High-speed flight-oriented extraterrestrial planet atmosphere collection control device and method

Abstract

The embodiment of the invention discloses a high-speed flight-oriented extraterrestrial planet atmosphere collection control device and method, and relates to the technical field of control or adjustment of non-electrical variables in aerospace equipment. A sampling port is connected with an air inlet channel, and the air inlet channel is connected with each air storage channel; the gas storage valve is mounted at the front end of the gas storage channel and used for controlling opening and closing of the gas storage channel; the air storage channels are connected with the corresponding air storage tanks, the six air storage channels and the six air storage tanks are arranged, and the adjusting devices are arranged in the air storage tanks and conduct control based on non-electric quantities such as temperature, pressure and air speed. The device is suitable for an extraterrestrial planet atmosphere collection task in a high-speed flight state, the planet spacecraft invades the planet atmosphere for multiple times, different target gases are collected in multiple times and stored and packaged respectively, extreme temperature and pressure caused by hypersonic flight can be dealt with, the state during gas collection can be kept, and the collection efficiency is improved. And the gas can be conveniently detected and utilized after being brought back to the ground.

Description

Technical Field

[0001] The present invention relates to the field of aerospace equipment technology, and in particular to a high-speed flying extraterrestrial planet atmosphere collection control device and method. Background Art

[0002] Compared with the Earth's atmosphere, the internal environment of the atmosphere of an extraterrestrial planet is more complex. Faced with problems such as changing states and communication delays, the traditional airbag sampling scheme that invades the atmosphere cannot achieve the goal of gas storage and recovery on extraterrestrial planets. Multiple in-orbit intrusions by planetary spacecraft into the atmosphere to collect and store gases is an effective means to achieve the goal.

[0003] In this collection method, the gas collection device needs to face the complex environment of an extraterrestrial planet, and at the same time needs to cope with the high-speed flight state in the atmosphere, so as to collect, store and package the target gas efficiently and safely.

[0004] Therefore, how to achieve multiple in-orbit penetrations into the atmosphere and take samples while in hypersonic flight has become a technical difficulty that needs to be studied and overcome. Summary of the invention

[0005] The embodiments of the present invention provide an extraterrestrial planetary atmosphere collection control device and method for high-speed flight, which can penetrate the atmosphere multiple times and take samples in orbit under hypersonic flight conditions, and realize gas multi-stage collection, storage and packaging.

[0006] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a device, comprising:

[0008] An extraterrestrial planetary atmosphere collection and control device for high-speed flight, wherein an air inlet is provided at the front end of a shell (1) of a spacecraft, a sampling port (3) is provided at the front end of an air storage box (2), the air storage box (2) is installed in the shell (1), and the outer surface of the sampling port (3) is tightly fitted with the inner surface of the air inlet of the shell (1); the shell (1) is bullet-shaped and adopts a streamlined design.

[0009] The sampling port (3) is connected to the air inlet (4), and the air inlet (4) is connected to each air storage channel (7). During the sampling process, gas enters the sampling port (3) from the air inlet of the housing (1), and is input into the air inlet (4) from the sampling port (3); the air storage valve (6) is installed at the front end of the air storage channel (7) to control the opening and closing of the air storage channel (7); the air storage channel (7) is connected to a corresponding air storage tank (8).

[0010] Six gas storage tanks (8) are arranged in the gas storage box (2), the air inlet (4) is connected to the six gas storage tanks (7), and each gas storage tank (7) is connected to a gas storage tank (8); multiple sampling is performed during the sampling process, and the samples are stored separately in each gas storage tank (8) for packaging. A ball screw transmission mechanism (5) is installed in the air inlet (4), one end of the screw of the ball screw transmission mechanism (5) is connected to the transmission mechanism of the ball screw transmission mechanism (5), and the other end is connected to the windshield slider (3-1); the ball screw transmission mechanism (5) drives the windshield slider (3-1) to move forward and backward to adjust the opening degree of the sampling port (3).

