Satellite navigation terminal motion trajectory physical simulation device

Abstract

The application provides a satellite navigation terminal motion trajectory physical simulation device and relates to the technical field of satellite navigation trajectory simulation. The satellite navigation terminal motion trajectory physical simulation device comprises a satellite model and further comprises: a vacuum shell which is integrally welded by two groups of metal components and forms a closed and sealed cavity inside; an air suction groove is formed on the top of the shell, an external vacuum extraction device can be connected, and a vacuum environment is established inside the cavity through external air extraction operation. The application solves the problem of high cost and short maintenance time of simulating satellite navigation terminal simulation trajectory, builds a closed vacuum environment through a vacuum shell, simulates weightlessness environment by using a UAV throwing, can accurately collect relative position data of the satellite model and the self-rotating ball, realizes high-precision simulation of the satellite navigation terminal motion trajectory, provides a real and reliable physical simulation scene for performance test of the satellite navigation terminal, and greatly improves the accuracy and reference value of test data.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation trajectory simulation technology, specifically to a physical simulation device for the motion trajectory of a satellite navigation terminal. Background Technology

[0002] The trajectory accuracy and attitude stability of satellite navigation terminals directly determine the safety and reliability of spacecraft in orbit. Therefore, conducting trajectory simulation tests under weightless environments on the ground is a crucial step in satellite development. Currently, ground-based weightless environment simulation mainly employs methods such as air buoyancy, drop tower, suspension, and parabolic flight. However, these methods have significant limitations in satellite navigation terminal trajectory simulation applications, making it difficult to meet the requirements for long-term, continuous, and low-cost testing.

[0003] In existing technologies, the drop tower method and parabolic flight method simulate weightlessness for extremely short periods, lasting only a few seconds to tens of seconds per experiment. These methods cannot achieve continuous simulation of satellite navigation terminal trajectories or full-process data acquisition. Furthermore, the equipment is expensive, operating costs are high, and it is significantly limited by the size and weight of the load. While the air-bearing method is less expensive, it can only simulate finite degrees of freedom in a plane and cannot reproduce complete motion trajectories in three-dimensional space. Additionally, air-bearing bearings are cumbersome to install and maintain.

[0004] While suspension methods can achieve long-term simulations, factors such as rope friction, vibration, and counterweight inertia can severely affect simulation accuracy. Furthermore, the equipment is space-consuming and structurally complex, easily interfering with the trajectory motion of satellite navigation terminals. In addition, while high-end GNSS simulators are powerful, they are functionally redundant and expensive, making them unaffordable for small and medium-sized research institutions. Numerical simulation methods, on the other hand, lack closed-loop interactive verification with real physical systems, resulting in insufficient reliability of evaluation results.

[0005] In summary, existing weightlessness simulation devices are either short in simulation time and low in accuracy, or expensive and complex to operate. Neither can meet the requirements of long-term continuous simulation and low cost. They are also unable to accurately reproduce the complete motion trajectory and attitude change law of satellite navigation terminals in a weightless environment, and cannot provide reliable test data support for the performance optimization of satellite navigation terminals. Therefore, developing a low-cost physical simulation device for the motion trajectory of satellite navigation terminals that can realize long-term continuous weightlessness simulation has become an urgent technical problem to be solved. Summary of the Invention

[0006] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a physical simulation device for the motion trajectory of a satellite navigation terminal. This device solves the problems of high cost and short duration in simulating satellite navigation terminal trajectories. It constructs a sealed vacuum environment using a vacuum shell and simulates weightlessness by using a drone for deployment. This allows for precise acquisition of the relative position data between the satellite model and the rotating sphere, achieving high-precision simulation of the satellite navigation terminal's motion trajectory. This provides a realistic and reliable physical simulation scenario for the performance testing of satellite navigation terminals, significantly improving the accuracy and reference value of the test data. Technical solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a physical simulation device for the motion trajectory of a satellite navigation terminal, comprising a satellite model, and further comprising: The vacuum housing is made of two sets of metal components welded together to form a whole, forming a sealed cavity inside; the top of the housing has an air intake slot, which can be connected to external vacuum equipment to create a vacuum environment inside the cavity through external air extraction. A self-rotating sphere is located inside the vacuum chamber and rotates along the central axis of the vacuum chamber; At least three positioning modules are provided, two of which are fixed to the satellite model body, and the remaining one is fixedly mounted on a preset installation position on the surface of the rotating sphere, so as to realize the synchronous acquisition, comparison and calculation of relative spatial coordinates of multiple ends. The target is positioned on the outside of the rotating sphere; The controller, mounted on the top of the vacuum housing, is used to receive the detection feedback signals transmitted back from each group of positioning modules. The rotating sphere and satellite model are both installed in the lower part of the vacuum shell, so that the center of gravity of the vacuum shell is close to the bottom. The vacuum shell adopts a streamlined shape to reduce air resistance during the descent. The front end of the satellite model is equipped with a vision system for identifying targets, and the sides are equipped with a power system for autonomously correcting the trajectory of spatial motion.

