A distributed measurement, control, sensing and perception integrated system

Abstract

This invention discloses a distributed integrated telemetry, tracking, and command (TT&C) and sensing system, belonging to the field of aircraft TT&C. The system includes a cloud-based processing center and multiple TT&C and sensing edge nodes. Each edge node integrates a time-frequency synchronization unit, antenna and radio frequency unit, and edge baseband unit. Breaking away from the traditional discrete architecture, the system adopts a "cloud + edge" collaborative working mode, with the cloud-based processing center providing elastic resource scheduling. Edge nodes rely on high-precision time-frequency synchronization signals for timestamping and are dynamically reconstructed through internal multi-channel preprocessing and beamforming modules. A single hardware unit can perform multiple business functions, including active sensing, passive sensing, spectrum sensing, and conventional / collaborative / relay / array-based TT&C. This system solves the problems of data asynchrony and redundant resource investment caused by the separation of TT&C and sensing in traditional methods for large-scale aerospace targets. It improves the closed-loop control efficiency and complex environment resistance capabilities of the system, meeting the real-time emergency response needs of aerospace targets.

Description

Technical Field

[0001] This invention relates to the field of aircraft measurement and control, and specifically to a distributed integrated measurement, control, and sensing system. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] The number of cooperative and non-cooperative targets in space is surging, especially with the rapid development of commercial spaceflight. Low Earth orbit (LEO) satellite constellations are undergoing a leapfrog development from "hundreds of satellites" to "tens of thousands of satellites." As of September 2025, there were over 100,000 satellites in orbit globally, with LEO satellites accounting for over 90%. China's StarNet program plans to launch 1,300 satellites by 2029. With countries accelerating the construction of LEO satellite constellations, various types of satellites, including communication, navigation, radar, and detection satellites, are densely deployed in space, leading to a continuously rising risk of intentional or unintentional close encounters with other countries' satellites.

[0004] Traditional aerospace telemetry, tracking, and command (TT&C) and sensing systems employ a discrete architecture, meaning the TT&C and sensing systems are built and operate independently. This architecture suffers from problems such as significant duplication of resources, insufficient timeliness, data asynchrony, and poor scalability when dealing with large-scale aerospace targets. These problems have become particularly prominent given the current explosive growth in aerospace targets, urgently requiring a new integrated TT&C and sensing system to address these challenges.

[0005] This invention addresses a series of problems arising from the independent construction and operation of aerospace telemetry, tracking, and sensing systems by researching a distributed integrated telemetry, tracking, and sensing system to meet the needs of aerospace target traffic management and real-time emergency response. Summary of the Invention

[0006] The purpose of this invention is to propose a distributed integrated measurement, control, and sensing system to address the needs of aerospace target traffic management and real-time emergency response. This system achieves integrated measurement, control, and sensing through a "cloud + edge" collaborative architecture of distributed measurement, control, and sensing with centralized decision-making. This overcomes the bottleneck of traditional discrete architectures, solves the problem of separation between existing measurement, control, and sensing, improves the closed-loop control efficiency and resource utilization of the system, meets the real-time requirements of the highly dynamic characteristics of aerospace targets on the measurement, control, and sensing system, and enhances the system's scalability and compatibility.

[0007] The technical solution of the present invention is as follows: A distributed integrated measurement, control, and sensing system includes: a cloud-based processing center and multiple measurement, control, and sensing edge nodes; the cloud-based processing center is communicatively connected to each of the multiple measurement, control, and sensing edge nodes. The measurement and control sensing edge node includes a time-frequency synchronization unit, an antenna and radio frequency unit, and an edge baseband unit; The time-frequency synchronization unit is used to provide a unified clock and synchronization signal for the measurement and control sensing edge nodes, so as to realize high-precision time-frequency synchronization among multiple measurement and control sensing edge nodes; The antenna and radio frequency unit includes an antenna, a transceiver channel module, and a multi-channel preprocessing module. The multi-channel preprocessing module is used to timestamp the transceiver signals in conjunction with the clock and synchronization signals. The edge baseband unit includes a beamforming module, a spectrum sensing module, an uplink telemetry and control signal generation module, a downlink telemetry and control signal demodulation module, an active sensing signal generation module, an echo signal preprocessing module, and a passive sensing preprocessing module. The cloud-based processing center includes a central monitoring module, an active sensing central processing module, a passive sensing central processing module, a resource scheduling and orchestration module, and a target cataloging and situation storage module. The cloud processing center allocates resources to each of the measurement and control edge nodes through the resource scheduling and orchestration module, and sends task execution control commands and parameters to the allocated measurement and control edge nodes. The measurement and control edge nodes execute control commands and parameters according to the task, and dynamically reconstruct the modules within the edge baseband unit to perform measurement and control, spectrum sensing, active sensing, or passive sensing tasks, and report the processing information and status information with timestamps to the cloud processing center; the cloud processing center performs collaborative positioning and decision-making on aerospace targets based on the information reported by multiple measurement and control edge nodes, and realizes integrated control of aerospace target measurement and control perception.

