Satellite digital simulation platform and method

Abstract

The invention provides a satellite digital simulation platform and a satellite digital simulation method, which are characterized in that forward step-by-step derivation is carried out from user application purposes such as system efficiency evaluation, algorithm parallel verification, large-scale system comprehensive docking and the like on the basis of a framework of capability, system functions and functions around a multi-user and multi-purpose digital simulation model delivery demand in the current satellite field; six system-level functions such as simulation control, virtual-real interaction, a time chain and a precision chain are formed, nine professional functions such as electric heat balance, remote control and telemetering, inter-satellite data transmission and load simulation are refined and decomposed around the six system functions, a satellite simulation model capability architecture which is consistent in understanding, complete in content and feasible in technology is formed, reference is provided for development of a satellite digital simulation model, and the development of the satellite digital simulation model is facilitated. And digital transformation in the spaceflight field is assisted.

Description

Technical Field

[0001] The present invention belongs to the field of digital simulation model module architecture design, and specifically, relates to a satellite digital simulation platform and method, and more particularly to a satellite digital simulation model capability architecture. Background Art

[0002] At present, with the continuous advancement and development of equipment digitalization, satellite digital simulation models are playing an increasingly important role in ensuring the reliability and safety of satellites. They are an important means to simulate satellite in-orbit operation and mission execution in a ground environment and to ensure the stable operation of satellites in a complex space environment.

[0003] Patent document CN116306039B (China authorized invention) discloses a fully digital simulation platform for a satellite measurement and control subsystem, including a simulation system and a hardware layer. The hardware layer is used to support the operation of the simulation system, and the simulation system is used to perform fully digital simulation of the satellite measurement and control subsystem. The simulation system includes: a data layer, which provides data for the simulation operation of the simulation system; a business service layer, which provides visualization scenes, visibility and constraints for the satellite measurement and control platform and the satellite-to-ground measurement and control link; and a business application layer, which performs simulation applications of the satellite measurement and control subsystem.

[0004] Patent document CN111447025B (China Authorized Invention) discloses a system-level simulation platform for satellite mobile communications, namely a construction method. The architecture of the simulation platform includes a storage management layer, a configuration management layer, an intermediate adaptation layer and a statistical analysis layer. The construction method is: construct a system-level simulation platform architecture for satellite mobile communications; analyze the configuration management model of the simulation platform according to the simulation platform architecture; model the core communication nodes, generate satellite models, terminal node models and gateway models; and design the workflow of the simulation platform.

[0005] Currently, there is a lack of unified understanding among all parties regarding satellite digital simulation models. There are problems such as incomplete multidisciplinary joint simulation requirements, inconsistent understanding, and mismatch between engineering goals and feasibility. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a satellite digital simulation platform and method.

[0007] A satellite digital simulation platform provided according to the present invention includes a system function module, wherein the system function module includes: a simulation control module, a virtual-real interaction module, a time chain module, a precision chain module, an information chain module, and a fault mode module;

[0008] The simulation control module performs model configuration, scene construction and progress control, and supports the simulation of the operating rules and characteristics of the real system in the virtual world;

[0009] The virtual-reality interaction module: provides data and collaboration feedback capabilities, and drives and optimizes models based on real-installation data;

[0010] The time chain module calculates the whole satellite mission delay according to the mission execution delay;

[0011] The precision chain module calculates the precision of the whole satellite simulation model according to the precisions of different modes given by each subsystem;

[0012] The information chain module: performs simulation of information generation, transmission and processing;

[0013] The fault mode module simulates possible fault conditions that may occur during actual installation by setting different fault parameters and conditions, and verifies fault resolution methods through a satellite simulation model, including electric heating system fault, orbit attitude control fault, communication system fault, and payload system fault.

[0014] Preferably, in the simulation control module: initialization parameter configuration is performed; simulation step control of simulation state changing over time is performed; time system parameter configuration is performed; and data collection of simulation state and model events inside the model is completed, and transmission interaction of data such as environment, target and control instructions is performed with the outside of the model.