[0008] Preferably, a guide rail is fixedly provided in the middle of the vacuum housing, and the guide rail has an annular groove. A satellite launch and recovery assembly is slidably fitted inside the groove. The satellite launch and recovery assembly specifically includes: An I-shaped movable block, with its middle section positioned inside a sliding groove to achieve sliding guidance; Several balls are embedded in the upper and lower inner walls of the I-shaped movable block and roll in contact with the upper and lower side walls of the guide rail, forming a sliding pair; The mounting base is integrally formed with the lower side wall of the I-shaped movable block; The fixed electric cylinder is fixedly mounted on the upper side wall of the mounting base, and its telescopic movable end penetrates through the rear wall of the mounting base and extends into the hollow cavity of the mounting base. The external drive tube is rigidly fixed to the telescopic movable end of the fixed electric cylinder; At least two sets of grippers are hinged to the outer wall of the outer drive tube via multiple sets of connecting rods and pins. When the movable end of the fixed electric cylinder extends, it drives the two sets of grippers to open and unlock synchronously. When the movable end of the fixed electric cylinder retracts, it drives the front part of the grippers to close and clamp, thus completing the clamping and limiting of the satellite model.

[0009] Preferably, the satellite launch and recovery assembly further includes: The inner drive tube is floatingly connected to the internal cavity of the outer drive tube via an elastic element; The jacking pipe is fitted into the hollow cavity of the mounting base with the help of matching elastic elements. The rear end of the jacking pipe and the front end of the inner drive pipe form abutting fit. Under pressure conditions, the elastic element connecting the inner drive pipe will preferentially undergo compression deformation. The locking pin is vertically mounted on the upper side wall of the mounting base through an elastic structure. The lower end of the locking pin is inserted through the jacking pipe. When the device is in a weightless working condition, the locking pin releases the insertion limit with the jacking pipe, and the lower end disengages from the jacking pipe to achieve unlocking.

[0010] Preferably, an intermediate tray is welded and fixed in the middle of the inner cavity of the vacuum shell, and a winding mechanism is rotatably assembled at the center of the intermediate tray. A traction rope is wound around the outer periphery of the winding mechanism to achieve the limiting and traction of the satellite model.

[0011] Preferably, the winding mechanism includes a winding spool for winding and storing the traction rope; the intermediate tray is also fixedly equipped with a spool drive device, which includes a drive cylinder and a drive block assembled at its telescopic end; A linkage gear is fixed at the center of the upper end of the winding shaft, and a rack structure is machined on the inner side of the drive block. The rack and the linkage gear mesh and transmit power. Relying on the linear extension and retraction action of the drive cylinder, the winding shaft can be driven to rotate in the forward and reverse directions through the rack and gear pair to complete the winding and unwinding of the rope.

[0012] Preferably, the bottom of the spool extends downward to form a columnar connecting section, and the top of the rotating ball extends upward to form a sleeve structure. The sleeve is rotatably fitted around the outer periphery of the columnar connecting section to form a rotary fit. The central cavity of the columnar connecting section is elastically connected to the inside of the bottom contact rod via an elastic element. The columnar connecting section and the outer periphery of the bottom contact rod are hinged by a pin to assemble multiple sets of connecting rod blocks. Under normal conditions, the multiple sets of connecting rod blocks extend outward and are clamped and limited to the inner wall of the sleeve at the top of the rotating ball, thereby realizing the circumferential locking assembly between the spool and the rotating ball.

