Incoherent velocity measurement equivalent method of unmanned aerial vehicle simulation satellite

Abstract

The invention provides an incoherent velocity measurement equivalent method for an unmanned aerial vehicle simulation satellite, and belongs to the technical field of spaceflight measurement and control. Comprising the following steps: constructing a system model for simulating satellite operation by an unmanned aerial vehicle; calculating a satellite radial speed and an unmanned aerial vehicle radial speed by using the position information of the ground measurement and control station, the satellite track information and the flight track information; performing direct incoherent velocity measurement on the unmanned aerial vehicle by using a ground measurement and control station to obtain a radial velocity measurement value of the unmanned aerial vehicle, enabling the radial velocity measurement value of the unmanned aerial vehicle to be equivalent to a satellite radial velocity, and calculating an uplink pseudo Doppler compensation value; an uplink pseudo Doppler total value is edited in telemetry data of a measurement and control responder of the unmanned aerial vehicle, and the uplink pseudo Doppler total value is made to be equal to the sum of an uplink Doppler measured value and an uplink pseudo Doppler compensation value, so that incoherent velocity measurement equivalence is achieved. The channel simulation cost can be saved, and the carrying burden of the unmanned aerial vehicle can be reduced.

Description

Technical Field

[0001] The present application relates to the field of aerospace measurement and control technology, and in particular to a non-coherent speed measurement equivalent method for simulating a satellite using an unmanned aerial vehicle. Background Art

[0002] In the field of aerospace tracking and control technology, ground tracking and control stations cannot systematically cooperate with ground tracking and control stations for long-term training and testing due to the limited resources, high safety risks, and limited transit times of in-orbit satellites. Therefore, drones equipped with tracking and control transponders can be used to simulate in-orbit satellite transits, establishing a tracking and control link with ground tracking and control stations that resembles that of an in-orbit satellite. When a drone simulates an in-orbit satellite, it must always remain on the line connecting the simulated satellite and the ground tracking and control station. To ensure realistic simulation results, velocity equivalence is required, ensuring that the radial velocity of the drone, as measured by the ground tracking and control station, is equal to the radial velocity of the actual in-orbit satellite.

[0003] Currently, when performing speed measurement equivalence, a channel simulator is generally used to compensate for the uplink pseudo-Doppler value or the downlink pseudo-Doppler value by using the actual signal frequency offset. This allows the ground tracking station to calculate the speed consistent with the in-orbit satellite, achieving speed measurement equivalence. However, this method of using a channel simulator for speed measurement equivalence has the following drawbacks:

[0004] First, to achieve the equivalent of UAV-simulated speed measurement of an in-orbit satellite, a channel simulator needs to be mounted on the UAV. However, existing channel simulators are expensive due to their high-dimensional channel matrix model algorithms and extremely high RF performance, making the cost of performing speed measurement equivalence high.

[0005] Secondly, the existing channel simulators are large in size and weight, which greatly limits the types of drones that can be carried when performing speed measurement equivalence.

[0006] Therefore, it is necessary to propose a solution to improve one or more problems existing in the above-mentioned related technical solutions.

[0007] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0008] The present invention provides a method for incoherent speed measurement equivalent to that of a UAV simulating a satellite, the method comprising the following steps:

[0009] Constructing a system model for the UAV to simulate satellite operation, the system model includes a ground tracking and control station, a UAV and a satellite to be simulated; the UAV is always in a tracking and control link between the satellite to be simulated and the ground tracking and control station, the tracking and control link including an uplink and a downlink;

[0010] Calculate the satellite radial velocity of the simulated satellite relative to the ground measurement and control station and the UAV radial velocity of the UAV relative to the ground measurement and control station using the position information of the ground measurement and control station, the satellite trajectory information of the simulated satellite, and the flight trajectory information of the UAV;

[0011] Using the ground measurement and control station to perform direct incoherent velocity measurement on the UAV to obtain a radial velocity measurement value of the UAV, and making the radial velocity measurement value of the UAV equivalent to the radial velocity of the satellite, and calculating an uplink pseudo-Doppler compensation value;

[0012] The uplink pseudo-Doppler total value is edited in the telemetry data of the measurement and control transponder of the UAV, and the uplink pseudo-Doppler total value is made equal to the sum of the uplink pseudo-Doppler measured value and the uplink pseudo-Doppler compensation value, thereby achieving incoherent speed measurement equivalence.