[0015] Preferably, in the virtual-reality interaction module: access to the actual installation operation control system is performed according to the actual installation protocol and the actual installation operation control instructions are responded to, and the actual installation control strategy is generated through the simulation model deduction results; the actual installation data is received and injected into the digital model, the model initialization is completed, the visibility of the actual installation data is enhanced, the parallel evolution capability of the equipment is realized, and the model is corrected according to the measured data to improve the model realism.

[0016] Preferably, in the time chain module: during the model simulation process, the task execution delay given by each subsystem is calculated according to the actual parallel or serial order to obtain the whole satellite mission delay, and the specific delay information includes the detection process delay, the payload on-board processing delay, and the data on-board-to-ground transmission delay.

[0017] Preferably, the functional modules for the system functional modules to call include: thermal balance simulation module, power balance simulation module, remote control and telemetry module, intersatellite data transmission module, payload simulation module, mission planning module, on-board processing module, platform and rotating parts dynamic control simulation module, and two- and three-dimensional model module.

[0018] Preferably, the thermal balance simulation module: according to the data of the installed thermal simulation software, combined with the correction of the on-orbit data, fits the empirical formula to simulate the temperature changes of each component under different working conditions, and can control the temperature through the heater switch command;

[0019] The power balance simulation module controls the power system to provide power to the power-consuming unit in different stages to meet its power demand, and ensures that the consumption and replenishment of the battery energy in a cycle are balanced;

[0020] The remote control and telemetry module simulates the communication process between the ground control station and the satellite;

[0021] The inter-satellite data transmission module is used to simulate the process of transmitting payload data and communicating with other satellites.

[0022] The payload simulation module simulates the physical characteristics, working principles, and information transmission methods of different payloads on the satellite;

[0023] The mission planning module: calculates the on-board mission planning results according to the execution process and timing consistent with the real satellite, simulates the execution process of the execution strategy, the mission conflict resolution mechanism, and the timing, wherein the autonomous mission planning algorithm is consistent with the on-board algorithm, and the mission planning algorithm can be upgraded and updated;

[0024] The on-board processing module: generates scene information according to rules and processes and outputs target data;

[0025] The platform and rotating parts dynamics control simulation module is used to perform platform on-orbit flight and orbital dynamics simulation, platform attitude control and dynamics simulation, rotating parts control simulation and space pointing calculation;

[0026] The 2D and 3D model module: keeps the 3D appearance of the model consistent with the real star, coordinate system definition and satellite layout Figure 1 It shows the different postures of the subsystem components and the rotating parts under drive.

[0027] Preferably, the platform on-orbit flight and orbital dynamics simulation includes high-precision orbital simulation and dynamics simulation of actual thruster installation positions and angles;

[0028] The platform attitude control and dynamics simulation includes simulation of attitude dynamics, sensors, controllers, and actuators, specifically simulation of on-board attitude maneuvering process, sensor error model, actuator control instructions, and control torque;

[0029] The rotating component control simulation and space pointing calculation include responding to attitude and orbit control, integrated electrical control and other control instructions to complete the angular steering of the rotating component, and calculating the vector information of the rotating component's optical axis and pointing axis in the inertial system according to the current platform position, attitude and component rotation angle.

[0030] According to a satellite digital simulation method for user application purposes provided by the present invention, simulation is performed using the satellite digital simulation platform.

[0031] Preferably, it includes:

[0032] System effectiveness evaluation steps;

[0033] Algorithm parallel verification steps;

[0034] Steps for comprehensive docking of large systems.

[0035] Preferably, in the system effectiveness evaluation step, a comprehensive analysis and evaluation is performed on the capabilities, performance and effects of the satellite in completing the mission;

[0036] In the algorithm parallel verification step, the on-board algorithm is tested and evaluated; the accuracy, stability, correctness and effectiveness of the algorithm execution process are verified by building a test environment and preparing real or simulated data of a real satellite for testing, and the verification results are analyzed, and the algorithm is optimized and iterated by adjusting algorithm parameters and improving algorithm structure;

[0037] In the step of comprehensive docking of the large system, data interaction is carried out with multiple systems such as the platform, measurement, operation and control in the user simulation large system to achieve organic integration and efficient operation of the business; by defining the interface specifications between systems, agreeing on the parameters, data format and communication methods of the interface, real-time data transmission and joint collaboration between systems are supported.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The present invention solves the problems of inconsistent understanding of satellite digital simulation models and uneven functional requirements, standardizes a satellite digital simulation model capability architecture, clarifies the construction goals and directions of satellite digital simulation models, and reduces the probability of potential risks and problems such as poor technical feasibility and low market acceptance.