[0013] Preferably, a top contact rod is slidably fitted inside the central cavity of the winding spool. An elastic reset element is arranged between the top contact rod and the bottom contact rod to achieve axial elastic linkage. The upper end of the top contact rod extends upward and protrudes from the upper end face of the winding spool. The upper inner wall of the drive block is machined into a wedge-shaped pressure-bearing surface. This wedge-shaped surface can press down to contact the top contact rod with the linear displacement of the drive block and drive the bottom contact rod to move downward, causing the connecting rod block hinged to the outside to retract inward, thereby releasing the locking and limiting of the connecting rod block on the inner wall of the top sleeve of the rotating ball.

[0014] Preferably, an automatic umbrella opener is also installed on the top of the vacuum housing.

[0015] This invention provides a physical simulation device for the motion trajectory of a satellite navigation terminal. It possesses the following technical advantages and benefits: 1. By constructing a sealed vacuum environment through a vacuum shell, and working in conjunction with multiple positioning modules, targets, and rotating spheres, the relative position data of the satellite model and the rotating sphere can be accurately collected. The attitude parameters are calculated in real time by the controller, effectively avoiding air interference and measurement deviations, and realizing high-precision simulation of the motion trajectory of the satellite navigation terminal. This provides a real and reliable physical simulation scenario for the performance testing of the satellite navigation terminal, and greatly improves the accuracy and reference value of the test data.

[0016] 2. Relying on the coordinated linkage of components such as the I-shaped movable block, ball bearings, and fixed electric cylinder of the satellite launch and recovery assembly, combined with the annular sliding groove of the guide rail to achieve low-resistance sliding, it can flexibly complete the clamping and release of the satellite model. At the same time, through the cooperation of locking pins, jacking tubes and other structures, it can achieve precise unlocking and positioning under weightless and overweight conditions, adapting to the needs of different simulation scenarios. The structure is compact and the linkage is smooth, effectively solving the core problem of stable fixation and flexible movement of satellite models in weightless environments.

[0017] 3. By deploying a vacuum shell using a drone to simulate a weightless environment, and combining the closed-loop data feedback from the winding mechanism, spool drive equipment, and positioning module, it can simulate the real weightless conditions of a spacecraft operating in orbit. It can also reproduce the disturbance scenario of a spacecraft landing impact through the cooperation of the drive block and the linkage block, balancing the realism and comprehensiveness of the simulation. At the same time, it can accurately restore the motion trajectory and attitude changes of the satellite model through the positioning module data stored in the controller, providing comprehensive data support and scenario simulation for the research and development and debugging of satellite navigation terminals. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure after the vacuum shell is hidden in this invention; Figure 3 In this invention Figure 2A structural diagram showing the structure after further concealing the intermediate tray; Figure 4 This is a schematic diagram of the cooperative structure of the spool drive device, the winding mechanism and the rotating ball in this invention; Figure 5 for Figure 4 Isometric side sectional view of the upper part; Figure 6 This is a schematic diagram illustrating the cooperation between the rotating sphere, the winding mechanism, and the satellite take-up and take-down assembly in this invention; Figure 7 for Figure 6 A schematic diagram of the structure on the other side; Figure 8 This is a schematic diagram of the cooperation structure between the satellite model and the satellite launch and recovery components in this invention; Figure 9 This is an isometric side sectional view of the satellite launch and recovery assembly in this invention; Figure 10 This is a schematic diagram of the structure of the satellite model and satellite launch and recovery components after concealing the I-shaped movable block and the mounting base in this invention.