[0011] In a second aspect, an embodiment of the present invention provides a method comprising:

[0012] S1, a gas storage sensing system (10) collects measurement data inside the gas storage tank (8), the gas storage sensing system (10) comprising a temperature sensor, a pressure sensor and a wind speed sensor;

[0013] S2, the control system runs a multi-source perception information processing link, and the multi-source perception information processing link includes a front-end preprocessing link and a back-end processing link;

[0014] S3, the data processed by the multi-source perception information processing link is input into the perception information consistency expression model, the information consistency expression model includes: consistency expression model of non-electrical perception information such as temperature, pressure and wind speed; S4, Bayesian estimation is performed on the output result of the perception information consistency expression model to obtain comprehensive perception information;

[0015] S5. Control the extraterrestrial planet atmosphere collection control device according to the comprehensive perception information.

[0016] The embodiment of the present invention provides an extraterrestrial planetary atmosphere collection control device and method for high-speed flight, wherein the sampling port is connected to the air inlet, and the air inlet is connected to each air storage channel; the air storage valve is installed at the front end of the air storage channel to control the opening and closing of the air storage channel; the air storage channel is connected to the corresponding air storage tank, and a total of six air storage channels and air storage tanks are provided, and the regulating device is provided in the air storage tank; a multi-source sensing and layered sampling control system is used to perform sampling-packaging-storage multi-layer coordinated control, and control is performed based on non-electrical quantities such as temperature, pressure and wind speed. The present invention is suitable for extraterrestrial planetary atmosphere collection tasks under high-speed flight conditions. With the help of planetary spacecraft that invade the planetary atmosphere multiple times, the multiple collection of different target gases is completed and stored and packaged separately. It can cope with the extreme temperature and pressure brought by hypersonic flight, and can maintain the state of the gas during collection, which is conducive to the detection and utilization of the gas after it is brought back to the ground. This embodiment can invade the atmosphere multiple times and take samples in the hypersonic flight state, and realizes the multiple collection, storage and packaging of gas. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 An overall appearance diagram provided for an embodiment of the present invention;

[0019] Figure 2 A cross-sectional view of the overall structure provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a single atmospheric collection process provided by an embodiment of the present invention;

[0021] Figure 4 A flow chart of extraterrestrial planetary atmosphere acquisition control integrating multi-source sensing provided in an embodiment of the present invention;

[0022] Figure 5 A sampling-packaging-storage hierarchical coordination control structure of a collection device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention will be described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention. It can be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "one", "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items. It can be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0024] The embodiment of the present invention provides an extraterrestrial planetary atmosphere collection and control device for high-speed flight, such as Figure 1-3 As shown, the front end of the outer shell 1 of the spacecraft is provided with an air inlet, the front end of the air storage tank 2 is provided with a sampling port 3, the air storage tank 2 is installed in the outer shell 1, the sampling port 3 is connected to the air inlet 4, and the air inlet 4 is connected to each air storage duct 7. Figure 2 As shown, an air inlet is provided at the top of the shell 1; the air inlet duct 4 is also installed in the shell 1, and the opening at the outward end of the air inlet duct 4 serves as the sampling port 3. The outward end of the air inlet duct 4 is inserted into the air inlet of the air inlet duct 4 from the inside to the outside, and the outer surface of the sampling port 3 is tightly fitted with the inner surface of the air inlet of the shell 1. During the sampling process, the gas enters the sampling port 3 from the air inlet of the shell 1, and is input into the air inlet duct 4 from the sampling port 3; the air storage valve 6 is installed at the front end of the air storage duct 7, and is used to control the opening and closing of the air storage duct 7; the air storage duct 7 is connected to the corresponding air storage tank 8.

[0025] Six gas tanks 8 are arranged in the gas storage box 2, and the air inlet 4 is connected to the six gas storage channels 7, and each gas storage channel 7 is connected to a gas tank 8; multiple sampling is performed during the sampling process, and the samples are stored separately in each gas tank 8 for packaging. A ball screw transmission mechanism 5 is installed in the air inlet 4, and one end of the screw of the ball screw transmission mechanism 5 is connected to the transmission mechanism of the ball screw transmission mechanism 5, and the other end is connected to the windshield slider 3-1; the ball screw transmission mechanism 5 drives the windshield slider 3-1 to move forward and backward to adjust the opening degree of the sampling port 3.

[0026] In this embodiment, Figure 1 As shown, the shell 1 is bullet-shaped and adopts a streamlined design. This shape has low air resistance and is stable in high-speed flight. The overall device adopts a non-exhaust solution to avoid interference with other onboard systems or interference with the overall aerodynamics, thereby improving the stability of the spacecraft.

