Spaceflight signal simulation test method and device, electronic equipment and storage medium

Abstract

The invention provides a spaceflight signal simulation test method and device, electronic equipment and a storage medium. The spaceflight signal simulation test method comprises the following steps: acquiring flight path information of a spacecraft under a station center spherical coordinate system; the station center spherical coordinate system is a spherical coordinate system taking the measurement and control station as an original point; determining flight path information of the unmanned aerial vehicle under the station center spherical coordinate system according to the projection of the spacecraft in the target projection plane; the target projection surface is a spatial curved surface on a linear observation path of the measurement and control station and the spacecraft; determining a signal compensation parameter between the measurement and control station and the unmanned aerial vehicle based on the flight path information of the spacecraft under the station center spherical coordinate system and the flight path information of the unmanned aerial vehicle under the station center spherical coordinate system; and performing compensation processing on the analog telemetry signal of the unmanned aerial vehicle based on the signal compensation parameter. The flight path of the spacecraft is simulated through the unmanned aerial vehicle, the correctness of the antenna pointing to the spacecraft can be simulated and verified in the process that the antenna of the measurement and control station tracks and points to the unmanned aerial vehicle, and meanwhile the simulation test accuracy is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to an aerospace signal simulation test method, device, electronic equipment and storage medium. Background Art

[0002] During the preparation for a space launch tracking and control mission, it is usually necessary to verify in advance the tracking capability of the tracking and control station and its ability to receive telemetry signals sent by the spacecraft.

[0003] In order to save measurement and control costs, the existing technology generally simulates a spacecraft by deploying a simulated signal transmitter at a high place such as a mountain top to verify the tracking and telemetry signal receiving capabilities of the measurement and control station.

[0004] However, since the spacecraft is constantly moving, the antenna of the actual tracking and control station also moves with the spacecraft, while the existing simulation signal transmitting device is fixedly installed, and the antenna of the tracking and control station does not move with it. On the one hand, it is impossible to verify the correctness of the antenna tracking direction. On the other hand, since the position of the simulation signal transmitting device is fixed, it is impossible to simulate the trajectory of the spacecraft, resulting in inaccurate simulation tests of space signals. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a space signal simulation test method, device, electronic equipment and storage medium, which can not only verify the directivity of the tracking antenna of the measurement and control station, but also improve the simulation test accuracy of the space signal.

[0006] In a first aspect, a method for simulating and testing aerospace signals is provided, the method comprising:

[0007] Obtain the flight trajectory information of the spacecraft in the station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as the origin;

[0008] The flight trajectory information of the UAV in the station center sphere coordinate system is determined based on the projection of the spacecraft on the target projection surface; the target projection surface is a spatial surface on the straight line observation path between the tracking and control station and the spacecraft;

[0009] The signal compensation parameters between the tracking and control station and the UAV are determined based on the flight trajectory information of the spacecraft in the station-centered spherical coordinate system and the flight trajectory information of the UAV in the station-centered spherical coordinate system;

[0010] The simulated telemetry signal of the UAV is compensated based on the signal compensation parameter, so that a simulation test of aerospace signals is performed between the UAV and the measurement and control station based on the simulated telemetry signal after compensation.

[0011] Optionally, obtaining the flight trajectory information of the spacecraft in the station-center sphere coordinate system includes:

[0012] Obtain the flight trajectory information of the spacecraft in the station-centered rectangular coordinate system, which is a rectangular coordinate system with the tracking and control station as the origin;

[0013] The flight trajectory information of the spacecraft in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system according to the preset coordinate conversion relationship.

[0014] Optionally, when the target projection plane is a horizontal projection plane, determining the flight trajectory information of the UAV in the station center sphere coordinate system based on the projection of the spacecraft on the target projection plane includes:

[0015] Obtain the height information of the horizontal projection plane relative to the ground where the measurement and control station is located;

[0016] The straight line observation path between the tracking and control station and the spacecraft is determined based on the altitude information and the flight trajectory information of the spacecraft in the station center rectangular coordinate system. The straight line observation path expression is as follows:

[0017]

[0018] Among them, s t =H / Z t , s t is a parameter of the equation of a line that changes with time;

[0019] H is the height of the horizontal projection surface relative to the ground; (X t ,Y t ,Z t ) is the flight trajectory information of the spacecraft at time t in the station-centered rectangular coordinate system; the flight trajectory information of the UAV at the horizontal projection plane in the station-centered rectangular coordinate system is determined based on the straight line observation path;

[0020] According to the preset coordinate conversion relationship, the flight trajectory information of the UAV in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system.