[0019] The components include: 1. Vacuum shell; 2. Satellite model; 3. Positioning module; 4. Rotating sphere; 5. Winding mechanism; 6. Satellite launch and recovery assembly; 7. Target; 8. Guide rail; 9. Borehole drive device; 10. Automatic parachute opener; and 11. Intermediate tray. 51. Reel; 52. Top contact rod; 53. Bottom contact rod; 54. Linkage block; 62. I-shaped movable block; 63. Ball bearing; 64. Fixed electric cylinder; 65. Mounting base; 66. Claw gripper; 67. Locking pin; 68. External drive tube; 69. Internal drive tube; 60. Jacking tube; 91. Drive cylinder; 92. Drive block. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0021] Example, reference Figure 1 , Figure 6 and Figure 7As shown, this embodiment of the invention provides a physical simulation device for the motion trajectory of a satellite navigation terminal, including a satellite model 2, and further including: a vacuum shell 1, which is formed by welding and fixing two sets of metal components together to form a sealed cavity; an air intake slot is opened on the top of the shell, which can be connected to a vacuum pumping device to establish a vacuum environment inside the cavity through external air pumping; a rotating sphere 4, which is set inside the vacuum shell 1 and rotates along the central axis of the vacuum shell 1; and at least three sets of positioning modules 3, of which two sets of positioning modules 3 are fixedly installed on the satellite model 2 body, and the remaining set of positioning modules 3 is fixedly assembled on the surface of the rotating sphere 4 at a preset mounting position to realize the simultaneous positioning of multiple relative spatial coordinates. The process involves data acquisition and comparison calculation; a target 7 is positioned on the outside of the rotating sphere 4; a controller is mounted on the top of the vacuum housing 1 to receive the detection feedback signals transmitted back by each group of positioning modules 3; the rotating sphere 4 and the satellite model 2 are both located in the lower inner installation area of ​​the vacuum housing 1, making the center of gravity of the vacuum housing 1 closer to the bottom, and the overall vacuum housing 1 adopts a streamlined shape to reduce air resistance during the descent. The front end of the satellite model 2 integrates a vision system for identifying the target 7, and its sides are equipped with a power system for autonomously correcting the spatial motion trajectory. An automatic parachute opener 10 is also installed on the top of the vacuum housing 1.

[0022] In a preferred embodiment, the simulation device mainly uses free fall to simulate a weightless environment to obtain motion trajectory parameters of the satellite navigation terminal that are more in line with the actual situation. The device uses a drone to fish for the vacuum shell 1 and then drops the vacuum shell 1 after a certain height. Since the shell and other internal components have the same falling acceleration, combined with the vacuum removal inside the cavity, the vacuum shell 1 is in a weightless state during the falling process. Under weightless conditions, the visual perception system on satellite model 2 collects feature images of target 7 on the surface of the rotating sphere 4 in real time. Through image recognition, pixel matching and pose calculation, it outputs the relative offset, attitude deviation and spatial distance parameters between the two in real time. Simultaneously, the above deviation data is fed back to the power adjustment system of satellite model 2 in a closed loop. Based on the calculated trajectory correction amount, the power system outputs precise thrust and attitude adjustment torque to compensate for position deviations in the horizontal, vertical and angular directions in real time, and gradually corrects the flight trajectory and suspension attitude, so that satellite model 2 can achieve precise alignment, steady-state following and directional fitting relative to the rotating sphere 4. The positioning module 3, which is arranged on the rotating sphere 4 and the satellite model 2, will continuously transmit real-time position-related measurement data back to the controller according to the preset time sequence. Each positioning module 3 relies on the distance and angle measurement sensing mechanism between each other, and transmits and receives synchronous modulation detection signals. Combined with the flight time difference or phase difference, it completes the high-precision acquisition of original spatial correlation parameters such as the straight distance between modules and the spatial azimuth angle. All acquired data are equipped with a unified timestamp to achieve time sequence alignment, ensuring that multiple sets of measurement information are synchronized and reliable. After receiving measurement information from at least two independent points, the controller, relying on the inherent calibration baseline dimensions of the two positioning modules 3 on the satellite model 2, compares the relative offset relationship of the points measured in real time through spatial vector calculation and trigonometric geometry calculation, and deduces the deflection, tilt and rotation changes of the baseline in three-dimensional space. In this way, the real-time spatial attitude parameters of the satellite model 2 as a whole are accurately analyzed, providing continuous and accurate positioning data support for subsequent trajectory adjustment and alignment calibration. After the vacuum shell 1 falls to the preset safe height and completes the predetermined weightlessness simulation, the controller triggers the automatic parachute 10 to perform the parachute opening action. The parachute helps to buffer and decelerate, ensuring that the vacuum shell 1 lands smoothly. Subsequently, the internal controller can be removed, and by analyzing and reviewing the continuous monitoring data transmitted back by each group of positioning modules 3, the complete motion trajectory and dynamic attitude change information of the satellite model 2 in real time under weightlessness can be accurately restored and calculated.