[0027] The sampling port designed in this scheme is adjustable, and a ball screw transmission mechanism is used to achieve forward and backward movement. It remains closed before entering the atmosphere of an extraterrestrial planet. After the spacecraft enters the atmosphere of an extraterrestrial planet, the sampling port adjusts the opening size and shape to adapt to the atmospheric sampling requirements at different flight speeds, completing efficient gas collection and storage under different flight conditions. The ball screw transmission mechanism can achieve precise positioning and stable movement of the sampling port, improve the flexibility and adaptability of the sampling port, as well as the stability and reliability of the sampling process, which is conducive to capturing high-quality gas samples under high-speed flight conditions. Through the ball screw transmission mechanism, the sampling port can be dynamically adjusted according to real-time monitoring data during flight, thereby optimizing the sampling effect.

[0028] In this embodiment, the sampling port 3 is integrated as a part of the upstream of the air inlet 4 through an integrated design; wherein, the sampling port 3 is designed to be adjustable, and the ball screw transmission mechanism 5 is used to move forward and backward to adjust the shape and size of the opening of the sampling port 3. Multi-stage compression and isentropic compression technology are used, combined with Busemann air inlet design and streamline tracing method, and the sampling port 3 is integrated as a part of the upstream of the air inlet 4.

[0029] The sampling port in this scheme is designed as an integrated part of the upstream of the air inlet, using multi-stage compression and isentropic compression technology. The sampling port plays the role of inducing leading edge shock waves, which can establish the initial basic flow field for the fuselage outflow and the air inlet, improve the compression performance of the air inlet for the sampled atmosphere, and improve the overall efficiency of the air inlet. Combining the Busemann air inlet design and the streamline tracing method to design the inner wall of the flow tube, retaining the reference flow field characteristics of the air inlet, is conducive to effectively reducing the incoming flow Mach number at different flight speeds and increasing the gas density, static pressure and static temperature. The relationship between the streamline tracing Busemann air inlet design parameters is:

[0030] F(Ma1,CR)=G(σ,Cx,φ,η), where the parameter Ma1 is the profile design Mach number, which refers to the isentropic compression starting Mach number defined in the inlet design process; CR is the contraction ratio, which refers to the ratio of the inlet inlet area to the outlet area. If the inlet shape is irregular, it is defined as the ratio of the projection area of ​​the inlet to the perpendicular plane of the incoming flow to the outlet area; the performance parameter σ is the total pressure recovery coefficient, which refers to the ratio of the mass average total pressure at the inlet outlet to the total pressure of the incoming flow; Cx is the resistance coefficient, which is used to measure the resistance characteristics of the inlet; φ is the flow coefficient, which measures the inlet's ability to capture incoming flow; η is the pressure ratio, which refers to the ratio of the mass average static pressure of the inlet section to the static pressure of the incoming flow; F and G represent two intermediate functions in the design process, which are function tools in the intermediate links of the calculation process, and can be called the first function and the second function. In the design process, the parameters in G() determine the parameter design in F().

[0031] Each gas storage tank 8 is equipped with a gas storage sensor system 10, a regulating device and a control system, wherein the regulating device includes a thermostat 9 and a pressure regulating device; specifically, the gas storage sensor system 10 is used to monitor the pressure and temperature and other parameters in the gas storage tank in real time to ensure that the operation of the gas storage tank is within a safe and stable range. It collects data such as pressure and temperature in the gas storage tank and transmits them to the control system for analysis and processing, thereby realizing real-time monitoring and early warning of the state of the gas storage tank. The thermostat 9 can specifically adopt a heating wire of the composite aerospace equipment standard to maintain the temperature stability of the gas in the gas storage tank. Since the physical properties of the gas will change with temperature, the thermostat can maintain the state of the gas stable by adjusting the temperature inside the gas storage tank, avoiding safety problems and gas changes caused by temperature fluctuations. The pressure regulating device is used to control the pressure in the gas storage tank to ensure that it is within the set safety range. By automatically adjusting the volume of the gas in the gas storage tank, the pressure regulating device can prevent the pressure in the gas storage tank from being too high or too low, and control the pressure within the set range, thereby ensuring the stable operation and safety of the entire system.