[0021] Optionally, when the target projection surface is a spherical projection surface, determining the flight trajectory information of the UAV in the station center sphere coordinate system according to the projection of the spacecraft on the target projection surface includes:

[0022] Obtain the position information of the spherical projection surface in the station center coordinate system;

[0023] The flight trajectory information of the UAV in the station-centered spherical coordinate system is determined based on the position information of the spherical projection surface in the station-centered coordinate system and the flight trajectory information of the spacecraft in the station-centered spherical coordinate system.

[0024] Optionally, the signal compensation parameters include transmission delay, Doppler shift, and Doppler shift change rate; and determining the signal compensation parameters between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system includes:

[0025] Based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system, the radial distance difference, radial velocity difference and radial acceleration difference between the UAV and the spacecraft are calculated;

[0026] Determine the one-way and two-way transmission delay of the signal between the UAV and the tracking and control station based on the radial distance difference and the speed of light;

[0027] Determine the single- and two-way Doppler shifts of the signal between the UAV and the tracking and control station based on the radial velocity difference, the speed of light, and the pre-acquired spacecraft signal frequency;

[0028] The single- and two-way Doppler frequency shift change rates of the signals between the UAV and the tracking and control station are determined based on the radial acceleration difference, the speed of light and the pre-acquired signal frequency of the spacecraft.

[0029] Optionally, performing compensation processing on the simulated telemetry signal of the UAV based on the signal compensation parameter includes:

[0030] According to the type of measurement and control task, the one-way signal compensation parameters or the two-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0031] Optionally, depending on the type of measurement and control mission, the one-way signal compensation parameter or the two-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal including:

[0032] When the measurement and control mission type is simulated spacecraft status monitoring, the one-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through the preset compensation operation to obtain the final simulated telemetry signal;

[0033] When the TT&C mission type is to simulate ranging between a TT&C station and a spacecraft, determine the coherence of the remote control signal and the telemetry signal. The remote control signal is the signal sent by the TT&C station to the UAV, and the telemetry signal is the signal sent by the UAV to the TT&C station.

[0034] If the remote control signal and the telemetry signal are unrelated, the one-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through the preset compensation operation to obtain the final simulated telemetry signal;

[0035] If the remote control signal and the telemetry signal are coherent, the two-way signal compensation parameters are added to the remote control signal received and forwarded by the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0036] In a second aspect, an aerospace signal simulation test device is provided, the device comprising:

[0037] An acquisition unit is used to obtain the flight trajectory information of the spacecraft in the station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as the origin;

[0038] The first determining unit is used to determine the flight trajectory information of the UAV in the station center sphere coordinate system based on the projection of the spacecraft on the target projection plane; the target projection plane is a spatial curved surface on the straight line observation path between the tracking and control station and the spacecraft;

[0039] The second determining unit is used to determine the signal compensation parameter between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system;

[0040] The compensation unit is used to perform compensation processing on the simulated telemetry signal of the UAV based on the signal compensation parameter, so that the UAV and the measurement and control station can perform a simulation test of the aerospace signal based on the simulated telemetry signal after compensation processing.

[0041] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0042] Memory for storing computer programs;

[0043] The processor is configured to implement any of the method steps described in the first aspect when executing a program stored in the memory.

[0044] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0045] Embodiments of the present invention provide a method, device, electronic device, and storage medium for simulating and testing aerospace signals. The method obtains flight trajectory information of a spacecraft in a station-centered spherical coordinate system, which is a spherical coordinate system with a tracking and control station as its origin. The method determines the flight trajectory information of an unmanned aerial vehicle (UAV) in the station-centered spherical coordinate system based on the projection of the spacecraft on a target projection surface, which is a spatial curved surface on a linear observation path between the tracking and control station and the spacecraft. Signal compensation parameters between the tracking and control station and the UAV are determined based on the flight trajectory information of the spacecraft and the flight trajectory information of the UAV in the station-centered spherical coordinate system. Simulation testing is performed based on the signal compensation parameters and the tracking and control signals. The method simulates the flight trajectory of a spacecraft using a UAV. The correctness of the pointing of the antenna toward the spacecraft can be simulated and verified by the tracking and control station antenna pointing toward the UAV. Furthermore, the accuracy of the simulation test can be greatly improved by calculating the signal compensation parameters and adding them during the simulation test.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A flow chart of a method for simulating and testing aerospace signals provided by an embodiment of the present invention is shown;

[0049] Figure 2 A schematic diagram of a station-centered sphere coordinate system provided by an embodiment of the present invention is shown;

[0050] Figure 3 A schematic diagram showing the projection of a spacecraft flight trajectory onto a horizontal projection plane provided by an embodiment of the present invention is shown;

[0051] Figure 4 A schematic diagram showing the projection of a spacecraft flight trajectory onto a spherical projection surface provided by an embodiment of the present invention is shown;