[0023] refer to Figures 8 to 10 As shown, a guide rail 8 is fixedly installed in the middle of the vacuum housing 1. The guide rail 8 has an annular groove, and a satellite launch and recovery assembly 6 is slidably fitted inside the groove. The satellite launch and recovery assembly 6 specifically includes: an I-shaped movable block 61, the middle section of which passes through and is limited inside the groove to achieve sliding guidance; several balls 62, which are embedded in the upper and lower inner walls of the I-shaped movable block 61 and roll in contact with the upper and lower side walls of the guide rail 8 to form a sliding pair; a mounting base 64, which is integrally formed with the lower side wall of the I-shaped movable block 61; and a fixed electric cylinder 63, which is fixedly installed on the upper side of the mounting base 64. The telescopic movable end of the fixed electric cylinder 63 penetrates the rear wall of the mounting base 64 and extends into the hollow cavity of the mounting base 64; the outer drive tube 67 is rigidly fixed to the telescopic movable end of the fixed electric cylinder 63; at least two sets of grippers 65 are hinged to the outer wall of the outer drive tube 67 through multiple sets of connecting rod pins; relying on the connecting rod transmission mechanism, when the movable end of the fixed electric cylinder 63 extends, it drives the two sets of grippers 65 to open and unlock synchronously, and when the movable end of the fixed electric cylinder 63 retracts, it drives the front part of the grippers 65 to close and clamp, thus completing the clamping and limiting of the satellite model 2.

[0024] In a preferred embodiment, the controller integrates a gravity acceleration sensing module. The core of this module uses a high-precision triaxial MEMS accelerometer combined with a gyroscope to form an inertial measurement unit (IMU). This type of sensor can collect three-dimensional axial acceleration components and angular velocity changes in real time. By calculating the acceleration threshold in real time, it accurately determines whether the system is in a weightless or overweight condition. When the system determines that it has entered an overweight condition, the controller outputs a control signal to drive the fixed electric cylinder 63 to move the external drive tube 67 axially forward. This, in turn, drives the gripper 65 to open synchronously via a linkage transmission structure, releasing the rigid clamping limit on the satellite model 2. During this period, satellite model 2 maintains a flexible connection constraint with the mounting base 64 via traction cables, releasing only a localized margin of movement. This overweight unlocking phase is used to simulate the real engineering conditions of micro-vibration and shaking of the satellite's auxiliary structures caused by the impact overload of the cabin during spacecraft landing, thus reproducing the disturbance force environment under landing impact. After the disturbance occurs, satellite model 2 relies on its onboard power adjustment mechanism to output micro-thrust in real time to complete attitude balance correction. At the same time, the various positioning modules 3 continuously collect real-time relative position and attitude data and transmit them back to the controller, realizing data monitoring and feedback of the attitude adjustment process under overweight disturbance conditions.

[0025] refer to Figure 9 As shown, the satellite launch and recovery assembly 6 also includes: an inner drive tube 68, which is floatingly connected to the internal cavity of the outer drive tube 67 via an elastic element; a top tube 69, which is fitted into the hollow cavity of the mounting base 64 by means of a matching elastic element, with the rear end of the top tube 69 abutting against the front end of the inner drive tube 68, and under pressure conditions, the elastic element connected to the inner drive tube 68 preferentially undergoes compression deformation; and a locking pin 66, which is vertically fitted to the upper side wall of the mounting base 64 via an elastic structure, with the lower end of the locking pin 66 penetrating and inserting into the top tube 69. When the device is in a weightless condition, the locking pin 66 releases its insertion limit with the top tube 69, and the lower end disengages from the top tube 69 to achieve unlocking.

[0026] In a preferred embodiment, under weightlessness, the elasticity of the bearing locking pin 66 releases the squeezing and limiting effect on the locking pin 66 body. The locking pin 66 rises upward with the elastic reset force, releasing its insertion locking constraint on the jacking pipe 69. At this time, the fixed electric cylinder 63 performs an extension action, which can simultaneously drive the outer drive pipe 67 and the internally elastically connected inner drive pipe 68 to move forward axially. The jacking pipe 69 extends synchronously under the pushing linkage action of the inner drive pipe 68. Finally, relying on the axial ejection stroke of the jacking pipe 69, the satellite model 2 is smoothly pushed and released, completing the autonomous separation and display action of the model under weightlessness.

[0027] refer to Figures 2 to 5As shown, a middle tray 11 is welded and fixed in the middle of the inner cavity of the vacuum shell 1. A winding mechanism 5 is rotatably mounted at the center of the middle tray 11. A traction rope is wound around the outer periphery of the winding mechanism 5 to achieve the limiting and traction of the satellite model 2. The winding mechanism 5 includes a winding shaft 51 for winding and storing the traction rope. A spool drive device 9 is also fixed on the middle tray 11. The spool drive device 9 includes a drive cylinder 91 and a drive block 92 mounted on its telescopic end. A linkage gear is fixed at the center of the upper end of the winding shaft 51. A rack structure is machined on the inner side of the drive block 92. The rack and the linkage gear form a meshing transmission cooperation. Relying on the linear telescopic action of the drive cylinder 91, the winding shaft 51 can be driven to rotate in the forward and reverse directions through the rack and gear pair to complete the winding and releasing of the rope.