[0032] The control system in the gas tank will receive the temperature and pressure data monitored in real time by the gas storage sensor system 10, analyze and process these data to ensure accurate understanding of the internal environment of the gas tank 8, accurately and intelligently control the adjustment device, and determine the triggering conditions of the constant temperature device 9 and the pressure adjustment device and the opening and closing time of the device.

[0033] For example: combining Figure 1 and Figure 2As shown, this embodiment is an extraterrestrial planetary atmosphere collection device for high-speed flight, including a sampling port 3, an air inlet 4, an air storage sensor system 10, a control system, an air storage valve 6, an air storage channel 7, an air storage tank 8 and an adjusting device. The sampling port 3 is connected to the air inlet 4, and the air inlet 4 is connected to each air storage channel 7; the air storage valve 6 is installed at the front end of the air storage channel 7 to control the opening and closing of the air storage channel 7; the air storage channel 7 is connected to the corresponding air storage tank 8, and the air storage tank 8 is installed in the air storage box 2; the air storage sensor system 10 and the adjusting device are arranged in the air storage tank 8, and the adjusting device includes a constant temperature device 9 and a pressure regulating device.

[0034] Combination Figure 2 and Figure 3 As shown, the sampling port 3 of this embodiment is an adjustable sampling port, which uses a ball screw transmission mechanism 5 to achieve forward and backward movement, and adjusts the size and shape of the sampling port 3 to meet the atmospheric sampling requirements at different flight speeds, ensuring that the sampling port correctly induces the leading edge shock wave and establishes the initial basic flow field in the air inlet. Figure 3 As shown, before the aircraft enters the atmosphere of an extraterrestrial planet, it is in a standby state, and the sampling port 3 remains closed; after the aircraft enters the atmosphere of an extraterrestrial planet, it is in an atmospheric intake storage state, and the ball screw transmission mechanism 5 controls the sampling port 3 to open and adjust it to a size suitable for the current flight state, and then the atmosphere flows into the air inlet 4.

[0035] Combination Figure 2 and Figure 3 As shown, the sampling port 3 and the air inlet 4 of this embodiment are designed in an integrated manner, and the inner wall of the flow tube is designed by combining the Busemann air inlet design and the streamline tracking method, so as to retain the reference flow field characteristics of the air inlet 4. Figure 3 As shown, in the process of the atmosphere passing through the sampling port 3 and the air inlet 4, the airflow is compressed, the incoming flow Mach number is reduced, the gas density, static pressure and static temperature are increased, and the gas is effectively guided and stored.

[0036] Combination Figure 2 and Figure 3 As shown, the gas storage device of this embodiment is provided with six groups in total, and the gas storage device includes a gas storage channel 7, a gas storage valve 6 and a gas storage tank 8. The gas storage valve 6 is used to control the storage state of the device. When atmospheric storage is not required, the gas storage valve is closed, and the state is the atmospheric closed state of the standby state; when atmospheric storage is required, the corresponding gas storage valve is opened, and the state is the atmospheric intake storage state. Figure 3 As shown, multiple samples are taken during the atmospheric sampling process and stored separately, and different batches of target gases are classified, stored and packaged.

[0037] Combination Figure 2 and Figure 3As shown, the gas storage tank 8 of this embodiment is equipped with a gas storage sensor system 10, a constant temperature device 9 and a control system, which can realize multi-source perception and autonomous adjustment of parameters such as temperature and pressure of the gas in the gas storage tank, ensuring the safety of the atmospheric storage and packaging process. Figure 3 As shown, during the sampling and storage process, the gas storage sensor system 10 in the gas storage tank feeds back the gas state, and the constant temperature device 9 completes the gas packaging after evaluating and analyzing the multi-source sensing information on the device such as temperature and pressure to ensure that the gas state is stable and safe.

[0038] This embodiment also provides a control method applied to the extraterrestrial planet atmosphere collection control device, including:

[0039] S1, the gas storage sensing system 10 collects the measurement data inside the gas storage tank 8, and the gas storage sensing system 10 includes a temperature sensor, a pressure sensor and a wind speed sensor;

[0040] S2, the control system runs a multi-source perception information processing link, and the multi-source perception information processing link includes a front-end preprocessing link and a back-end processing link;

[0041] S3, the data processed by the multi-source perception information processing link is input into the perception information consistency expression model, the information consistency expression model includes: a temperature perception information consistency expression model, a pressure perception information consistency expression model and a wind speed perception information consistency expression model;

[0042] S4, performing Bayesian estimation on the output result of the perception information consistency expression model to obtain comprehensive perception information;

[0043] S5. Control the extraterrestrial planetary atmosphere collection control device according to the comprehensive sensing information. The comprehensive sensing information is received by the atmosphere sampling-packaging-storage control system to determine whether and when to perform atmospheric sampling, sampling port scale adjustment, gas storage valve opening, atmosphere packaging, and tank gas state adjustment operations.

