelligent calibration system provided by the embodiment of the application is shown, and the spacecraft sensor intelligent calibration system provided by the embodiment of the application comprises a primary calibration module, an interference evaluation module, and a secondary calibration module, and further comprises a sensor calibration database; wherein the primary calibration module is configured to divide a spacecraft movement route to obtain each movement route segment, acquire historical environment data of each movement route segment in a neighboring movement period, process to obtain historical spacecraft working environment influence parameters of each movement route segment, and perform primary calibration on a spacecraft sensor according to the historical spacecraft working environment influence parameters of each movement route segment; the interference evaluation module is configured to acquire and process environment data of a current movement route segment to obtain real-time spacecraft working environment influence parameters, monitor sensor performance data, and comprehensively analyze to obtain a spacecraft sensor interference evaluation value; and the secondary calibration module is configured to perform secondary calibration judgment according to the spacecraft sensor interference evaluation value, perform secondary calibration according to the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters, acquire sensor calibration parameters after secondary calibration, and perform evaluation feedback on the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameters.

[0070] To sum up, the embodiment of the application divides a spacecraft movement route to obtain each movement route segment, acquires historical environment data of each movement route segment in a neighboring movement period, processes to obtain historical spacecraft working environment influence parameters of each movement route segment, performs primary calibration on a spacecraft sensor according to the historical spacecraft working environment influence parameters of each movement route segment, acquires and processes environment data of a current movement route segment to obtain real-time spacecraft working environment influence parameters, monitors sensor performance data, and comprehensively analyzes to obtain a spacecraft sensor interference evaluation value, performs secondary calibration judgment according to the spacecraft sensor interference evaluation value, performs secondary calibration according to the real-time spacecraft working environment influence parameters and the historical spacecraft working environment influence parameters, acquires sensor calibration parameters after secondary calibration, and performs evaluation feedback on the spacecraft sensor after secondary calibration according to the sensor performance index and the sensor calibration parameters, thereby improving sensor environmental adaptability and calibration accuracy.

[0071] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can adopt a computer program product in the form of being 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 codes.

[0072] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart

[0073] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart

[0074] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart

[0075] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the appended claims are intended to cover all such variations and modifications as falling within the scope of the application.

[0076] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A smart calibration method for spacecraft sensors, characterized in that, Includes the following steps: The spacecraft's motion path is divided into segments, and historical environmental data of each segment in adjacent motion cycles is obtained. The historical spacecraft operating environment influence parameters of each segment are processed to obtain the historical spacecraft operating environment influence parameters of each segment. The spacecraft sensors are calibrated once based on the historical spacecraft operating environment influence parameters of each segment. The environmental data of the current motion route segment is collected and processed to obtain real-time spacecraft operating environment impact parameters, and sensor performance data is monitored. The comprehensive analysis yields the spacecraft sensor interference assessment value. Secondary calibration is performed based on the spacecraft sensor interference assessment value, and secondary calibration is performed based on the real-time and historical spacecraft operating environment influence parameters to obtain the sensor calibration parameters after secondary calibration. The spacecraft sensor after secondary calibration is evaluated and feedback is given based on the sensor performance index and sensor calibration parameters. The steps of acquiring historical environmental data for each motion path segment in adjacent motion cycles and processing it to obtain historical spacecraft operational environment influence parameters for each motion path segment include: The historical environmental data includes temperature, radiation intensity, and atmospheric drag intensity; The reference temperature, permissible deviation temperature, critical radiation intensity, and critical atmospheric drag intensity for each motion route segment are obtained from the sensor calibration database. Comprehensive analysis yielded historical spacecraft operating environment influence parameters for each motion path segment; The step of monitoring sensor performance data includes: the sensor performance data includes response frequency, zero drift and detection distance; Obtain the critical response frequency, critical zero drift, reference detection distance, and allowable deviation detection distance from the sensor calibration database; The sensor performance index is obtained through comprehensive analysis; The steps for obtaining the spacecraft sensor interference assessment value through comprehensive analysis include: Obtain critical real-time spacecraft operating environment impact parameters and critical sensor performance indices from the sensor calibration database; The spacecraft sensor interference assessment value is obtained by comprehensively analyzing the real-time spacecraft operating environment influence parameters, sensor performance index, critical real-time spacecraft operating environment influence parameters, and critical sensor performance index. The step of evaluating and providing feedback on the spacecraft sensor after secondary calibration based on the sensor performance index and sensor calibration parameters includes: the sensor calibration parameters include harmonic distortion, quantum efficiency, and center wavelength demodulation deviation; Obtain critical harmonic distortion, critical quantum efficiency, and critical center wavelength demodulation deviation from the sensor calibration database; A comprehensive analysis is conducted to obtain sensor calibration evaluation values, and evaluation feedback is provided based on these values.

