Ground test system and method for air-bearing gravity offloading platform of satellite prototype

Abstract

This invention discloses a ground-based experimental system and method for an air-floating gravity unloading platform for satellite prototypes, comprising: an air-floating motion platform for simulating a microgravity environment; at least two modular spacecraft, each of which is mounted on a corresponding air-floating motion platform, and the modular spacecraft are provided with a controllable connection and release mechanism for realizing physical connection and separation between the modular spacecraft during the experiment; and a collaborative control and evaluation system for calculating multi-dimensional indicators for quantitatively evaluating mission effectiveness based on collected pose and motion data during or after mission execution. This invention, by building various subsystems to simulate the space environment, realizes the construction of a ground-based semi-physical simulation verification environment for modular satellites, which can effectively support the application research of modular satellite prototypes.

Description

Technical Field

[0001] This invention relates to the field of ground simulation and verification technology for modular self-reconfigurable spacecraft, and in particular to a ground experimental system and method for an air-floating gravity unloading platform for satellite prototypes. Background Technology

[0002] In ground-based environments, to verify the performance of modular satellites in space, such as attitude control, structural stability, and collaborative work among modules, the common practice is to use the principles of gas dynamics to connect an air-floating gravity unloading platform to the modular satellite, build a ground-based hardware-in-the-loop simulation verification environment, and realize frictionless and low-interference movement of satellite models or components on the ground, thereby simulating the microgravity environment in space and achieving a weightless state.

[0003] Currently, some domestic universities and research institutes commonly use microgravity environment simulation methods such as air flotation, drop tower method, suspension method, and water flotation method to meet the ground verification needs of key satellite technologies.

[0004] Air flotation, through precise control of gas pressure, enables high-precision microgravity simulation. It is also cost-effective, with lower construction and operating costs compared to other methods. The equipment structure is simple and maintenance is convenient.

[0005] The drop tower method can accurately simulate microgravity environments by allowing objects to fall freely inside a tower. However, it is expensive, and the construction and maintenance of drop tower facilities require significant costs. Moreover, due to the limited fall time, the microgravity simulation time for a single experiment is relatively short. The size and weight of the test equipment are limited by the drop tower structure.

[0006] The suspension method offers relatively simple design and ease of implementation for microgravity simulation experiments, allowing for extended periods of continuous operation. However, the complexity of the supporting truss structure and the frictional effects on the ropes during movement limit simulation accuracy. Furthermore, the suspension system requires significant space for installation and operation. Factors such as rope flexibility, vibration, and the inertial effect of the counterweights all negatively impact microgravity simulations.

[0007] The test equipment for the water flotation method requires special waterproofing treatment, which increases the complexity of experimental preparation.

[0008] Traditional single-unit spacecraft mission systems consist of a functionally integrated single spacecraft platform performing a specific mission, such as a reconnaissance satellite or a communication satellite. Their countermeasures are limited, and they typically lack the ability to alter their physical configuration or functional allocation in orbit. Simplified ground-based physical simulation systems often use one or more independent mobile robotic platforms to simulate some of the spacecraft's motions on a plane (such as a smooth surface) to verify control algorithms. These systems are usually functionally simple and cannot simulate critical physical processes such as on-orbit separation, docking, and reconfiguration of spacecraft, nor do they possess high-fidelity simulations of complex space environment effects (such as microgravity characteristics).

[0009] Numerical simulation-based evaluation methods mainly use computer software to mathematically model and simulate task scenarios. The evaluation results depend on the accuracy of the model and lack closed-loop interactive verification with real physical systems (including actuator delays, sensor noise, and dynamics of connecting mechanisms). As a result, the credibility of the evaluation conclusions and their guidance for engineering practice are limited. Summary of the Invention

[0010] To address the problems existing in the prior art, the present invention aims to provide a ground-based experimental system for an air-floating gravity unloading platform for satellite prototypes, thereby forming a semi-physical simulation verification environment for a ground prototype system of modular self-reconfigurable spacecraft, effectively supporting the application research of modular self-reconfigurable spacecraft. Another objective of the present invention is to provide a ground-based experimental method for an air-floating gravity unloading platform for satellite prototypes, based on the aforementioned ground-based experimental system for air-floating gravity unloading platforms.