[0013] Furthermore, the uplink includes a simulated uplink signal from the ground measurement and control station to the UAV, and an actual uplink signal from the ground measurement and control station to the satellite to be simulated; the downlink includes a simulated downlink signal from the UAV to the ground measurement and control station, and an actual downlink signal from the satellite to be simulated to the ground measurement and control station.

[0014] Furthermore, the satellite trajectory information includes position information and speed information of the satellite to be simulated; and the flight trajectory information includes position information and speed information of the UAV.

[0015] Furthermore, the step of calculating the satellite radial velocity of the satellite to be simulated relative to the ground measurement and control station and the drone radial velocity of the drone relative to the ground measurement and control station by using the position information of the ground measurement and control station, the satellite trajectory information of the satellite to be simulated, and the flight trajectory information of the drone includes:

[0016] Calculating the satellite trajectory information according to the orbital elements of the satellite to be simulated;

[0017] Acquiring the flight trajectory information according to the real-time positioning information of the UAV during flight, and performing smoothing processing on the flight trajectory information;

[0018] Determining the location information of the ground measurement and control station;

[0019] Converting the satellite trajectory information, the flight trajectory information, and the position information of the ground measurement and control station into the same coordinate system;

[0020] Calculating the satellite radial velocity based on the satellite trajectory information and the position information of the ground measurement and control station;

[0021] The radial velocity of the UAV is calculated based on the flight trajectory information and the position information of the ground measurement and control station.

[0022] Furthermore, the step of performing direct incoherent velocity measurement on the UAV using the ground measurement and control station to obtain a UAV radial velocity measurement value, and making the UAV radial velocity measurement value equivalent to the satellite radial velocity, and calculating the uplink pseudo-Doppler compensation value includes:

[0023] Using the ground measurement and control station to perform direct incoherent velocity measurement on the UAV to obtain a radial velocity measurement value of the UAV;

[0024] The UAV radial velocity measurement value is made equivalent to the satellite radial velocity, and the uplink pseudo-Doppler compensation value is calculated using the uplink pseudo-Doppler measured value.

[0025] Furthermore, the expression of the UAV radial velocity is:

[0026]

[0027] Among them, v UAV (t2) represents the radial velocity of the UAV at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 represents the uplink pseudo-Doppler value measured on the UAV, f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the clock error of the drone at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

[0028] Furthermore, the expression of the UAV radial velocity measurement value is:

[0029]

[0030] Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1represents the uplink pseudo-Doppler measured value on the UAV, Δf represents the uplink pseudo-Doppler compensation value, and f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the clock error of the drone at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

[0031] Furthermore, the expression equivalent to the radial velocity of the satellite is:

[0032] v m (t2) = v Satellite (3)

[0033] Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, v Satellite Represents the satellite radial velocity.

[0034] Furthermore, the expression of the uplink pseudo-Doppler compensation value is:

[0035]

[0036] Where Δf represents the uplink pseudo-Doppler compensation value, v Satellite represents the satellite radial velocity, v UAV represents the radial velocity of the drone, c represents the speed of light, and f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 Indicates the actual uplink pseudo-Doppler value measured on the UAV.

[0037] Furthermore, the expression of the uplink pseudo-Doppler total value is:

[0038] f′ d1 =f d1 +Δf (5)

[0039] Among them, f′ d1 represents the total uplink pseudo-Doppler value, f d1 represents the uplink pseudo-Doppler measured value on the UAV, and Δf represents the uplink pseudo-Doppler compensation value.