[0040] 2. Through in-depth analysis of user needs, the present invention decomposes system functions and professional functions step by step, covering key requirements of satellite digital simulation model construction such as model precision, accuracy, and availability, and can be used as a reference for the development of satellite digital simulation models.

[0041] 3. The present invention conducts an in-depth analysis on the functional requirements of satellite digital simulation models, has good applicability and standardization, and can be used as a guiding document for the design and development of satellite digital simulation models, and can be used as a reference for the development of satellite digital simulation models. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0043] Figure 1 It is a schematic diagram of the functional hierarchical structure of the satellite digital simulation model of the present invention. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] like Figure 1 As shown, a satellite digital simulation platform is provided according to the present invention, wherein the capability architecture of the satellite digital simulation platform includes capabilities, system functions, and a functional framework. Starting from user application purposes such as system performance evaluation, parallel verification of algorithms, and integrated docking of large systems, it is forwardly deduced step by step to form six system-level functional modules such as simulation control, virtual-reality interaction, time chain, precision chain, information chain, and failure mode. Around the six system functions, nine sub-professional functional modules such as thermal balance simulation, power balance simulation, remote control and telemetry, inter-satellite data transmission, payload simulation, mission planning, on-board processing, dynamic control simulation of platforms and rotating parts, and two- and three-dimensional models are further decomposed to form a satellite simulation model functional system with consistent understanding, complete content, and technical feasibility.

[0046] The system effectiveness evaluation in user application purposes refers to the comprehensive analysis and evaluation of the capabilities, performance and effects of the satellite in the process of completing the mission. By constructing an evaluation index system including information effectiveness, reaction capability, maneuverability, etc., using evaluation algorithms such as hierarchical analysis method, grey correlation method, principal component analysis method, etc., the evaluation indicators are quantitatively calculated and analyzed, and the advantages and disadvantages of equipment are scientifically evaluated to provide a professional basis for mission decision-making. The capability requirements for satellite digital simulation models include flexible scenario configuration capabilities, mission indicator simulation collection capabilities, timeliness responsiveness indicator simulation collection capabilities, and resource utilization indicator simulation collection capabilities.

[0047] The algorithm parallel verification mentioned in user application purposes refers to the detailed testing and evaluation of on-board algorithms such as navigation algorithms and image processing algorithms. By building a test environment that is consistent or similar to the actual satellite operating environment and preparing real or simulated data of the actual satellite for testing, the accuracy, stability of the algorithm, and the correctness and effectiveness of the algorithm execution process are verified, and the verification results are analyzed. The algorithm is optimized and iterated by adjusting algorithm parameters and improving algorithm structure. The capability requirements for satellite digital simulation models include algorithm validity verification, algorithm consistency verification, virtual and real data comparison capabilities, and parameter sensitivity analysis capabilities.

[0048] The large system integrated docking mentioned in user application purposes refers to data interaction with multiple systems such as the platform, measurement, operation and control in the user simulation large system to achieve organic integration and efficient operation of the business. By defining the interface specifications between systems, agreeing on the parameters, data format and communication methods of the interface, it supports real-time data transmission and joint collaboration between systems. The capability requirements for satellite digital simulation models include model accuracy and reliability, model compatibility and consistency, model time synchronization, and target environmental impact analysis capabilities.

[0049] System functions refer to the system-level basic functions proposed for the satellite digital simulation model around three user application purposes, including simulation control, virtual-reality interaction, time chain, precision chain, information chain, and failure mode, a total of six functional requirements.