[0011] To achieve the above objectives, the present invention provides a ground test system for an air-floating gravity unloading platform for a satellite prototype, comprising:

[0012] Air-floating motion platform for simulating microgravity environments;

[0013] At least two modular spacecraft, each of which is mounted on a corresponding air-floating motion platform, and the modular spacecraft are provided with a controllable connection and release mechanism for realizing the physical connection and separation between the modular spacecraft during the experiment;

[0014] The collaborative control and evaluation system calculates multi-dimensional indicators for quantitatively evaluating task performance based on the collected pose and motion data during or after task execution.

[0015] The collaborative control and evaluation system is configured as follows:

[0016] Controlling the connection release mechanism and driving the air-bearing motion platform to direct the modular spacecraft to perform a pre-defined scenario involving dynamic reconfiguration and cooperative maneuvering in a simulated microgravity environment.

[0017] Furthermore, the air-floating motion platform includes an air-floating gravity unloading platform and a marble platform. The modular spacecraft is placed on the air-floating gravity unloading platform and suspended on the marble platform through the air-floating base, realizing three-degree-of-freedom motion simulation under planar conditions and comprehensively simulating the microgravity environment in space.

[0018] Furthermore, the connection release mechanism is a magnetic connection mechanism, which uses a combination of electromagnet and permanent magnet, and is assisted in docking by a guide mechanism.

[0019] Furthermore, the modular spacecraft integrates a pose sensing module for measuring the inter-satellite relative state; the pose sensing module is one or more of a visual recognition module, a laser ranging module, or an ultra-wideband positioning module.

[0020] Furthermore, the collaborative control and evaluation system integrates the state of the virtual space target with the actual pose of the modular spacecraft to form a hybrid simulation environment to drive the envisioned scenario.

[0021] Furthermore, the multi-dimensional indicators include the relative interception range ratio (SIR) and the evasion cost ratio, which are used to evaluate the effectiveness of coordinated interception. And / or used to assess approach success rate and fuel cost for tracking effectiveness.

[0022] Furthermore, the power unit of the air-floating motion platform includes a force sensor for measuring thrust and feeding it back to the collaborative control and evaluation system for closed-loop control or for fuel consumption calculation in the multi-dimensional indicators.

[0023] A ground-based experimental method for an air-floating gravity unloading platform for a satellite prototype, based on the aforementioned ground-based experimental system for an air-floating gravity unloading platform used for a satellite prototype, includes the following steps:

[0024] S1: Environment construction and initialization steps: Start the system to put the air-floating motion platform carrying the modular spacecraft into a suspended working state simulating a microgravity environment;

[0025] S2: Mission Scenario Execution Steps: The Cooperative Control and Evaluation System controls the modular spacecraft to perform dynamic reconfiguration actions and cooperative maneuvering tasks based on the loaded pre-defined scenario; the dynamic reconfiguration actions include at least separation and reassembly, and the cooperative maneuvering tasks include at least cooperative interception and cooperative tracking tasks;

[0026] S3: Data Acquisition and Performance Evaluation Steps: Real-time acquisition of pose and motion data during task execution, and calculation of multi-dimensional indicators for quantitative evaluation of task performance based on this data.

[0027] Furthermore, the cooperative interception mission includes: controlling the separation of the escort modular spacecraft from the core modular spacecraft; driving the escort modular spacecraft to maneuver in order to attract or block the virtual attack target, so that the core modular spacecraft can evade.

[0028] Furthermore, the collaborative tracking task includes: controlling a cluster of modular spacecraft to approach a virtual mission target; when approaching to a preset distance, controlling some modular spacecraft to separate from the cluster and perform an encirclement maneuver, cooperating with other modular spacecraft in the cluster to form a tracking or encirclement posture against the virtual mission target.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention provides a hardware-in-the-loop (HIL) simulation environment for a ground-based prototype system of a modular satellite. The air-floating gravity unloading platform provides a support platform for the modular satellite prototype, simulating the microgravity and low-friction environment of space, achieving a near-zero weightlessness state. This ensures the satellite's stable operation in space and is of great significance. By constructing various subsystems to simulate the space environment, this invention establishes a ground-based HIL simulation environment for modular satellites, effectively supporting the application research of modular satellite prototypes. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the initial state of a modular spacecraft in a maneuvering scenario;

[0032] Figure 2 This is a schematic diagram of a modular spacecraft performing a separation operation in a maneuvering scenario;

[0033] Figure 3 This is a schematic diagram of a modular spacecraft performing a convergence operation in a maneuvering scenario;

[0034] Figure 4 This is a schematic diagram of the initial state of a modular spacecraft in a tracking scenario;

[0035] Figure 5 This is a schematic diagram of a modular spacecraft performing a separation operation in a tracking scenario;

[0036] Figure 6 This is a schematic diagram of a modular spacecraft performing aggregation operations in a tracking scenario. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] The following combination Figures 1-6 Specific embodiments of the present invention will be described in detail below. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the present invention.