[0044] The collection scheme of this embodiment is to collect and store gas by invading the atmosphere multiple times in orbit by planetary spacecraft. Multi-source perception and hierarchical sampling control system are used for sampling-packaging-storage multi-layer coordinated control. Through multi-source perception and hierarchical control technology, single-layer control and coordinated control between layers of sampling, packaging and storage tasks are performed based on hybrid intelligent control structure. Combined with the perception information fusion and dynamic detection method based on Kalman filtering, abnormal data is automatically detected and eliminated, and the perception information is weighted to ensure accuracy and reliability, and it is dynamically weighted to determine the best time for operation. The environmental condition perception before sampling and the gas state adjustment process in the gas tank after packaging use the adaptive unscented Kalman filtering algorithm with noise adaptive nonlinear prediction estimation method to estimate the time-varying parameters of the perception information in real time. Then, based on the Bayesian estimation theory, the multi-source perception information with consistent expression characteristics is fused to obtain the optimal comprehensive perception solution to ensure the accuracy of the acquired multi-source perception information and adjustment operations.

[0045] For example: Combine Figure 4 and Figure 5 As shown, this embodiment adopts multi-source perception and hierarchical control technology, and performs single-layer control and coordinated control between layers for sampling, packaging and storage tasks based on a hybrid intelligent control structure. Combined with the perception information fusion and dynamic detection method based on Kalman filtering, the credibility of the perception information is automatically detected and abnormal data is eliminated, and the perception information is weighted to ensure accuracy and reliability, and dynamically weighted to determine the best time for operation. Figure 4 This implementation method is described. In this implementation method, the environmental condition perception before sampling and the gas state adjustment process in the gas tank after packaging are estimated in real time by the adaptive unscented Kalman filter algorithm with noise adaptive nonlinear prediction estimation method. Then, based on the Bayesian estimation theory, the multi-source perception information with consistent expression characteristics is fused to obtain the optimal comprehensive perception solution, ensuring the accuracy of the obtained multi-source perception information and adjustment operations.

[0046] Among them, the front-end preprocessing link includes: information filtering, data diagnosis and filter performance evaluation of the measurement data in sequence; the front-end preprocessing link ensures that the extraterrestrial planetary atmosphere collection and control device can provide accurate and reliable data, providing support for subsequent scientific analysis and precise control of the control system.

[0047] Specifically, information filtering is an estimation theory that uses a series of measurement data containing noise to estimate the state of a dynamic system. In an extraterrestrial planetary atmosphere acquisition and control device, information filtering is used to extract useful information from sensor data and reduce the influence of noise and errors. The information filtering link in this embodiment can use a Kalman filter, which is a commonly used information filtering technology. It estimates the state of a linear dynamic system through a recursive algorithm and can be used to estimate and correct sensor data to obtain more accurate system state information.

[0048] Data diagnosis refers to the process of quality control and anomaly detection of collected data, including checking data consistency, identifying and processing outliers or erroneous data points. In the extraterrestrial planetary atmosphere acquisition and control device, data diagnosis can ensure that only high-quality data is used for subsequent analysis. The data diagnosis link in this embodiment includes multi-platform quality control and platform-specific quality control to ensure the accuracy and reliability of the data. Specifically, the data diagnosis of the Gaussian model can be used to estimate the probability density function of the data and compare it with the threshold to identify abnormal data points.

[0049] Filter performance evaluation involves evaluating the effect of the applied filter to ensure that it achieves the expected noise reduction and signal retention effect, including evaluating the stability, accuracy and response time of the filter. The filter performance link in this embodiment includes: In extended information filtering (EIF), performance evaluation can be completed by comparing the data before and after filtering to evaluate the improvement of the filter on the signal. In addition, the performance of the filter can be evaluated by calculating the variance of the filtering error. In the Kalman filter, the calculation of the error variance is an important part of performance evaluation.