[0052] Figure 5 A schematic structural diagram of an aerospace signal simulation test device provided by an embodiment of the present invention is shown;

[0053] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0055] Considering that current simulated signal transmitters are fixedly installed, the tracking and control station's antenna does not move with them. This makes it impossible to verify the correctness of the antenna's tracking direction. Furthermore, due to the fixed position of the simulated signal transmitter, it is impossible to simulate the spacecraft's trajectory, resulting in inaccurate simulation tests of space signals. Based on this, embodiments of the present invention provide a method and apparatus for simulating and testing space signals. By using an unmanned aerial vehicle (UAV) to simulate the spacecraft's trajectory, the tracking and control station's antenna can simulate and verify the correctness of the antenna's pointing direction toward the spacecraft while tracking and pointing toward the UAV. This is described below using an embodiment.

[0056] The embodiment of the present invention provides a method for simulating and testing aerospace signals. Figure 1 As shown, the method includes the following steps:

[0057] Step S101: Acquire the flight trajectory information of the spacecraft in the station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as its origin.

[0058] In the embodiment of the present invention, the flight trajectory information includes position coordinate data and speed data of the flight trajectory.

[0059] Step S102: Determine the flight trajectory information of the UAV in the station center sphere coordinate system based on the projection of the spacecraft in the target projection plane; the target projection plane is a spatial surface on the straight line observation path between the tracking and control station and the spacecraft.

[0060] In the embodiment of the present invention, the shape of the target projection surface can be any geometric shape. Its spatial surface equation can be expressed as F(x, y, z) = 0(1);

[0061] The UAV is used to simulate the motion trajectory of the spacecraft, and the payload carried by the UAV is used to perform signal testing with the tracking and control station. Therefore, in order to keep the observation angle of the tracking station unchanged, the tracking and control station, the UAV, and the spacecraft need to be located on a straight line observation path at time t. The parametric equation of the straight line observation path is as follows:

[0062]

[0063] Among them, s t is a time-varying parameter of the linear equation, (X t ,Y t ,Z t ) is the position information of the spacecraft at time t in the station center rectangular coordinate system.

[0064] The intersection of the target projection surface and the straight line observation path is the flight trajectory of the UAV.

[0065] Therefore, to obtain the flight trajectory information of the UAV, it is necessary to calculate the intersection of the target projection surface and the straight line observation path. The intersection calculation formula is as follows:

[0066]

[0067] Only parameter s is required t , we can get the flight trajectory information of the UAV in the station center sphere coordinate system.

[0068] In the embodiment of the present invention, Newton's iteration method can be used to solve s t The Newton iteration method uses the first few terms of the Taylor series of the function f(x) to find the roots of the equation f(x) = 0. Its greatest advantage is that it has quadratic convergence near a single root of the equation f(x) = 0. The specific calculation is as follows:

[0069]

[0070] in, is the nth iteration value, is G(·) versus s t Find the derivative.

[0071] Calculate s by formula (4) t , substituting into formula (2), we can get the position information X of the UAV flight trajectory at time t in the station center rectangular coordinate system t ′ ,Y t ′ ,Z t ′ :

[0072]

[0073] By taking the derivative of formula (5) at time t, we can obtain the velocity information of the UAV flight trajectory in the station-centered rectangular coordinate system;

[0074]

[0075] in, By taking the derivative of the multivariate composite function represented by formula (3) at time t, we can obtain:

[0076]

[0077] Further we get:

[0078]

[0079] Solve Then, substitute into formula (6) to get the speed of the UAV at time t in the station center rectangular coordinate system.

[0080] According to formulas (5) and (6), the UAV flight trajectory information in the station center rectangular coordinate system is obtained Among them, X t ′ ,Y t ′ ,Z t ′ Indicates the position of the UAV in the rectangular coordinate system of the station center, Indicates the speed of the UAV in the station center rectangular coordinate system.

[0081] By converting the flight trajectory in the station-centered rectangular coordinate system into the flight trajectory information in the station-centered spherical coordinate system, the flight trajectory information of the UAV in the station-centered spherical coordinate system can be obtained.

[0082] The above example illustrates how to obtain the flight trajectory information of a UAV by projecting a general projection surface of arbitrary geometric shape.

[0083] Step S103: Determine the signal compensation parameters between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system.

[0084] During the simulation, the relative distance and relative speed between the tracking and control station and the UAV change, causing changes in signal level and Doppler frequency shift, etc. Therefore, by calculating these changes in advance or in real time and compensating for them, the level and frequency of the telemetry signal can be accurately simulated.

[0085] Step S104: Compensation processing is performed on the simulated telemetry signal of the UAV based on the signal compensation parameter, so that a simulation test of aerospace signals is performed between the UAV and the measurement and control station based on the simulated telemetry signal after compensation processing.