[0041] The present invention provides a ground-based experimental system for an air-floating gravity unloading platform for satellite prototypes, comprising:

[0042] Air-floating motion platform for simulating microgravity environments;

[0043] At least two modular spacecraft, each of which is mounted on a corresponding air-floating motion platform, and the modular spacecraft are provided with a controllable connection and release mechanism for realizing the physical connection and separation between the modular spacecraft during the experiment;

[0044] The collaborative control and evaluation system calculates multi-dimensional indicators for quantitatively evaluating task performance based on the collected pose and motion data during or after task execution.

[0045] The collaborative control and evaluation system is configured as follows:

[0046] Controlling the connection release mechanism and driving the air-bearing motion platform to direct the modular spacecraft to perform a pre-defined scenario involving dynamic reconfiguration and cooperative maneuvering in a simulated microgravity environment.

[0047] Specifically, the ground test system of the air-floating gravity unloading platform for satellite prototypes of the present invention consists of a structural platform system, an air-floating system, a power unit system, a magnetic attraction system, a functional module system, an electrical system, and a remote control and telemetry system.

[0048] The structural platform system mainly includes an air-floating gravity unloading platform structural frame and a modular spacecraft structural frame. The structural platform system can be understood as an air-floating motion platform used to simulate a microgravity environment. The air-floating motion platform includes an air-floating gravity unloading platform and a marble platform. The modular spacecraft is placed on the air-floating gravity unloading platform and suspended on the marble platform via an air-floating base, achieving three-degree-of-freedom motion simulation under planar conditions, comprehensively simulating the microgravity environment in space.

[0049] The main functions of the structural platform system are:

[0050] a) Provides support for the entire platform as it moves on the marble platform;

[0051] b) Provide mounting and fixing positions for each system component, and ensure sufficient strength and rigidity to guarantee the correct and stable relative positions of all components.

[0052] The air flotation system comprises an air supply subsystem and an air bearing assembly. It is a crucial component of the prototype system, enabling it to simulate a microgravity environment on a marble platform.

[0053] The power unit system consists of four power units, each of which includes a force sensor, a brushless motor, and a matching propeller.

[0054] The magnetic attraction system enables reliable connection between adjacent prototype modules and can verify experimental actions such as module rotation, separation, and aggregation. The designed modular prototype magnetic attraction system uses a combination of electromagnets and permanent magnets.

[0055] The remote control and telemetry system is responsible for the management and control of the entire prototype system. It receives remote control signals sent from the ground-based intelligent spacecraft management and control platform, converts them into control signals within the prototype system, and simultaneously provides intelligent management and control to the ground-based intelligent spacecraft.

[0056] An electrical system refers to all electrical components in a prototype system that do not belong to any other system. This includes: batteries, voltage regulators and transformers, voltage distribution modules, voltage direction switching modules, etc.

[0057] Three modular spacecraft were used to construct three typical mission scenarios: maneuvering, obstacle avoidance, and tracking. By performing aggregation, transposition, and separation actions through the modular spacecraft, the key technologies of the modular spacecraft were experimentally verified.

[0058] The modular spacecraft comprises three satellites: 01, 02, and 03. Each of the three modular spacecraft houses a control module, a computing module, and a communication and sensing module. The modular spacecraft are placed on an air-floating gravity unloading platform, suspended on a marble platform via an air-floating base, enabling three-degree-of-freedom motion simulation under planar conditions. This comprehensively simulates the microgravity environment in space, achieving a weightless state with zero gravity.