[0028] In a preferred embodiment, under weightless conditions, the drive cylinder 91 drives the drive block 92 to extend forward. The rack and pinion structure inside the drive block 92 drives the winding shaft 51 to rotate synchronously through the gear meshing transmission pair. During the rotation of the winding shaft 51, the traction rope wrapped around its outer periphery is gradually released, and the rope is appropriately loosened to allow for a reserved stroke margin, providing sufficient free movement space for the satellite model 2. This effectively avoids adverse effects such as pulling interference and limiting restraint caused by the traction rope, ensuring that the satellite model 2 can complete autonomous alignment and attitude adjustment actions according to the preset motion trajectory in a weightless environment.

[0029] refer to Figure 5 As shown, the bottom of the winding spool 51 extends downward to form a columnar connecting section, and the top of the rotating ball 4 extends upward to form a sleeve structure. The sleeve is rotatably fitted around the outer periphery of the columnar connecting section to form a rotary fit. The central cavity of the columnar connecting section is elastically connected to the inside of the bottom contact rod 53 via an elastic element. Multiple sets of connecting rod blocks 54 are hinged to the outer periphery of the columnar connecting section and the bottom contact rod 53 by a pin. Under normal conditions, the multiple sets of connecting rod blocks 54 extend outward and are clamped and limited to the inner wall of the sleeve at the top of the rotating ball 4, realizing the circumferential locking assembly between the winding spool 51 and the rotating ball 4.

[0030] In a preferred embodiment, during the synchronous rotation of the winding spool 51, the connecting rod block 54 hinged to the outer periphery of its bottom columnar connecting section always maintains a locking linkage with the inner wall of the top sleeve of the rotating ball 4. Relying on the circumferential transmission force of the locking engagement, the rotating ball 4 can be synchronously driven to rotate together with the winding spool 51, thereby realizing the stable rotational motion of the rotating ball 4 along the central axis of the vacuum shell 1, providing a dynamic reference for the alignment simulation of the satellite model 2.

[0031] refer to Figure 5As shown, a top contact rod 52 is slidably fitted inside the central cavity of the winding spool 51. An elastic reset element is arranged between the top contact rod 52 and the bottom contact rod 53 to achieve axial elastic linkage. The upper end of the top contact rod 52 extends upward and protrudes from the upper end face of the winding spool 51. The upper inner wall of the drive block 92 is machined into a wedge-shaped bearing surface. This wedge-shaped surface can press down to contact the top contact rod 52 with the linear displacement of the drive block 92 and drive the bottom contact rod 53 to move downward, causing the connecting rod block 54 hinged to the outside to retract inward, thereby releasing the locking limit of the connecting rod block 54 on the inner wall of the top sleeve of the rotating ball 4. In a preferred embodiment, after the drive block 92 extends for a period of time, the downward-sloping portion of the upper inner wall of the drive block 92 will press the top contact rod 52. When the top contact rod 52 moves down, it presses the spring between it and the bottom contact rod 53, thereby pulling the connecting rod block 54 to unlock the rotating ball 4, so that it rotates in a weightless environment.