[0008] Furthermore, the antenna and radio frequency unit consists of N antennas, N transceiver channel modules, and one multi-channel preprocessing module; The synchronization of the time and frequency synchronization unit can be achieved through GNSS BeiDou synchronization or fiber optic time and frequency transmission, which is used to provide high-precision unified clock, IRIG-B code and second pulse signal to the outside world, with synchronization accuracy reaching the nanosecond level.

[0009] Furthermore, when performing active sensing tasks, the number of measurement and control sensing edge nodes is 4 to 5; The cloud-based processing center sends the active sensing transmission parameters to the assigned measurement and control sensing edge node A, and sends the active sensing reception parameters to the remaining multiple measurement and control sensing edge nodes. The active sensing signal generation module of the measurement and control sensing edge node A generates an active sensing signal, which is then timestamped by the multi-channel preprocessing module to form an active sensing signal containing timestamp A and then transmitted. The remaining multiple measurement and control sensing edge nodes receive the reflected echo signals from aerospace targets, collect and mark the timestamps through the corresponding multi-channel preprocessing modules, and form active sensing reception preprocessing information after processing by the echo signal preprocessing module. The active sensing center processing module of the cloud processing center receives the preprocessed information of each active sensing reception, and performs autocorrelation with the active sensing signal containing timestamp A to determine the transmission and arrival time difference of the active sensing signal. Combined with the position coordinates of each telemetry and sensing edge node, the position of the aerospace target is determined.

[0010] Furthermore, when performing passive sensing tasks, multiple measurement and control sensing edge nodes coordinate to search the entire airspace according to the control commands of the cloud processing center, and switch to self-tracking state after the target is found, receiving passive sensing signals of non-cooperative aerospace targets in real time. The multi-channel preprocessing module of each of the measurement and control sensing edge nodes timestamps the received passive sensing signals, generates passive sensing preprocessing information through the passive sensing preprocessing module, and reports it. The passive sensing center processing module of the cloud processing center receives the passive sensing preprocessing information, performs signal autocorrelation processing, extracts the timestamps of the same target signal from different telemetry and sensing edge nodes, subtracts them to obtain the arrival time difference of the target signal, and solves the hyperbolic equation by combining the coordinate positions of each telemetry and sensing edge node to determine the precise position of the non-cooperative aerospace target.

[0011] Furthermore, when performing spectrum sensing tasks, the multi-channel preprocessing module of the measurement and control sensing edge node collects, converts analog to digital and packages the received spectrum signals, and transmits them to the beamforming module to form a synthesized spectrum signal; The spectrum sensing module performs signal frequency point detection and signal type identification on the synthesized spectrum signal, determines whether it is a cooperative target signal or a non-cooperative target signal, and sends the spectrum sensing results to the central monitoring module of the cloud processing center for display and decision-making, without the need for multi-point collaboration and timestamp extraction.

[0012] Furthermore, when performing routine telemetry and control tasks, uplink telemetry and control signal generation and downlink telemetry and control signal demodulation can be achieved simultaneously through a single telemetry and control sensing edge node; The uplink telemetry and control signal generation module generates uplink telemetry and control signals and ranging frames according to commands, and sends the ranging frames to the downlink telemetry and control signal demodulation module. The beamforming module completes the transmission of the uplink telemetry and control signals and receives the downlink telemetry and control signals fed back by the cooperative target telemetry and control response payload. The downlink telemetry and control signal demodulation module receives the downlink telemetry and control signal, performs carrier acquisition, demodulation, and frame data extraction to obtain the status information of the telemetry and control target.