[0059] like Figures 1-3 As shown, the maneuvering scenario includes three typical mission scenarios: maneuvering, tracking, and obstacle avoidance. The modular spacecraft 01, 02, and 03 (Party A) are designated as Party A, possessing inter-satellite two-way communication and space target detection and imaging capabilities. Party B's spacecraft is a virtual satellite. In the maneuvering scenario, Party A's mission objective is to evade Party B's ejected kinetic energy module using maneuvering strategies. Party B's virtual satellite emits a 420MHz interference signal, directed at Party A's modular spacecraft 02, intending to disrupt Party A's satellite communication, but the interference is unsuccessful. Therefore, Party B's virtual satellite ejects its kinetic energy module and tracks Party A's spacecraft. Party A's spacecraft successfully evades Party B's ejected kinetic energy module through configuration changes.

[0060] The invention also includes a collaborative control and evaluation system configured to control the action of the connection release mechanism and drive the movement of the air-bearing motion platform to direct the modular spacecraft to execute a pre-defined scenario involving dynamic reconfiguration and collaborative maneuvering in a simulated microgravity environment. The collaborative control and evaluation system integrates the state of the virtual space target (virtual spacecraft) with the actual pose of the modular spacecraft to create a hybrid simulation environment to drive the pre-defined scenario.

[0061] Based on the ground test system of the air-floating gravity unloading platform for satellite prototypes of the present invention, the ground test method for the air-floating gravity unloading platform for satellite prototypes includes the following steps:

[0062] S1: Environment construction and initialization steps: Start the system to put the air-floating motion platform carrying the modular spacecraft into a suspended working state simulating a microgravity environment;

[0063] S2: Mission Scenario Execution Steps: The Cooperative Control and Evaluation System controls the modular spacecraft to perform dynamic reconfiguration actions and cooperative maneuvering tasks based on the loaded pre-defined scenario; the dynamic reconfiguration actions include at least separation and reassembly, and the cooperative maneuvering tasks include at least cooperative interception and cooperative tracking tasks;

[0064] S3: Data Acquisition and Performance Evaluation Steps: Real-time acquisition of pose and motion data during task execution, and calculation of multi-dimensional indicators for quantitative evaluation of task performance based on this data.

[0065] The coordinated interception mission includes: controlling the separation of the escort modular spacecraft from the core modular spacecraft; driving the escort modular spacecraft to maneuver in order to attract or block the virtual attack target, so that the core modular spacecraft can evade.

[0066] The collaborative tracking task includes: controlling a cluster of modular spacecraft to approach a virtual mission target; when approaching to a preset distance, controlling some modular spacecraft to separate from the cluster and perform an encirclement maneuver, cooperating with other modular spacecraft in the cluster to form a tracking or encirclement posture against the virtual mission target.

[0067] Evaluation metrics include interception efficiency (relative distance between the virtual spacecraft of Party B and the three modular spacecraft of Party A), evasion rate, evasion cost ratio (propulsion consumption of the air-bearing platform, or integral of speed), and minimum interception time.

[0068] 1. Interception efficiency: This measures which of the two defenders is effective and how quickly the interception occurs.

[0069] Sub-metric: Interception time The judgment condition is that the relative distance between any satellite of Party A's spacecraft (01 / 03) and Party B's virtual spacecraft is less than [a certain value]. At this point, the interception is considered successful.

[0070] Relative Interception Range Ratio (SIR):

[0071] ;

[0072] in, For the interception time, The relative distance threshold is used; an attack is considered successful if the distance is close to 0.5 meters.

[0073] The position vector of Party B's virtual spacecraft. This is the position vector of the modular spacecraft 02 satellite belonging to Party A.

[0074] If SIR is much greater than 1, it means that the virtual spacecraft destroyed the client's modular spacecraft 02 when it was far away (perfect evasion).

[0075] If SIR is approximately equal to 1, it means that the virtual spacecraft was intercepted (extreme evasion) just when it was about to hit the client's modular spacecraft 02.

[0076] 2. Evasion rate: A survival function based on distance. As the distance between the attacker and the target decreases, the target's survival probability decreases.

[0077] ;

[0078] It is the distance sensitivity coefficient, which is set manually.

[0079] 3. Evasion Cost Ratio: This measures the ratio of costs incurred by our satellites during the defense and interception process.

[0080] ;

[0081] The cost function of the virtual spacecraft operated by Party B includes the value of the virtual spacecraft and its fuel consumption during operation.