[0032] Working Principle: This satellite navigation terminal motion trajectory physical simulation device relies on a vacuum shell 1 to construct a sealed vacuum chamber. An external vacuum pump eliminates internal air interference, and the streamlined overall structure reduces descent wind resistance. The vacuum shell 1 is deployed by a drone, and the shell and internal components fall synchronously to create an equivalent weightless environment. Inside the vacuum shell 1, a rotating sphere 4 and a satellite model 2 are arranged, working in conjunction with multiple positioning modules 3, a target 7, a top controller, and an automatic parachute deployer 10. The controller incorporates an IMU (Inertial Measurement Unit) composed of a three-axis MEMS accelerometer and a gyroscope, which can accurately determine weightlessness and hypergravity conditions in real time and coordinate the overall movement of the device. In a weightless state, the vision system on satellite model 2 identifies the target 7 outside the rotating sphere 4 in real time. The relative offset and attitude deviation are calculated through image processing, and the thrust is output through its own power system to complete trajectory compensation, achieving precise alignment with the rotating sphere 4. The positioning module 3, which is arranged on satellite model 2 and rotating sphere 4, emits detection signals according to a preset time sequence, collects distance and angle parameters and sends them back to the controller with timestamps. The controller performs vector and geometric calculations in combination with the calibration baseline, and analyzes the three-dimensional attitude data of satellite model 2 in real time, providing support for closed-loop adjustment. A guide rail 8 is fixed in the middle of the vacuum shell 1 and a satellite launch and recovery assembly 6 is assembled thereon. This assembly relies on an I-shaped movable block 61 and a ball bearing 62 to achieve low-resistance sliding along an annular groove. The fixed electric cylinder 63 can drive the outer drive tube 67 to drive the gripper 65 to open and close, thus completing the clamping and limiting of the satellite model 2. When there is no weight, the locking pin 66 moves upward due to elasticity, releasing the lock on the top tube 69. The fixed electric cylinder 63 extends and drives the inner drive tube 68 to work in conjunction with the top tube 69, smoothly pushing and releasing the satellite model 2. The intermediate tray 11 inside the vacuum shell 1 is equipped with a winding mechanism 5 and a spool drive device 9. The drive cylinder 91 pushes the drive block 92 to move, and the winding spool 51 is rotated by the meshing of the rack and pinion to release the traction rope, ensuring that the satellite model 2 has sufficient space to move and avoiding the trajectory movement being pulled and interfered with. Under normal conditions, the winding spool 51 forms a locking engagement with the rotating ball 4 through the connecting rod block 54. When rotating, it can synchronously drive the rotating ball 4 to rotate along the central axis of the vacuum shell 1 to build a dynamic benchmark. After the drive block 92 continues to extend, its inner wedge structure presses down the top contact rod 52, which links the bottom contact rod 53 to compress the elastic element, causing the connecting rod block 54 to retract and unlock, so that the rotating ball 4 can rotate autonomously in a weightless environment. When the device enters the hypergravity condition, the controller drives the gripper 65 to open slightly to release the remaining movement margin, simulating the landing disturbance condition of a spacecraft. The satellite model 2 completes attitude correction by relying on the power system, and the positioning module 3 continuously transmits monitoring data. After the vacuum shell 1 falls to a safe height, the controller triggers the automatic parachute 10 to achieve a buffer landing. Subsequently, by retrieving the full data stored in the controller, the true motion trajectory and attitude change law of the satellite model 2 in the weightless environment can be completely restored.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A physical simulation device for the motion trajectory of a satellite navigation terminal, comprising a satellite model (2), characterized in that, Also includes: The vacuum housing (1) is made of two sets of metal components welded together to form a whole, forming a sealed cavity inside; the top of the housing has an air intake slot, which can be connected to a vacuum pumping device to create a vacuum environment inside the cavity through external air pumping. The rotating sphere (4) is located inside the vacuum housing (1) and rotates along the central axis of the vacuum housing (1); At least three positioning modules (3) are provided, two of which are fixed to the satellite model (2) body and the remaining positioning module (3) is fixedly mounted on the surface of the rotating sphere (4) at a preset mounting position to realize the synchronous acquisition and comparison calculation of multi-end relative spatial coordinates; The target (7) is placed on the outside of the rotating sphere (4); The controller is mounted on the top of the vacuum housing (1) and is used to receive the detection feedback signals transmitted back by each group of positioning modules (3). The rotating sphere (4) and the satellite model (2) are both installed in the lower part of the vacuum shell (1), so that the center of gravity of the vacuum shell (1) is close to the bottom. The vacuum shell (1) adopts a streamlined shape to reduce air resistance during the descent. The front end of the satellite model (2) is equipped with a vision system for identifying the target (7), and the two sides are equipped with a power system for autonomously correcting the spatial motion trajectory.

2. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 1, characterized in that, The vacuum housing (1) is fixedly provided with a guide rail (8) in the middle. The guide rail (8) has an annular groove. A satellite launch and recovery assembly (6) is slidably fitted inside the groove. The satellite launch and recovery assembly (6) specifically includes: The I-shaped movable block (61) has its middle section inserted into the slide groove to achieve sliding guidance; Several balls (62) are embedded in the upper and lower inner walls of the I-shaped movable block (61) and roll in contact with the upper and lower walls of the guide rail (8) to form a sliding pair; The mounting base (64) is integrally formed with the lower side wall of the I-shaped movable block (61); The fixed electric cylinder (63) is fixedly mounted on the upper side wall of the mounting base (64), and its telescopic movable end penetrates the rear wall of the mounting base (64) and extends into the hollow cavity of the mounting base (64). The external drive tube (67) is rigidly fixed to the telescopic movable end of the fixed electric cylinder (63); At least two sets of grippers (65) are hinged to the outer wall of the outer drive tube (67) through multiple sets of connecting rod pins; relying on the connecting rod transmission mechanism, when the movable end of the fixed electric cylinder (63) extends, it drives the two sets of grippers (65) to open and unlock synchronously, and when the movable end of the fixed electric cylinder (63) retracts, it drives the front part of the grippers (65) to close and clamp, thus completing the clamping and limiting of the satellite model (2).

3. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 2, characterized in that, The satellite launch and recovery assembly (6) also includes: The inner drive tube (68) is floatingly connected to the inner cavity of the outer drive tube (67) via an elastic element; The jacking pipe (69) is fitted into the hollow cavity of the mounting base (64) by means of a matching elastic element. The rear end of the jacking pipe (69) and the front end of the inner drive pipe (68) form abutting fit. Under pressure conditions, the elastic element connected to the inner drive pipe (68) will preferentially undergo compression deformation. The locking pin (66) is vertically mounted on the upper side wall of the mounting base (64) through an elastic structure. The lower end of the locking pin (66) is inserted into the jacking pipe (69). When the device is in a weightless working condition, the locking pin (66) releases the insertion limit with the jacking pipe (69), and the lower end disengages from the jacking pipe (69) to achieve unlocking.

4. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 1, characterized in that, The vacuum shell (1) has a middle tray (11) welded and fixed in the middle of its inner cavity. The middle tray (11) is rotatably equipped with a winding mechanism (5) at its center. The winding mechanism (5) has a traction rope wound around its outer periphery to limit and traction the satellite model (2).

5. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 4, characterized in that, The winding mechanism (5) includes a winding spool (51) for winding and storing the traction rope; a spool drive device (9) is also fixedly mounted on the intermediate tray (11), the spool drive device (9) including a drive cylinder (91) and a drive block (92) assembled at its telescopic end. A linkage gear is fixed at the center of the upper end of the winding shaft (51). A rack structure is machined on the inner side of the drive block (92). The rack and the linkage gear form a meshing transmission cooperation. Relying on the linear extension and retraction action of the drive cylinder (91), the winding shaft (51) can be driven by the rack and gear pair to achieve forward and reverse rotation, which is used to complete the winding and unwinding of the rope.

6. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 5, characterized in that, The bottom of the winding spool (51) extends downward to form a columnar connecting section, and the top of the rotating ball (4) extends upward to form a sleeve structure. The sleeve is rotated and fitted around the outer periphery of the columnar connecting section to form a rotary fit. The central cavity of the columnar connecting section is elastically connected to the bottom contact rod (53) through an elastic element. The columnar connecting section and the outer periphery of the bottom contact rod (53) are hinged by a pin and assembled with multiple sets of connecting rod blocks (54). Under normal conditions, the multiple sets of connecting rod blocks (54) extend outward and clamp and limit the inner wall of the sleeve at the top of the rotating ball (4) to realize the circumferential locking assembly between the winding spool (51) and the rotating ball (4).

7. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 6, characterized in that, The top contact rod (52) is slidably fitted inside the central cavity of the winding spool (51). An elastic reset element is arranged between the top contact rod (52) and the bottom contact rod (53) to achieve axial elastic linkage. The upper end of the top contact rod (52) extends upward and protrudes from the upper end face of the winding spool (51). The upper inner wall of the drive block (92) is machined into a wedge-shaped pressure surface. This wedge-shaped surface can press down to contact the top contact rod (52) with the linear displacement of the drive block (92) and drive the bottom contact rod (53) to move downward, causing the connecting rod block (54) hinged to the outside to retract inward, thereby releasing the locking limit of the connecting rod block (54) on the inner wall of the top sleeve of the rotating ball (4).

8. The physical simulation device for the motion trajectory of a satellite navigation terminal according to claim 1, characterized in that, An automatic umbrella opener (10) is also installed on the top of the vacuum housing (1).

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