[0086] In this embodiment of the present application, the simulated telemetry signal includes a remote control signal and a telemetry signal. The remote control signal refers to the signal transmitted from the measurement and control station to the drone and received back from the drone, while the telemetry signal refers to the signal transmitted from the drone to the measurement and control station. When the drone transmits the telemetry signal or receives and forwards the remote control signal, the compensation parameters of the signal are added to perform simulation testing, which can greatly improve the accuracy of the simulation test.

[0087] Through the above embodiments, it can be understood that the present invention simulates the flight trajectory of the spacecraft through the UAV, and the correctness of the antenna pointing to the spacecraft can be simulated and verified during the process of the measurement and control station's antenna tracking and pointing to the UAV. At the same time, by calculating the signal compensation parameters and adding the signal compensation parameters during the simulation test, the accuracy of the simulation test can be greatly improved.

[0088] Based on the above embodiment, obtaining the flight trajectory information of the spacecraft in the station-centered sphere coordinate system includes the following steps:

[0089] Step S1011: Acquire the flight trajectory information of the spacecraft in the station-centered rectangular coordinate system. The station-centered rectangular coordinate system is a rectangular coordinate system with the tracking and control station as its origin.

[0090] The station-centered coordinate system can be divided into two types: the station-centered rectangular coordinate system and the station-centered spherical coordinate system. The station-centered rectangular coordinate system is defined as: the measurement and control station is the coordinate system origin O, the Z axis coincides with the normal of the earth ellipsoid, upward is positive (celestial direction), the Y axis coincides with the minor semi-axis of the earth ellipsoid (north direction), and the Z axis coincides with the major semi-axis of the earth ellipsoid (east direction).

[0091] In the station-centered rectangular coordinate system, the spacecraft motion trajectory is expressed as Among them, X t 、Y t 、Z t is the position at time t, is the speed at time t.

[0092] Step S1012: converting the flight trajectory information of the spacecraft in the station-center rectangular coordinate system into the flight trajectory information in the station-center spherical coordinate system according to a preset coordinate conversion relationship.

[0093] The station-centered rectangular coordinate system can be further transformed into the station-centered spherical coordinate system, such as Figure 2 As shown in the figure, the station center spherical coordinate system takes the measurement and control station as the coordinate system origin O, and the spherical coordinate system is Represents the position of point P in three-dimensional space. The geometric meaning of spherical coordinates is: ρ represents the radial distance between the origin and point P, θ represents the zenith angle θ between the line connecting the origin to point P and the positive Z axis, Represents the azimuth angle between the projection line of the line from the origin to point P in the XY plane and the positive X axis

[0094] The spacecraft motion trajectory in the station center rectangular coordinate system (X t ,Y t ,Z t ) to spherical coordinates The conversion relationship is as follows:

[0095]

[0096] Formula (9) is derived at time t to obtain:

[0097]

[0098] The flight trajectory information of the spacecraft in the station center rectangular coordinate system can be obtained by formulas (9) and (10): Converted into flight trajectory information in the station center sphere coordinate system Among them, θ t is the zenith angle at time t, is the azimuth at time t, ρ t is the radial distance at time t, is the radial velocity at time t, is the velocity in the zenith angle direction at time t, is the velocity in the azimuth direction at time t.

[0099] Based on the above embodiment, when the target projection surface is a horizontal projection surface, such as Figure 3 As shown in FIG, the flight trajectory information of the UAV in the station center sphere coordinate system is determined based on the projection of the spacecraft in the target projection plane, including:

[0100] Obtain the height information of the horizontal projection plane relative to the ground where the measurement and control station is located.

[0101] Since the projection surface is a horizontal projection surface, its height relative to the ground remains unchanged, and its spatial surface equation can be expressed as: z = H (11);

[0102] The straight line observation path between the tracking and control station and the spacecraft is determined based on the altitude information and the flight trajectory information of the spacecraft in the station center rectangular coordinate system. The straight line observation path expression is shown in the above formula (2).

[0103] The flight trajectory information of the UAV at the horizontal projection plane in the station center rectangular coordinate system is determined based on the straight line observation path.

[0104] Among them, under this horizontal projection plane, since the height remains unchanged, the parameter s can be simplified t The solution process of s t =H / Zt (12), taking the derivative at time t, we get

[0105] Will s t 、 Substituting into formulas (7) and (8) respectively, we can obtain the UAV flight trajectory information in the station center rectangular coordinate system:

[0106] According to the preset coordinate conversion relationship, the flight trajectory information of the UAV in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system.