[0082] Cost function of the modular spacecraft 02 satellite (Party A), fuel consumption, and velocity integral during the process;

[0083] The cost function of the modular spacecraft (01 / 03 satellites) of Party A includes the value of the specific intercepting satellite (e.g., if 01 successfully intercepts, then it is the value of satellite 01) and the fuel consumption and velocity integral of satellites 01 / 03 during the defense process.

[0084] if This indicates that we protected a high-value target at a relatively low cost, demonstrating a superior strategy.

[0085] like Figures 4-6 As shown, the tracking scenario is designed for a modular spacecraft (Party A) actively tracking a target (Party B). The system involves a tracking module launched from Party A's modular spacecraft. First, Party A's spacecraft continuously approaches Party B's virtual satellite. Upon reaching a certain distance, the kinetic energy modules of satellites 02 (Party A's 01 and 03) separate. Satellites 01 and 03 then separate from satellite 02. Next, satellites 01 and 03 translate 1 meter along the positive Y-axis. Afterward, the two satellites move towards each other, forming a combined entity positioned between Party B's virtual satellite and Party A's 02 satellite.

[0086] Evaluation metrics for tracking scenarios include approach success rate, minimum approach time, fuel cost, and launch accuracy.

[0087] Success rate of approach: the number of successful approaches in multiple experiments / the number of experiments.

[0088] Minimum approach time: The minimum moment when the relative distance is less than the capture distance, used to determine the efficiency of the ZJ strategy.

[0089] ;

[0090] Indicates the minimum relative distance to approach. The position vector of Party B's virtual spacecraft. For the position vector of the modular spacecraft of Party A, This is the position vector of Party A's modular spacecraft. When the relative distance between either of them is less than 0.5 meters, it indicates successful tracking, and the time at this moment is recorded. The smaller the time, the higher the overall tracking efficiency.

[0091] Fuel Cost: The total fuel consumption of the three module spacecraft of Party A throughout the entire tracking scenario is the cost of this mission, used to evaluate the merits of the strategy.

[0092] Launch accuracy: The norm error between the expected launch position coordinates of the modular spacecraft 02 and the specific launch position coordinates of the modular spacecraft 03 / 01.

[0093] The technical advantages of this invention are as follows:

[0094] (1) Achieved breakthroughs in “physical reconfigurability” and “functional definition”. Through the modular spacecraft structural framework and magnetic connection / separation system, the present invention enables the spacecraft to be separated, repositioned and aggregated dynamically according to mission requirements, just like “space building blocks”, thereby realizing rapid and flexible switching from a single platform to a multi-body collaborative system or from a multi-body system to a functional integration platform at the physical level.

[0095] (2) By combining the air-floating gravity unloading platform, the present invention reproduces the three-degree-of-freedom motion and reconstruction process in the microgravity environment of space with high fidelity on the ground, providing a reliable physical basis for the verification of the above core capabilities, which is something that existing simple mobile robot platforms cannot achieve.

[0096] This has spurred innovative intelligent collaborative combat tactics:

[0097] (3) A closed-loop R&D and evaluation system integrating "task-verification-evaluation" was constructed. This invention not only proposed a system architecture, but also designed three typical adversarial task scenarios: maneuvering, obstacle avoidance, and tracking. It was fully implemented in a physical experimental system, realizing end-to-end closed-loop verification from algorithm to hardware. For each scenario, this invention innovatively proposed a set of refined quantitative evaluation index systems. In the maneuvering / interception scenario, a multi-dimensional evaluation model integrating interception efficiency (SIR), evasion rate (survival function), and evasion cost (cost ratio) was proposed. It not only focuses on "whether it hits", but also evaluates "how fast the interception is", "how cost-effective it is", and "how good the tactics are". In the tracking scenario, a comprehensive evaluation standard covering approach success rate, minimum approach time, fuel cost, and ejection accuracy was proposed.

[0098] (4) Significantly improves the realism, comprehensiveness, and efficiency of system verification. By integrating the air buoyancy system, power unit, magnetic attraction system, remote control and telemetry, and electrical system, this invention constructs a highly integrated and highly realistic semi-physical simulation verification environment. It can realistically reflect the microgravity dynamics, the physical processes of module connection / separation, multi-agent collaborative control, and actual constraints such as energy and communication. The evaluation results are far more reliable than pure digital simulation. This platform can quickly reproduce and verify various complex adversarial scenarios, accelerate the process from tactical concept to engineering implementation, and provide a powerful ground support platform for the research and development of future intelligent and flexible space systems.