[0040] Beneficial effects:

[0041] This application provides an equivalent method for incoherent velocity measurement of a UAV simulating a satellite, which has at least the following beneficial effects:

[0042] The present application achieves compensation for the uplink pseudo-Doppler value by directly editing the uplink pseudo-Doppler total value in the telemetry data of the UAV's measurement and control transponder, and making the uplink pseudo-Doppler total value equal to the sum of the uplink pseudo-Doppler measured value and the uplink pseudo-Doppler compensation value, without actually generating a signal frequency offset. Compared with existing channel simulation solutions, the present application can save channel simulation costs and reduce the carrying burden of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0044] Figure 1 A schematic diagram showing the steps of an equivalent method for incoherent speed measurement of a UAV simulating a satellite in an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0045] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0046] In addition, the accompanying drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. Identical reference numerals in the figures denote identical or similar parts, and thus repetitive descriptions thereof will be omitted. Some of the blocks shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0047] Below, the incoherent speed measurement equivalent method of a UAV simulating a satellite proposed in this example embodiment will be described in more detail.

[0048] This example embodiment provides an equivalent method for incoherent speed measurement of a drone simulating a satellite, such as Figure 1 As shown, the method may include the following steps:

[0049] In this embodiment, step S101 is to construct a system model for a UAV to simulate satellite operation.

[0050] In step S101 of this embodiment, the system model includes a ground tracking and control station, a UAV and a satellite to be simulated; the UAV is always in the tracking and control link between the satellite to be simulated and the ground tracking and control station, and the tracking and control link includes an uplink and a downlink.

[0051] In step S101 of this embodiment, the UAV is equipped with a tracking and control transponder; the uplink includes a simulated uplink signal from the ground tracking and control station to the UAV, and an actual uplink signal from the ground tracking and control station to the satellite to be simulated; the downlink includes a simulated downlink signal from the UAV to the ground tracking and control station, and an actual downlink signal from the satellite to be simulated to the ground tracking and control station.

[0052] In step S101 of this embodiment, the satellite trajectory information includes the position information and speed information of the satellite to be simulated; the flight trajectory information includes the position information and speed information of the UAV.

[0053] In this embodiment, step S102 is to use the position information of the ground tracking and control station, the satellite trajectory information of the simulated satellite, and the flight trajectory information of the UAV to calculate the satellite radial velocity of the simulated satellite relative to the ground tracking and control station, and the UAV radial velocity of the UAV relative to the ground tracking and control station. In this embodiment, step S102 may include the following sub-steps:

[0054] Sub-step S1021: Calculate satellite trajectory information based on the orbital elements of the satellite to be simulated. This sub-step is a prior art and will not be described in detail here.

[0055] Sub-step S1022: Obtain flight trajectory information based on the real-time positioning information of the UAV during flight, and perform smoothing on the flight trajectory information. This sub-step is a prior art and will not be described in detail here.

[0056] Sub-step S1023: Determine the location information of the ground measurement and control station. This sub-step is a prior art and will not be described in detail here.

[0057] Sub-step S1024: converting the satellite trajectory information, flight trajectory information and the position information of the ground tracking and control station into the same coordinate system.

[0058] Sub-step S1025: Calculate the satellite radial velocity based on the satellite trajectory information and the position information of the ground tracking and control station.

[0059] Sub-step S1026: Calculate the radial velocity of the UAV based on the flight trajectory information and the position information of the ground measurement and control station.

[0060] In sub-step S1026, the expression of the UAV radial velocity is:

[0061]

[0062] Among them, v UAV (t2) represents the radial velocity of the UAV at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 represents the uplink pseudo-Doppler value measured on the UAV, f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the clock error of the drone at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

[0063] In this embodiment, step S103: using the ground measurement and control station to perform direct incoherent velocity measurement on the UAV, obtain the UAV radial velocity measurement value, make the UAV radial velocity measurement value equivalent to the satellite radial velocity, and calculate the uplink pseudo-Doppler compensation value. In this embodiment, step S103 may include the following sub-steps:

[0064] Sub-step S1031: Use the ground measurement and control station to perform direct incoherent velocity measurement on the UAV to obtain the radial velocity measurement value of the UAV.