[0050] 1. The simulation control refers to the configuration of initialization parameters such as orbit, attitude, and single-machine working status after the satellite digital simulation model is connected to the platform; simulation step control of the simulation state changing over time; configuration of time system parameters such as the current moment and simulation magnification; and the completion of data collection of simulation state and model events inside the model, and the transmission and interaction of data such as environment, target, and control instructions with the outside of the model. Simulation control is the main means of model configuration, scene construction, and progress control, and supports the simulation of the operating laws and characteristics of the real system in the virtual world.

[0051] 2. The virtual-reality interaction refers to the data and collaborative feedback capability and the model driving and optimization capability based on actual installation data. The data and collaborative feedback capability refers to accessing the actual installation operation control system in accordance with the actual installation protocol and responding to the actual installation operation control instructions, and generating the actual installation control strategy through the simulation model deduction results; the model driving and optimization capability based on actual installation data refers to receiving the actual installation data and injecting it into the digital model, completing the model initialization, enhancing the visibility of the actual installation data, realizing the parallel evolution capability of the equipment, and correcting the model according to the measured data to improve the model realism.

[0052] 3. The time chain refers to the task execution delay caused by transmission, processing, queuing, etc. In the model simulation process, the task execution delay is given by each subsystem, and the whole satellite mission delay is calculated according to the actual parallel or serial order. The specific delay information includes the detection process delay, the payload on-board processing delay, and the data on-board and satellite-to-ground transmission delay.

[0053] 4. The accuracy chain refers to calculating the accuracy of the whole satellite simulation model based on the accuracy of each subsystem in different modes and the error transfer model.

[0054] 5. The information chain refers to the model's simulation of information generation, transmission, and processing, including telemetry and remote control data transmission capabilities, payload data transmission functions, and inter-satellite data transmission functions.

[0055] 6. The failure mode refers to simulating possible failure conditions that may occur in actual installation by setting different failure parameters and conditions, and verifying the failure resolution method through the satellite simulation model. The main failure simulations include electric heating system failure, orbit attitude control failure, communication system failure, and payload system failure.

[0056] Sub-professional functions refer to the functional requirements of sub-professional fields based on the detailed analysis of 6 system functions, including thermal balance simulation, power balance simulation, remote control and telemetry, inter-satellite data transmission, payload simulation, mission planning, on-board processing, dynamic control simulation of platforms and rotating parts, and two- and three-dimensional models, a total of 9 functional requirements.

[0057] 1. The thermal balance simulation refers to fitting an empirical formula based on the actual thermal simulation software data and combined with the on-orbit data correction to simulate the temperature changes of each component under different working conditions, and the temperature can be controlled through the heater switch command.

[0058] 2. The power balance simulation refers to the power system providing power to the power-consuming units in different stages to meet their power demand, while ensuring that the battery energy consumption and replenishment are balanced within a cycle. Specifically, it includes the solar array drive and sailboard photoelectric conversion simulation function, the energy load simulation function of different working modes of each subsystem, and the on-board circuit and energy system charging, discharging and balance control simulation function.

[0059] 3. The remote control and telemetry mentioned above refers to the communication process between the ground control station and the satellite, including the telemetry data generation and collection function, downlink telemetry frame generation function, telemetry link establishment simulation function, remote control link establishment simulation function, remote control frame analysis and distribution function, and remote control command execution function.

[0060] 4. The intersatellite data transmission refers to the process of transmitting payload data and communicating with other satellites, including data transmission storage simulation function, ground data transmission link establishment simulation function, data transmission data frame simulation function, intersatellite laser communication link establishment simulation function, microwave communication link establishment simulation function, intersatellite data simulation function, intersatellite data frame generation function, broadcast distribution data simulation function, broadcast distribution data simulation function, and broadcast distribution data frame generation function.

[0061] 5. The payload simulation refers to the simulation of the physical characteristics, working principles, and information transmission methods of different payloads on the satellite. Specifically, it refers to the calculation of the payload working conditions based on the real-time status information such as satellite orbit, attitude, payload on / off status, payload working mode, and other basic satellite parameter information such as field of view and payload characteristics, as well as the real-time scene information provided by the simulation system, and the mapping of payload capacity indicators by establishing precision models, empirical formulas, or tables.