[0107] Based on formula (9) and formula (10), the flight trajectory information of the UAV in the station-centered rectangular coordinate system can be converted into the flight trajectory information in the station-centered spherical coordinate system. The conversion is as follows:

[0108]

[0109] Since the observation angle remains unchanged, θ t ′ 、 The parameters are consistent with those of the spacecraft in the spherical coordinate system, and there is no need to repeat the calculation. Thus, the flight trajectory information of the UAV in the station center spherical coordinate system is obtained.

[0110] The embodiment of the present invention adopts a horizontal projection plane, and since the flight altitude remains unchanged, the requirements for the climbing and diving capabilities of the UAV can be reduced.

[0111] Based on the above embodiment, when the target projection surface is a spherical projection surface, as Figure 4 As shown in FIG, the flight trajectory information of the UAV in the station center sphere coordinate system is determined based on the projection of the spacecraft in the target projection plane, including:

[0112] Get the position information of the spherical projection surface in the station center coordinate system.

[0113] In this step, the position information is the radial distance ρ0 between the UAV and the tracking and control station.

[0114] Since the radial distance between the UAV and the measurement and control station remains unchanged under the spherical projection surface, the step of solving the UAV flight trajectory information in step S102 can be simplified. The flight trajectory information of the UAV in the station center spherical coordinate system can be directly determined based on the position information of the spherical projection surface in the station center coordinate system and the flight trajectory information of the spacecraft in the station center spherical coordinate system.

[0115] It is determined by the following formula:

[0116]

[0117] Therefore, the flight trajectory information of the UAV in the station center sphere coordinate system can be directly obtained

[0118] By adopting a spherical projection surface, the present invention reduces the change in the relative distance between the UAV and the measurement and control station compared to projection surfaces of other shapes, such as a horizontal projection surface. In theory, it can be considered to remain unchanged. Therefore, in simulation tests, the impact on signal transmission delay, Doppler shift, etc. is relatively small, thereby improving the accuracy of the simulation test.

[0119] It should be noted that when the target projection surface is a spherical projection surface, although the relative distance between the tracking and control station and the UAV remains unchanged in theory, in practice, the UAV cannot fly strictly according to the established route, so the relative distance between it and the tracking and control station will also change. Therefore, it is also necessary to calculate the signal compensation parameters to further improve the accuracy.

[0120] Based on the above embodiment, the signal compensation parameters include transmission delay, Doppler shift, and Doppler shift change rate. The signal compensation parameters between the tracking and control station and the UAV are determined based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system, including:

[0121] Step S1031: Calculate the radial distance difference, radial velocity difference, and radial acceleration difference between the UAV and the spacecraft based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system.

[0122] In this step, the radial distance difference can be calculated by the following formula:

[0123] d t =ρ t -ρ t ′ (16);

[0124] Among them, ρ t is the radial distance of the spacecraft, ρ t ′ is the radial distance of the UAV;

[0125] The radial velocity difference is calculated by the following formula:

[0126]

[0127] in, is the radial velocity of the spacecraft, is the radial distance of the UAV;

[0128] The radial acceleration difference is calculated by the following formula:

[0129]

[0130] in, represents the radial acceleration of the spacecraft, represents the radial acceleration of the UAV;

[0131] Since the spacecraft flight trajectory does not include acceleration, the embodiment of the present invention uses the velocity difference method to obtain an approximate value. The radial acceleration of the spacecraft flight trajectory at time t can be approximated as:

[0132]

[0133] Where Δt is the time interval between adjacent trajectory points.

[0134] Similarly, the radial acceleration of the UAV flight trajectory at time t can be approximated as:

[0135]

[0136] Substituting formulas (19) and (20) into formula (18), the radial acceleration difference a at time t can be calculated: t .

[0137] Step S1032: Determine the one-way and two-way transmission delays of the signal between the UAV and the tracking and control station based on the radial distance difference and the speed of light.

[0138] It is important to understand that electromagnetic signals propagate through space at a speed close to the speed of light c, so it takes a corresponding amount of time to propagate a certain distance.

[0139] In one example, the transmission delay can be calculated as follows:

[0140] T t1 =d t / c (21);

[0141] T t2 =2d t / c(22);

[0142] Where, c is the speed of light; T t1 is the one-way transmission delay; T t2 is the round-trip transmission delay.

[0143] Step S1033: Determine the single- and two-way Doppler shifts of the signal between the UAV and the tracking and control station based on the radial velocity difference, the speed of light, and the signal frequency of the spacecraft.

[0144] When a moving target moves in a certain direction at a constant speed, the frequency will change due to the difference in propagation distance. This change is usually called Doppler shift.

[0145] Doppler shift causes inconsistencies between the transmitted and received frequencies in wireless communications, making it difficult or impossible to receive the signal loaded on that frequency. Because the radial velocities of the spacecraft and the drone relative to the tracking and control station are different, the Doppler shifts of the two are also different.