[0065] In sub-step S1031, the expression of the UAV radial velocity measurement value is:

[0066]

[0067] Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 represents the uplink pseudo-Doppler measured value on the UAV, Δf represents the uplink pseudo-Doppler compensation value, and f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the clock error of the drone at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

[0068] Sub-step S1032: Equivalent the UAV radial velocity measurement value to the satellite radial velocity, and using the uplink pseudo-Doppler measured value to calculate the uplink pseudo-Doppler compensation value.

[0069] In sub-step S1032, the equivalent expression of the UAV radial velocity measurement value and the satellite radial velocity is:

[0070] vm (t2) = v Satellite (3)

[0071] Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, v Satellite Represents the satellite radial velocity.

[0072] Here, by transforming formula (1), we can get:

[0073]

[0074] Since the uplink pseudo-Doppler compensation value Δf is included in formula (2), formula (3) is substituted into formula (2) to obtain:

[0075]

[0076] Then, by substituting formula (1-1) into formula (2-1), we can obtain the expression of the uplink pseudo-Doppler compensation value, which is:

[0077]

[0078] Where Δf represents the uplink pseudo-Doppler compensation value, v Satellite represents the satellite radial velocity, v UAV represents the radial velocity of the drone, c represents the speed of light, and f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 Indicates the actual uplink pseudo-Doppler value measured on the UAV.

[0079] In step S104 of this embodiment, the uplink pseudo-Doppler total value is edited in the telemetry data of the UAV's measurement and control transponder, and the uplink pseudo-Doppler total value is made equal to the sum of the uplink pseudo-Doppler measured value and the uplink pseudo-Doppler compensation value, thereby achieving incoherent speed measurement equivalence.

[0080] In step S104 of this embodiment, the expression of the uplink pseudo-Doppler total value is:

[0081] f′ d1 =f d1 +Δf (5)

[0082] Among them, f′ d1 represents the total uplink pseudo-Doppler value, f d1 represents the uplink pseudo-Doppler measured value on the UAV, and Δf represents the uplink pseudo-Doppler compensation value.

[0083] The present application achieves compensation for the uplink pseudo-Doppler value by directly editing the uplink pseudo-Doppler total value in the telemetry data of the UAV's measurement and control transponder, and making the uplink pseudo-Doppler total value equal to the sum of the uplink pseudo-Doppler measured value and the uplink pseudo-Doppler compensation value, without actually generating a signal frequency offset. Compared with existing channel simulation solutions, the present application can save channel simulation costs and reduce the carrying burden of the UAV.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly specified.

[0085] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0086] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of the present application.

[0087] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

Claims

1. A non-coherent velocity measurement equivalent method for simulating a satellite by using a UAV, characterized in that: The method comprises the following steps: Constructing a system model for the UAV to simulate satellite operation, the system model includes a ground tracking and control station, a UAV and a satellite to be simulated; the UAV is always in a tracking and control link between the satellite to be simulated and the ground tracking and control station, the tracking and control link including an uplink and a downlink; Calculate the satellite radial velocity of the simulated satellite relative to the ground measurement and control station and the UAV radial velocity of the UAV relative to the ground measurement and control station using the position information of the ground measurement and control station, the satellite trajectory information of the simulated satellite, and the flight trajectory information of the UAV; Using the ground measurement and control station to perform direct incoherent velocity measurement on the UAV to obtain a radial velocity measurement value of the UAV, and making the radial velocity measurement value of the UAV equivalent to the radial velocity of the satellite, and calculating an uplink pseudo-Doppler compensation value; The uplink pseudo-Doppler total value is edited in the telemetry data of the measurement and control transponder of the UAV, and the uplink pseudo-Doppler total value is made equal to the sum of the uplink pseudo-Doppler measured value and the uplink pseudo-Doppler compensation value, thereby achieving incoherent speed measurement equivalence.

2. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 1, characterized in that: The uplink includes a simulated uplink signal from the ground measurement and control station to the UAV, and an actual uplink signal from the ground measurement and control station to the satellite to be simulated; the downlink includes a simulated downlink signal from the UAV to the ground measurement and control station, and an actual downlink signal from the satellite to be simulated to the ground measurement and control station.

3. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 1, characterized in that: The satellite trajectory information includes the position information and speed information of the satellite to be simulated; the flight trajectory information includes the position information and speed information of the UAV.

4. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 3 is characterized in that: The step of calculating the satellite radial velocity of the satellite to be simulated relative to the ground measurement and control station and the drone radial velocity of the drone relative to the ground measurement and control station by using the position information of the ground measurement and control station, the satellite trajectory information of the satellite to be simulated, and the flight trajectory information of the drone comprises: Calculating the satellite trajectory information according to the orbital elements of the satellite to be simulated; Acquiring the flight trajectory information according to the real-time positioning information of the UAV during flight, and performing smoothing processing on the flight trajectory information; Determining the location information of the ground measurement and control station; Converting the satellite trajectory information, the flight trajectory information, and the position information of the ground measurement and control station into the same coordinate system; Calculating the satellite radial velocity based on the satellite trajectory information and the position information of the ground measurement and control station; The radial velocity of the UAV is calculated based on the flight trajectory information and the position information of the ground measurement and control station.

5. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 4 is characterized in that: The steps of performing direct incoherent velocity measurement on the UAV using the ground measurement and control station to obtain a UAV radial velocity measurement value, making the UAV radial velocity measurement value equivalent to the satellite radial velocity, and calculating an uplink pseudo-Doppler compensation value include: Using the ground measurement and control station to perform direct incoherent velocity measurement on the UAV to obtain a radial velocity measurement value of the UAV; The UAV radial velocity measurement value is made equivalent to the satellite radial velocity, and the uplink pseudo-Doppler compensation value is calculated using the uplink pseudo-Doppler measured value.

6. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 5, characterized in that: The expression of the UAV radial velocity is: Among them, v UAV (t2) represents the radial velocity of the UAV at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 represents the uplink pseudo-Doppler value measured on the UAV, f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the UAV’s clock error at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

7. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 5, characterized in that: The expression of the UAV radial velocity measurement value is: Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 represents the uplink pseudo-Doppler measured value on the UAV, Δf represents the uplink pseudo-Doppler compensation value, and f down Indicates the frequency of the analog downlink signal transmitted by the measurement and control transponder on the UAV, f d2 represents the downlink pseudo-Doppler measured by the ground tracking and control station, σ g (t3) represents the UAV’s clock error at time t3, σ g (t1) represents the clock error of the drone at time t1, and c represents the speed of light.

8. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 5, characterized in that: The expression for the equivalent of the UAV radial velocity measurement value and the satellite radial velocity is: in m (t2)=v Satellite (3) Among them, v m (t2) represents the radial velocity of the UAV measured by the ground control station at time t2, v Satellite Represents the satellite radial velocity.

9. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 5, characterized in that: The expression of the uplink pseudo-Doppler compensation value is: Where Δf represents the uplink pseudo-Doppler compensation value, v Satellite represents the satellite radial velocity, v UAV represents the radial velocity of the drone, c represents the speed of light, and f up Indicates the frequency of the uplink signal transmitted by the ground tracking and control station, f d1 Indicates the actual uplink pseudo-Doppler value measured on the UAV.

10. The incoherent velocity measurement equivalent method of a UAV simulating a satellite according to claim 5, characterized in that: The expression of the uplink pseudo-Doppler total value is: f′ d1 =f d1 +Δf (5) Among them, f′ d1 represents the total uplink pseudo-Doppler value, f d1 represents the uplink pseudo-Doppler measured value on the UAV, and Δf represents the uplink pseudo-Doppler compensation value.

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