[0050] Specifically, in the process of establishing the information consistency expression model, the sensor model of the gas storage sensor system 10 is x i =x ture +∈ i , where the sensing information comes from N sensors in the gas storage sensing system 10, and the initial observation value of the sensor is T i , x i Represents the recorded measurement value of the i-th sensor, and the measurement error of the sensor is ∈ i , i represents the sensor number, x ture is real data, the real data includes temperature data, pressure data and wind speed data; establishes spatiotemporal constraints for the sensor model, wherein the historical data {x t-1 ,x t ,x t+1 The time consistency constraints established include:

[0051] α+β+γ=1,xt represents the actual measured value at time t, Represents the estimated value at time t, t represents time, α, β, γ represent the first to third smoothing factors, which are used to combine historical and current sensor data to estimate the actual value at the current moment; data gradient is used to measure spatial consistency constraints: d i+1,i is the sensor distance; establish the information consistency expression model: Among them, λ t ,λ s Respectively represent the time consistency weight factor and the space consistency weight factor, ω i Represents the confidence coefficient of the perception information of the i-th sensor, which is used to reflect the reliability of the sensor, ω i represents the confidence coefficient, It represents the estimated value of the data after comprehensive consideration.

[0052] The back-end processing link includes: allocating confidence coefficients for the measurement data that has passed the front-end pre-processing link, and then estimating time-varying parameters and extracting key parameters.

[0053] Specifically, the process of allocating confidence coefficients for the measurement data after the front-end preprocessing step includes: based on the error variance σ i 2 Distribution confidence coefficient ω i , σ i and σ j Represents two standard deviations, and j represents a reference in the cyclic calculation. In practical applications, Kalman filtering is used to recursively estimate dynamic parameters, where the prediction steps are:

[0054] Update steps: x is the state estimate, A is the state transfer matrix, B is the control input matrix, u is the control input or external action, P is the error covariance matrix, Q is the process noise covariance matrix, K is the Dahlmann gain, H is the observation matrix, and z is the actual observation value. The subscript "k" represents the time, and the subscript "k|k-1" means that before time k, the prediction is made based on the information at time k-1, and R represents the observation noise covariance matrix.

[0055] Adjust system status Track time-varying parameters. The key parameter extraction method to filter important information is to use principal component analysis (PCA) to extract key parameters. Among them, the covariance matrix is ​​calculated: Find the eigenvalues ​​and eigenvectors, and select the eigenvector V corresponding to the largest m eigenvalues m , Represents the mean vector of the data set, that is, the average value of all samples. It extracts the main information through dimensionality reduction, reduces redundancy, and improves fusion efficiency.

[0056] For example, the gas storage sensor system, regulating device and control system are configured in the acquisition device. Through the evaluation and analysis of multi-source sensing information such as temperature and pressure, the precise control of each link of atmospheric collection and storage under different flight conditions and the autonomous adjustment of parameters such as temperature and pressure of the gas in the gas tank can be realized, so as to ensure the efficiency and safety of the atmospheric packaging and storage process. The designed multi-source sensing and hierarchical control performs single-layer control and coordinated control between layers of sampling, packaging and storage tasks based on the hybrid intelligent control structure. The system integrates multiple sensors to collect multi-dimensional information of the environment and the gas state in the gas tank to ensure the diversity and accuracy of information. Kalman filtering technology is used to perform real-time fusion and dynamic detection of sensing information. When the system detects a sudden change in sensing information caused by a certain sensor, or there is a significant difference between the data of a certain sensor and other sensors, the system will issue an alarm. After identifying abnormal data, the system can automatically detect and eliminate the data of the sensor to ensure that only reliable information is used for subsequent decisions. Based on the data of the remaining sensors, the system will use a weighted processing method to dynamically adjust the weight of each sensor to ensure the accuracy and reliability of the fused information. At the same time, through dynamic weighting, the system can judge and determine the best operation time, thereby optimizing the sampling, packaging and storage process. Close coordination is achieved between the control modules at each level to ensure that the control strategies at different levels cooperate with each other to adapt to complex task requirements and dynamically changing environmental conditions. Through the above mechanism, the present invention ensures the authenticity and reliability of the perceived information, improves the system's ability to respond to emergencies, optimizes the overall control effect, and improves the efficiency and safety of the sampling, packaging and storage tasks.