2. The intelligent calibration method for spacecraft sensors as described in claim 1, characterized in that: The step of calibrating the spacecraft sensors based on the historical spacecraft operating environment influence parameters for each motion path segment includes: Obtain the threshold values ​​of parameters affecting the spacecraft's operating environment from the sensor calibration database; The historical spacecraft operating environment influence parameters for each motion route segment are compared with the spacecraft operating environment influence parameter threshold. If the historical spacecraft operating environment influence parameter for a certain motion route segment is greater than or equal to the spacecraft operating environment influence parameter threshold, calibration is performed based on the difference between the historical spacecraft operating environment influence parameter for that motion route segment and the spacecraft operating environment influence parameter threshold. If the historical spacecraft operating environment influence parameter for a certain motion route segment is less than the spacecraft operating environment influence parameter threshold, no additional operation is performed.

3. The intelligent calibration method for spacecraft sensors as described in claim 1, characterized in that: The spacecraft sensor interference assessment value is obtained in the following way: ； In the formula, This indicates the spacecraft sensor interference assessment value. This represents the spacecraft sensor interference assessment impact factor corresponding to the real-time spacecraft operating environment impact parameters. This represents the spacecraft sensor interference assessment impact factor corresponding to the sensor performance index. This indicates the parameters affecting the real-time operating environment of the spacecraft. These represent parameters affecting the critical real-time operating environment of spacecraft. Indicates the sensor performance index. This indicates the critical sensor performance index.

4. The intelligent calibration method for spacecraft sensors as described in claim 1, characterized in that: The step of performing secondary calibration based on spacecraft sensor interference assessment values ​​includes: Obtain spacecraft sensor interference assessment thresholds from the 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 second calibration is performed. If the spacecraft sensor interference assessment value is less than the spacecraft sensor interference assessment threshold, no additional operation is performed.

5. The intelligent calibration method for spacecraft sensors as described in claim 1, characterized in that: The steps for secondary calibration based on real-time spacecraft operating environment influence parameters and historical spacecraft operating environment influence parameters include: The absolute value of the difference between the real-time spacecraft operating environment influence parameter and the historical spacecraft operating environment influence parameter is marked as the deviation spacecraft operating environment influence parameter; The parameters affecting the operating environment of the spacecraft with deviations are matched with the calibration levels corresponding to the preset parameters in the sensor calibration database to obtain the calibration level, and then a second calibration is performed based on the calibration level.

6. A spacecraft sensor intelligent calibration system, employing the spacecraft sensor intelligent calibration method as described in any one of claims 1-5, characterized in that: It includes a primary calibration module, an interference assessment module, a secondary calibration module, and a sensor calibration database; The primary calibration module is used to divide the spacecraft's motion path into segments, acquire historical environmental data of each segment in adjacent motion cycles, process the data to obtain historical spacecraft operating environment influence parameters for each segment, and perform primary calibration of the spacecraft sensors based on the historical spacecraft operating environment influence parameters for each segment. The interference assessment module is used to collect and process environmental data of the current movement route segment to obtain real-time spacecraft operating environment impact parameters, monitor sensor performance data, and comprehensively analyze to obtain spacecraft sensor interference assessment values. The secondary calibration module is used to make secondary calibration judgments based on the spacecraft sensor interference assessment values, and to perform secondary calibration based on the real-time spacecraft operating environment influence parameters and historical spacecraft operating environment influence parameters, to obtain the sensor calibration parameters after secondary calibration, and to evaluate and provide feedback on the spacecraft sensors after secondary calibration based on the sensor performance index and sensor calibration parameters.

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