[0146] In one example, the Doppler shift difference can be calculated as follows:

[0147] f dt1 =-f down v t / c(23);

[0148] f dt2 =-df up +f down )v t / c (24);

[0149] Among them, f down is the downlink signal frequency of the spacecraft, f dt1 is the one-way Doppler shift; f up is the uplink signal frequency, f dt2 is the two-way Doppler shift.

[0150] Step S1034: Determine the single- and round-trip Doppler frequency shift change rates of the signal between the UAV and the tracking and control station based on the radial acceleration difference, the speed of light, and the signal frequency of the spacecraft.

[0151] Since the radial accelerations of the spacecraft and the UAV relative to the tracking and control station are different, the Doppler shift change rates of the two are also different.

[0152] In one example, the Doppler shift rate difference can be calculated as follows:

[0153]

[0154] Among them, among them, is the one-way Doppler frequency change rate; is the two-way Doppler frequency change rate.

[0155] Based on the above embodiment, performing compensation processing on the simulated telemetry signal of the drone based on the signal compensation parameter includes:

[0156] According to the type of measurement and control task, the one-way signal compensation parameters or the two-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0157] Based on the above embodiment, according to the measurement and control task type, the one-way signal compensation parameter or the two-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal, which includes:

[0158] When the measurement and control mission type is simulated spacecraft status monitoring, the one-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through the preset compensation operation to obtain the final simulated telemetry signal.

[0159] Among them, the task of simulating space flight and status monitoring is that the tracking and control station sends a remote control signal to the UAV to obtain the status of the spacecraft, and the UAV transmits the simulated spacecraft status to the tracking and control station through a simulated telemetry signal.

[0160] When the TT&C mission type is to simulate the ranging between the TT&C station and the spacecraft, determine the coherence of the remote control signal and the telemetry signal; among them, the remote control signal is the signal sent by the TT&C station to the UAV, and the telemetry signal is the signal sent by the UAV to the TT&C station.

[0161] In this embodiment of the present invention, the coherence of the remote control signal and the telemetry signal can be determined by determining their phase coherence. If they are incoherent, the drone only needs to simulate transmitting the telemetry signal for one-way compensation. If they are coherent, indicating that the phase of the telemetry signal is derived from the phase of the remote control signal, the drone needs to simulate transmitting the telemetry signal for two-way compensation. The specific process is as follows.

[0162] If the remote control signal and the telemetry signal are unrelated, the one-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0163] If the remote control signal and the telemetry signal are coherent, the two-way signal compensation parameters are added to the remote control signal received and forwarded by the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0164] In one example, the preset compensation operation may be an addition operation.

[0165] When the UAV simulates the telemetry signal of the spacecraft, the single / two-way transmission delay, Doppler shift and Doppler shift change rate calculated in the above example are added for simulation testing, which improves the accuracy of the simulation test.

[0166] Based on the same inventive concept, a space signal simulation test device is provided, such as Figure 5 As shown, the device includes:

[0167] An acquisition unit 501 is configured to acquire the flight trajectory information of the spacecraft in a station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as its origin;

[0168] The first determining unit 502 is configured to determine the flight trajectory information of the UAV in the station-centered sphere coordinate system based on the projection of the spacecraft on the target projection plane; the target projection plane is a spatial curved surface on the straight-line observation path between the tracking and control station and the spacecraft;

[0169] The second determining unit 503 is configured to determine a signal compensation parameter between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system;

[0170] The compensation unit 504 is used to perform compensation processing on the simulated telemetry signal of the UAV based on the signal compensation parameter, so that the UAV and the measurement and control station can perform a simulation test of aerospace signals based on the simulated telemetry signal after compensation processing.

[0171] Optionally, the acquiring unit is specifically configured to:

[0172] Obtain the flight trajectory information of the spacecraft in the original coordinate system;

[0173] The flight trajectory information in the original coordinate system is converted into the flight trajectory information in the station center rectangular coordinate system, which is a rectangular coordinate system with the measurement and control station as the origin;

[0174] The flight trajectory information of the spacecraft in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system according to the preset coordinate conversion relationship.

[0175] Optionally, when the target projection plane is a horizontal projection plane, the first determining unit is specifically configured to:

[0176] Obtain the height information of the horizontal projection plane relative to the ground where the measurement and control station is located;

[0177] Determine the straight line observation path between the tracking and control station and the spacecraft based on the altitude information and the flight trajectory information of the spacecraft in the rectangular coordinate system of the station center;

[0178] Determine the flight trajectory information of the UAV at the horizontal projection plane in the station center rectangular coordinate system based on the straight line observation path;

[0179] According to the preset coordinate conversion relationship, the flight trajectory information of the UAV in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system.