[0062] 6. The mission planning refers to the calculation of the on-board mission planning results, simulation of the execution process of the execution strategy, mission conflict resolution mechanism, and timing functions in accordance with the execution process and timing of the real satellite. The autonomous mission planning algorithm of the simulation model is consistent with the on-board algorithm, and the mission planning algorithm can be upgraded and updated.

[0063] 7. The on-board processing refers to simulating and generating scene information according to rules, and processing and outputting target data, including time, target longitude and latitude, target slice data, etc.

[0064] 8. The dynamic control simulation of the platform and rotating parts includes the platform's on-orbit flight and orbital dynamics simulation function, the platform's attitude control and dynamics simulation function, and the rotating part control simulation and space pointing calculation function. The platform's on-orbit flight and orbital dynamics simulation function refers to high-precision orbit simulation, as well as dynamics simulation of the actual thruster installation position and angle; the platform's attitude control and dynamics simulation function simulates attitude dynamics, sensors, controllers, and actuators, specifically simulating the on-board attitude maneuvering process, sensor error model, actuator control instructions, control torque, etc.; the rotating part control simulation and space pointing calculation function refers to responding to attitude and orbit control, integrated electrical and other control instructions to complete the angular steering of the rotating part, and can calculate the rotating part's optical axis and pointing axis vector information in the inertial system based on the current platform position, attitude, and component rotation angle.

[0065] 9. The two-dimensional and three-dimensional model requires that the three-dimensional appearance of the model is consistent with the real satellite, and the coordinate system definition is consistent with the satellite layout. Figure 1 It can visually display the subsystem composition and the different postures of the rotating parts under drive.

[0066] The present invention also provides a satellite digital simulation method for user application purposes, which uses the satellite digital simulation platform for simulation, including: system performance evaluation step; algorithm parallel verification step; large system comprehensive docking step.

[0067] In the system effectiveness evaluation step, the capabilities, performance and effects of the satellite in completing the mission are comprehensively analyzed and evaluated;

[0068] In the algorithm parallel verification step, the on-board algorithm is tested and evaluated; the accuracy, stability, correctness and effectiveness of the algorithm execution process are verified by building a test environment and preparing real or simulated data of a real satellite for testing, and the verification results are analyzed, and the algorithm is optimized and iterated by adjusting algorithm parameters and improving algorithm structure;

[0069] In the step of comprehensive docking of the large system, data interaction is carried out with multiple systems such as the platform, measurement, operation and control in the user simulation large system to achieve organic integration and efficient operation of the business; by defining the interface specifications between systems, agreeing on the parameters, data format and communication methods of the interface, real-time data transmission and joint collaboration between systems are supported.

[0070] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A satellite digital simulation platform, characterized in that: It includes system function modules, wherein the system function modules include: simulation control module, virtual-real interaction module, time chain module, precision chain module, information chain module, and failure mode module; The simulation control module performs model configuration, scene construction and progress control, and supports the simulation of the operating rules and characteristics of the real system in the virtual world; The virtual-reality interaction module: provides data and collaboration feedback capabilities, and drives and optimizes models based on real-installation data; The time chain module calculates the whole satellite mission delay according to the mission execution delay; The precision chain module calculates the precision of the whole satellite simulation model according to the precisions of different modes given by each subsystem; The information chain module: performs simulation of information generation, transmission and processing; The fault mode module simulates possible fault conditions that may occur during actual installation by setting different fault parameters and conditions, and verifies fault resolution methods through a satellite simulation model, including electric heating system fault, orbit attitude control fault, communication system fault, and payload system fault.

2. The satellite digital simulation platform according to claim 1, characterized in that: In the simulation control module: initialization parameter configuration is performed; simulation step control of simulation state changing over time is performed; time system parameter configuration is performed; and data collection of simulation state and model events inside the model is completed, and data transmission and interaction of environment, target, and control instruction data are performed with the outside of the model.

3. The satellite digital simulation platform according to claim 1, characterized in that: In the virtual-reality interaction module: access the actual installation operation control system according to the actual installation protocol and respond to the actual installation operation control instructions, generate the actual installation control strategy through the simulation model deduction results; receive the actual installation data and inject it into the digital model, complete the model initialization, enhance the visibility of the actual installation data, realize the parallel evolution capability of the equipment, and correct the model according to the measured data to improve the model realism.