[0057] In practical applications, the environmental condition perception before sampling and the gas state regulation process in the gas tank after packaging are estimated in real time through the adaptive unscented Kalman filter algorithm (AUKF), a nonlinear prediction estimation method with noise adaptability. Then, based on the Bayesian estimation theory, the multi-source perception information with consistent expression characteristics is fused to obtain the optimal comprehensive perception solution to ensure the accuracy of the acquired multi-source perception information and regulation operations. The steps of AUKF include initialization, Sigma point selection, prediction and update, and the process noise covariance and observation noise covariance are dynamically updated by observing the prediction error. Bayesian estimation obtains the optimal estimate of the parameter through Bayesian decision making to minimize the total expected risk. The steps include determining the prior distribution p(θ) of the parameter θ, obtaining the sample joint distribution p(D|θ) from the sample set D, and using the Bayesian formula to obtain the posterior distribution P(θ|D) of the parameter, and finally obtaining the Bayesian estimate. The Bayesian formula is as follows:

[0058]

[0059] Through such modeling and fusion processing methods, the accuracy of multi-source perception information and the effectiveness of adjustment operations are ensured, thereby improving the performance and reliability of the entire system.

[0060] The collection device of this embodiment adopts a non-exhaust solution and does not provide an exhaust pipe, thereby further simplifying the complexity of the structure. In the non-exhaust solution of the present invention, the gas storage channel structure is provided with a gas storage valve to realize the function of batch sampling and storage, taking into account the atmospheric air intake storage state and the standby state. In the atmospheric standby state, there is no need for atmospheric packaging storage. At this time, the gas storage valve is closed to ensure that the atmosphere does not enter the gas storage channel. The closing of the gas storage valve can prevent the external atmosphere from entering the gas storage channel, protect the internal system from the influence of external conditions, and improve the stability and reliability of the system. In the atmospheric air intake storage state, the corresponding gas storage valve is opened, and the gas enters the corresponding gas storage tank. Multiple gas storage channels are provided to facilitate the safe and classified storage and packaging of target gases in different batches, ensure efficient sampling and safe storage of the collection device, and facilitate the analysis and utilization of the gas after it is transmitted back to the ground.

[0061] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A high-speed flying extraterrestrial planetary atmosphere collection and control device, characterized in that: An air inlet is provided at the front end of the outer shell (1) of the spacecraft, a sampling port (3) is provided at the front end of the air storage box (2), and the air storage box (2) is installed in the outer shell (1); an air inlet is provided at the top end of the outer shell (1); The air inlet (4) is also installed in the housing (1). The opening of the outward end of the air inlet (4) serves as the sampling port (3). The outward end of the air inlet (4) is inserted into the air inlet of the air inlet (4) from the inside to the outside, and the outer surface of the sampling port (3) is closely fitted with the inner surface of the air inlet of the housing (1). The air inlet (4) is connected to each gas storage channel (7). During the sampling process, the gas enters the sampling port (3) from the air inlet of the housing (1), and is input into the air inlet (4) from the sampling port (3). The gas storage valve (6) is installed at the front end of the gas storage channel (7) and is used to control the opening and closing of the gas storage channel (7); The air storage channel (7) is connected to a corresponding air storage tank (8).

2. The high-speed flying extraterrestrial planetary atmosphere collection and control device according to claim 1, characterized in that: Six air storage tanks (8) are arranged in the air storage box (2), the air inlet passage (4) is connected to the six air storage passages (7), and each air storage passage (7) is connected to an air storage tank (8); During the sampling process, multiple samplings are performed, and the samples are stored separately in various gas storage tanks (8) for packaging.

3. The high-speed flying extraterrestrial planetary atmosphere collection and control device according to claim 1, characterized in that: A ball screw transmission mechanism (5) is installed in the air inlet duct (4), one end of the screw of the ball screw transmission mechanism (5) is connected to the transmission mechanism of the ball screw transmission mechanism (5), and the other end is connected to the windshield slider (3-1); The ball screw transmission mechanism (5) drives the wind shielding slider (3-1) to move forward and backward to adjust the opening degree of the sampling port (3).