[0180] Optionally, when the target projection surface is a spherical projection surface, the first determining unit is specifically configured to:

[0181] Obtain the position information of the spherical projection surface in the station center coordinate system;

[0182] The flight trajectory information of the UAV in the station-centered spherical coordinate system is determined based on the position information of the spherical projection surface in the station-centered coordinate system and the flight trajectory information of the spacecraft in the station-centered spherical coordinate system.

[0183] Optionally, the signal compensation parameters include transmission delay, Doppler shift, and Doppler shift change rate; and the second determining unit is specifically configured to:

[0184] Based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system, the radial distance difference, radial velocity difference and radial acceleration difference between the UAV and the spacecraft are calculated;

[0185] Determine the one-way and two-way transmission delay of the signal between the UAV and the tracking and control station based on the radial distance difference and the speed of light;

[0186] Determine the single- and two-way Doppler shifts of the signal between the UAV and the tracking and control station based on the radial velocity difference, the speed of light, and the pre-acquired spacecraft signal frequency;

[0187] The single- and two-way Doppler frequency shift change rates of the signals between the UAV and the tracking and control station are determined based on the radial acceleration difference, the speed of light and the pre-acquired signal frequency of the spacecraft.

[0188] Optionally, the compensation unit is specifically configured to:

[0189] According to the type of measurement and control task, the one-way signal compensation parameters or the two-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0190] Specifically, when the measurement and control mission type is simulated spacecraft status monitoring, the one-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal;

[0191] When the TT&C mission type is to simulate ranging between a TT&C station and a spacecraft, determine the coherence of the remote control signal and the telemetry signal. The remote control signal is the signal sent by the TT&C station to the UAV, and the telemetry signal is the signal sent by the UAV to the TT&C station.

[0192] If the remote control signal and the telemetry signal are unrelated, the one-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through the preset compensation operation to obtain the final simulated telemetry signal;

[0193] If the remote control signal and the telemetry signal are coherent, the two-way signal compensation parameters are added to the remote control signal received and forwarded by the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

[0194] Based on the same technical concept, an embodiment of the present invention further provides an electronic device, such as Figure 6 As shown, it includes a processor 601 , a communication interface 602 , a memory 603 and a communication bus 604 , wherein the processor 601 , the communication interface 602 , and the memory 603 communicate with each other via the communication bus 604 .

[0195] Memory 603, used for storing computer programs;

[0196] The processor 601 is configured to implement the steps of the aerospace signal simulation test method when executing the program stored in the memory 603 .

[0197] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0198] The communication interface is used for communication between the above electronic device and other devices.

[0199] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0200] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0201] The computer program product for performing aerospace signal simulation testing provided in an embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. For specific implementation, please refer to the method embodiments and will not be repeated here.

[0202] The device for aerospace signal simulation testing provided in the embodiment of the present invention can be specific hardware on the device or software or firmware installed on the device. The implementation principle and technical effects of the device provided in the embodiment of the present invention are the same as those of the aforementioned method embodiment. For the sake of brief description, any matters not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can all refer to the corresponding processes in the aforementioned method embodiment and will not be repeated here.

[0203] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, the indirect coupling or communication connection of the device or unit may be electrical, mechanical or other forms.

[0204] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0205] In addition, each functional unit in the embodiment provided by the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0206] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0207] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0208] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. However, such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. They should all be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for simulating aerospace signal testing, characterized in that: The method comprises: Obtaining flight trajectory information of the spacecraft in a station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as its origin; Determine the flight trajectory information of the UAV in the station center sphere coordinate system based on the projection of the spacecraft on the target projection surface; the target projection surface is a spatial curved surface on the straight line observation path between the measurement and control station and the spacecraft; Determining a signal compensation parameter between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered spherical coordinate system and the flight trajectory information of the UAV in the station-centered spherical coordinate system; The simulated telemetry signal of the UAV is compensated based on the signal compensation parameter, so that a simulation test of aerospace signals is performed between the UAV and the measurement and control station based on the simulated telemetry signal after compensation.

2. The method according to claim 1, characterized in that The obtaining of the flight trajectory information of the spacecraft in the station-centered sphere coordinate system includes: Obtaining flight trajectory information of the spacecraft in a station-centered rectangular coordinate system, wherein the station-centered rectangular coordinate system is a rectangular coordinate system with the tracking and control station as its origin; The flight trajectory information of the spacecraft in the station-centered rectangular coordinate system is converted into the flight trajectory information in the station-centered spherical coordinate system according to a preset coordinate conversion relationship.