4. The satellite digital simulation platform according to claim 1, characterized in that: In the time chain module: during the model simulation process, the task execution delay given by each subsystem is calculated according to the actual parallel or serial order to obtain the whole satellite mission delay. The specific delay information includes the detection process delay, the payload on-board processing delay, and the data on-board to ground transmission delay.

5. The satellite digital simulation platform according to claim 1, characterized in that: It includes functional modules for the system functional modules to call: thermal balance simulation module, power balance simulation module, remote control and telemetry module, intersatellite data transmission module, payload simulation module, mission planning module, on-board processing module, platform and rotating parts dynamics control simulation module, and two- and three-dimensional model module.

6. The satellite digital simulation platform according to claim 5, characterized in that: The thermal balance simulation module: according to the data of the actual thermal simulation software, combined with the correction of the on-orbit data, fits the empirical formula to simulate the temperature changes of each component under different working conditions, and can control the temperature through the heater switch command; The power balance simulation module controls the power system to provide power to the power-consuming unit in different stages to meet its power demand, and ensures that the consumption and replenishment of the battery energy in a cycle are balanced; The remote control and telemetry module simulates the communication process between the ground control station and the satellite; The inter-satellite data transmission module is used to simulate the process of transmitting payload data and communicating with other satellites. The payload simulation module simulates the physical characteristics, working principles, and information transmission methods of different payloads on the satellite; The mission planning module: calculates the on-board mission planning results according to the execution process and timing consistent with the real satellite, simulates the execution process of the execution strategy, the mission conflict resolution mechanism, and the timing, wherein the autonomous mission planning algorithm is consistent with the on-board algorithm, and the mission planning algorithm can be upgraded and updated; The on-board processing module: generates scene information according to rules and processes and outputs target data; The platform and rotating parts dynamics control simulation module is used to perform platform on-orbit flight and orbital dynamics simulation, platform attitude control and dynamics simulation, rotating parts control simulation and space pointing calculation; The two-dimensional and three-dimensional model module: keeps the three-dimensional appearance of the model consistent with the real star, defines the coordinate system consistent with the satellite layout diagram, and displays the subsystem composition and the different postures of the rotating parts under drive.

7. The satellite digital simulation platform according to claim 6, characterized in that: The platform's on-orbit flight and orbital dynamics simulation, including high-precision orbital simulation and dynamics simulation of actual thruster installation positions and angles; The platform attitude control and dynamics simulation includes simulation of attitude dynamics, sensors, controllers, and actuators, specifically simulation of on-board attitude maneuvering process, sensor error model, actuator control instructions, and control torque; The rotating component control simulation and space pointing calculation include responding to attitude and orbit control, integrated electrical control and other control instructions to complete the angular steering of the rotating component, and calculating the vector information of the rotating component's optical axis and pointing axis in the inertial system according to the current platform position, attitude and component rotation angle.

8. A satellite digital simulation method for user application purposes, characterized in that: The simulation is performed using the satellite digital simulation platform described in any one of claims 1 to 7.

9. The satellite digital simulation method for user application purposes according to claim 8, characterized in that: include: System effectiveness evaluation steps; Algorithm parallel verification steps; Steps for comprehensive docking of large systems.

10. The satellite digital simulation method for user application purposes according to claim 9, characterized in that: In the system effectiveness evaluation step, the capabilities, performance and effects of the satellite in completing the mission are comprehensively analyzed and evaluated; In the algorithm parallel verification step, the on-board algorithm is tested and evaluated; the accuracy, stability, correctness and effectiveness of the algorithm execution process are verified by building a test environment and preparing real or simulated data of a real satellite for testing, and the verification results are analyzed, and the algorithm is optimized and iterated by adjusting algorithm parameters and improving algorithm structure; In the step of comprehensive docking of the large system, data interaction is carried out with multiple systems such as the platform, measurement, operation and control in the user simulation large system to achieve organic integration and efficient operation of the business; by defining the interface specifications between systems, agreeing on the parameters, data format and communication methods of the interface, real-time data transmission and joint collaboration between systems are supported.

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