[0099] Any process or method described in the flowcharts of this invention or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, which can be implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device. The computer-readable medium can be any medium containing a program for storage, communication, propagation, or transmission for use by the execution system, apparatus, or device, including read-only memory, magnetic disks, or optical disks.

[0100] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, those skilled in the art can combine or combine the different embodiments or examples described in this specification and the features therein without causing contradiction.

[0101] While embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and alterations to the above embodiments within the scope of the present invention.

Claims

1. A ground test system for an air-floating gravity unloading platform for satellite prototypes, characterized in that, include: Air-floating motion platform for simulating microgravity environments; At least two modular spacecraft, each of which is mounted on a corresponding air-floating motion platform, and the modular spacecraft are provided with a controllable connection and release mechanism for realizing the physical connection and separation between the modular spacecraft during the experiment; The collaborative control and evaluation system calculates multi-dimensional indicators for quantitatively evaluating task performance based on the collected pose and motion data during or after task execution. The collaborative control and evaluation system is configured as follows: Controlling the action of the connection release mechanism and driving the movement of the air-floating motion platform to direct the modular spacecraft to perform a pre-concept scenario including dynamic reconfiguration and cooperative maneuvering in a simulated microgravity environment; The air-floating motion platform includes an air-floating gravity unloading platform and a marble platform. The modular spacecraft is placed on the air-floating gravity unloading platform and suspended on the marble platform through the air-floating base, realizing three-degree-of-freedom motion simulation under planar conditions and comprehensively simulating the microgravity environment in space. The connection release mechanism is a magnetic connection mechanism, which uses a combination of electromagnet and permanent magnet, and is assisted in docking by a guide mechanism. The modular spacecraft integrates a pose sensing module for measuring the inter-satellite relative state; the pose sensing module is one or more of a visual recognition module, a laser ranging module, or an ultra-wideband positioning module. The collaborative control and evaluation system integrates the state of the virtual space target with the real pose of the modular spacecraft to form a hybrid simulation environment to drive the pre-defined scenario. The multi-dimensional metrics include the relative interception range ratio (SIR) and the evasion cost ratio, which are used to evaluate the effectiveness of coordinated interception. And / or used to assess approach success rate and fuel cost for tracking effectiveness; The power unit of the air-floating motion platform includes a force sensor for measuring thrust and feeding it back to the collaborative control and evaluation system for closed-loop control or for fuel consumption calculation in the multi-dimensional indicators.

2. A ground test method for an air-floating gravity unloading platform for a satellite prototype, the method being implemented based on the ground test system for an air-floating gravity unloading platform for a satellite prototype as claimed in claim 1, the method comprising the following steps: S1: Environment construction and initialization steps: Start the system to put the air-floating motion platform carrying the modular spacecraft into a suspended working state simulating a microgravity environment; S2: Mission Scenario Execution Steps: The Cooperative Control and Evaluation System controls the modular spacecraft to perform dynamic reconfiguration actions and cooperative maneuvering tasks based on the loaded pre-defined scenario; the dynamic reconfiguration actions include at least separation and reassembly, and the cooperative maneuvering tasks include at least cooperative interception and cooperative tracking tasks; S3: Data Acquisition and Performance Evaluation Steps: Real-time acquisition of pose and motion data during task execution, and calculation of multi-dimensional indicators for quantitative evaluation of task performance based on this data.

3. The ground test method for the air-floating gravity unloading platform for satellite prototypes according to claim 2, characterized in that, The coordinated interception mission includes: controlling the separation of the escort modular spacecraft from the core modular spacecraft; driving the escort modular spacecraft to maneuver in order to attract or block the virtual attack target, so that the core modular spacecraft can evade.

4. The ground test method for the air-floating gravity unloading platform for satellite prototypes according to claim 2, characterized in that, The collaborative tracking task includes: controlling a cluster of modular spacecraft to approach a virtual mission target; when approaching to a preset distance, controlling some modular spacecraft to separate from the cluster and perform an encirclement maneuver, cooperating with other modular spacecraft in the cluster to form a tracking or encirclement posture against the virtual mission target.

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