3. The method according to claim 2, characterized in that When the target projection plane is a horizontal projection plane, determining the flight trajectory information of the UAV in the station center sphere coordinate system according to the projection of the spacecraft on the target projection plane includes: Obtaining height information of the horizontal projection plane relative to the ground where the measurement and control station is located; The straight line observation path between the tracking and control station and the spacecraft is determined based on the altitude information and the flight trajectory information of the spacecraft in the station-centered rectangular coordinate system. The straight line observation path is expressed as follows: Among them, s t =H / Z t , s t is a parameter of the equation of a line that changes with time; H is the height of the horizontal projection surface relative to the ground; (X t ,Y t ,Z t ) is the flight trajectory information of the spacecraft at time t in the station-centered rectangular coordinate system; determining the flight trajectory information of the UAV at the horizontal projection plane in the station-centered rectangular coordinate system based on the straight line observation path; The flight trajectory information of the UAV in the station center rectangular coordinate system is converted into the flight trajectory information in the station center spherical coordinate system according to the preset coordinate conversion relationship.

4. The method according to claim 1, wherein When the target projection surface is a spherical projection surface, determining the flight trajectory information of the UAV in the station-centered sphere coordinate system according to the projection of the spacecraft on the target projection surface includes: Obtaining position information of the spherical projection surface in the station center coordinate system; The flight trajectory information of the UAV in the station-centered spherical coordinate system is determined based on the position information of the spherical projection surface in the station-centered coordinate system and the flight trajectory information of the spacecraft in the station-centered spherical coordinate system.

5. The method according to claim 1, wherein The signal compensation parameters include transmission delay, Doppler shift, and Doppler shift change rate; the signal compensation parameters between the tracking and control station and the UAV are determined based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system, including: Calculating the radial distance difference, radial velocity difference, and radial acceleration difference between the UAV and the spacecraft based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system; Determine the single- and round-trip transmission delays of signals between the UAV and the tracking and control station based on the radial distance difference and the speed of light; Determining the single-way and two-way Doppler shifts of the signal between the UAV and the tracking and control station based on the radial velocity difference, the speed of light, and the pre-acquired signal frequency of the spacecraft; The single-way and two-way Doppler frequency shift change rates of the signal between the UAV and the tracking and control station are determined based on the radial acceleration difference, the speed of light and the pre-acquired signal frequency of the spacecraft.

6. The method according to claim 5, characterized in that The compensating process for the simulated telemetry signal of the UAV based on the signal compensation parameter includes: According to the type of measurement and control task, the one-way signal compensation parameters or the two-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

7. The method according to claim 6, characterized in that The method of adding the one-way signal compensation parameter or the two-way signal compensation parameter to the initial simulated telemetry signal of the UAV through a preset compensation operation according to the measurement and control task type to obtain the final simulated telemetry signal includes: When the measurement and control mission type is simulated spacecraft status monitoring, the one-way signal compensation parameters are added to the initial simulated telemetry signal of the UAV through the preset compensation operation to obtain the final simulated telemetry signal; When the TT&C mission type is to simulate ranging between a TT&C station and a spacecraft, determine the coherence of the remote control signal and the telemetry signal; wherein the remote control signal is the signal sent by the TT&C station to the UAV, and the telemetry signal is the signal transmitted by the UAV to the TT&C station; If the remote control signal and the telemetry signal are unrelated, the one-way signal compensation parameter is added to the initial simulated telemetry signal of the UAV through a preset compensation operation to obtain a final simulated telemetry signal; If the remote control signal and the telemetry signal are coherent, the two-way signal compensation parameters are added to the remote control signal received and forwarded by the UAV through a preset compensation operation to obtain the final simulated telemetry signal.

8. An aerospace signal simulation test device, characterized in that: The device comprises: An acquisition unit is used to acquire the flight trajectory information of the spacecraft in a station-centered spherical coordinate system; the station-centered spherical coordinate system is a spherical coordinate system with the tracking and control station as the origin; A first determining unit is configured to determine the flight trajectory information of the UAV in the station-centered sphere coordinate system based on the projection of the spacecraft in the target projection plane; the target projection plane is a spatial curved surface on the straight-line observation path between the tracking and control station and the spacecraft; A second determining unit is configured to determine a signal compensation parameter between the tracking and control station and the UAV based on the flight trajectory information of the spacecraft in the station-centered sphere coordinate system and the flight trajectory information of the UAV in the station-centered sphere coordinate system; The compensation unit is used to perform compensation processing on the simulated telemetry signal of the UAV based on the signal compensation parameter, so that the UAV and the measurement and control station can perform a simulation test of the aerospace signal based on the simulated telemetry signal after compensation processing.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; A processor, configured to implement the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps according to any one of claims 1 to 7 are implemented.

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