4. The high-speed flying extraterrestrial planetary atmosphere collection and control device according to claim 3, characterized in that: The sampling port (3) is integrated into the upstream portion of the air inlet duct (4); The integrated design includes: determining the design parameters of the sampling port (3) by streamline tracing the Busemann inlet design parameter model, wherein F(Ma1,CR)=G(σ,Cx,φ,η), the parameter Ma1 is the surface design Mach number, which refers to the isentropic compression starting Mach number defined in the inlet design process; CR is the contraction ratio, which refers to the ratio of the inlet inlet area to the outlet area. If the inlet shape is irregular, it is defined as the ratio of the projected area of ​​the inlet to the vertical plane of the incoming flow to the outlet area; the performance parameter σ is the total pressure recovery coefficient, which refers to the ratio of the mass average total pressure at the inlet outlet to the incoming flow total pressure; Cx is the resistance coefficient, which is used to measure the resistance characteristics of the inlet; φ is the flow coefficient, which measures the inlet's ability to capture the incoming flow; η is the pressure ratio, which refers to the ratio of the mass average static pressure of the inlet section to the incoming flow static pressure; F and G represent two intermediate functions in the design process.

5. The high-speed flying extraterrestrial planetary atmosphere collection and control device according to claim 3, characterized in that: Each gas storage tank (8) is equipped with a gas storage sensor system (10), a regulating device and a control system, wherein the regulating device includes a constant temperature device (9) and a pressure regulating device; The control system in the gas storage tank receives the temperature and pressure data monitored in real time by the gas storage sensor system (10), and analyzes and processes the data; the control system is also used to determine the triggering conditions of the thermostatic device (9) and the pressure regulating device and the opening and closing time of the devices.

6. The high-speed flying extraterrestrial planetary atmosphere collection and control device according to claim 1, characterized in that: The housing (1) is bullet-shaped and adopts a streamlined design.

7. A high-speed flying extraterrestrial planetary atmosphere acquisition control method, comprising: S1, a gas storage sensing system (10) collects measurement data inside the gas storage tank (8), the gas storage sensing system (10) comprising a temperature sensor, a pressure sensor and a wind speed sensor; S2, the control system runs a multi-source perception information processing link, and the multi-source perception information processing link includes a front-end preprocessing link and a back-end processing link; S3, the data processed by the multi-source perception information processing link is input into the perception information consistency expression model; S4, performing Bayesian estimation on the output result of the perception information consistency expression model to obtain comprehensive perception information; S5. Control the extraterrestrial planet atmosphere collection control device according to the comprehensive perception information.

8. The method according to claim 7, characterized in that The front-end preprocessing step includes: performing information filtering, data diagnosis and filter performance evaluation on the measurement data in sequence; The back-end processing link includes: allocating confidence coefficients for the measurement data that has passed the front-end pre-processing link, and then estimating time-varying parameters and extracting key parameters.

9. The method according to claim 7, characterized in that: In the process of establishing the information consistency expression model, the sensor model of the gas storage sensor system (10) is x i =x ture +∈ i , where the sensing information comes from N sensors in the gas storage sensing system (10), and the sensor measurement error is ∈ i , i represents the sensor number, x ture is real data, and the real data includes temperature data, pressure data and wind speed data; Establishing spatiotemporal constraints for the sensor model, using historical data {x t-1 ,x t ,x t+1 The time consistency constraints established include: α+β+γ=1,x t represents the actual measured value at time t, Represents the estimated value at time t. Parameters with the symbol "^" are estimated values ​​of parameters without this symbol. t represents time. α, β, and γ represent the first to third smoothing factors, which are used to combine historical and current sensor data to estimate the actual value at the current moment. The data gradient is used to measure the spatial consistency constraint: d i+1,i is the sensor distance; Establish the information consistency expression model: Among them, λ t ,λ s Respectively represent the temporal consistency weight factor and the spatial consistency weight factor, ω i Represents the confidence coefficient of the perception information of the i-th sensor, which is used to reflect the reliability of the sensor, ω i represents the confidence coefficient, represents the estimated value of the data after comprehensive consideration, x i represents the measurement value of the i-th sensor.

10. The method according to claim 7, characterized in that The process of allocating confidence coefficients for the measurement data after the front-end preprocessing step includes: Based on the error variance σ i 2 Distribution confidence coefficient ω i , σ i and σ j represents two standard deviations, and j represents a reference in the circular calculation.

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