[0013] Furthermore, when performing collaborative telemetry and control tasks, uplink telemetry and control signals are transmitted through telemetry and control sensing edge node A, and downlink telemetry and control signals are demodulated through telemetry and control sensing edge node B; The uplink telemetry and control signal generation module of the telemetry and control edge node A generates uplink telemetry and control signals and ranging frames. The ranging frames are sent to the downlink telemetry and control signal demodulation module of the telemetry and control edge node B through the communication link. The uplink telemetry and control signal containing timestamp A is transmitted through the multi-channel preprocessing module. The timestamp A is sent to the telemetry and control edge node B through the central monitoring module of the cloud processing center. The telemetry and control edge node B receives the downlink telemetry and control signal generated by the uplink telemetry and control signal containing timestamp A from the aerospace target. The downlink telemetry and control signal demodulation module of the telemetry and control edge node B pairs the forwarded timestamp A with the received downlink telemetry and control signal containing timestamp A. After pairing, the status information of the telemetry and control target is extracted.

[0014] Furthermore, when performing relay measurement and control tasks, the central monitoring module of the cloud processing center sends the received timestamps A and B forwarded by measurement and control sensing edge nodes A and B to the uplink measurement and control signal generation module of the corresponding node. The uplink telemetry and control signal generation module generates uplink telemetry and control signals containing dynamic timestamp A and timestamp B for transmission, and receives downlink telemetry and control signals fed back by the cooperative target; The timestamps A and B are dynamic unique codes that change along the time axis. The space target payload uses the dynamic timestamps A and B as authentication codes for uplink telemetry and control information authentication and packet assembly, enabling relay telemetry and control with seamless switching between multiple nodes.

[0015] Furthermore, when performing array telemetry and control tasks, the uplink telemetry and control signals sent by the telemetry and control sensing edge nodes A and B participating in the array all contain dynamic timestamp A and timestamp B. When the space target payload receives the uplink telemetry and control signals from the telemetry and control sensing edge nodes A and B, it aligns the two uplink telemetry and control signals by authenticating the timestamps in order to aggregate energy and improve the received signal-to-noise ratio gain.

[0016] Furthermore, after the central monitoring module of the cloud processing center obtains the aerospace target location information and status information generated by the execution of the telemetry, control or sensing tasks, it displays the task status and adjusts the trajectory of the cooperative target satellites according to the results. The central monitoring module transmits the information of aerospace targets to the target cataloging and situation storage module, which updates and stores the situation information of aerospace targets.

[0017] Compared with existing technologies, the advantages of this invention are: 1. This invention achieves integrated measurement and control with sensing beamforming by combining phased array antennas and cloud computing technology, significantly reducing system construction and operation costs. The timestamps provided by the time-frequency synchronization unit enable the distributed system to perform active sensing, passive sensing, spectrum sensing, conventional measurement and control, relay measurement and control, collaborative measurement and control, and array-based measurement and control functions under the scheduling of the cloud processing center.

[0018] 2. This invention fully leverages the virtualization management and dynamic scheduling capabilities of the cloud-based processing center, enabling the system to flexibly respond to the increase in the number of aerospace targets and changes in mission requirements. Adding new aerospace targets does not require separate debugging of the telemetry and control link, significantly reducing expansion costs. Furthermore, through the redundant design of the phased array antenna and the dynamic scheduling capabilities of the cloud-based processing center, this invention provides the system with fault mitigation and reconfiguration capabilities. Failure of some components will not lead to the loss of system functionality, thus improving the system's reliability and availability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 This is a diagram of a distributed integrated measurement, control, and sensing system architecture. Figure 2 This is a diagram of a distributed integrated measurement, control, and sensing system. Detailed Implementation

[0021] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0022] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0023] Example 1 Please see Figure 1 and Figure 2 A distributed integrated measurement, control, and sensing system, comprising: The system comprises one cloud-based processing center and five telemetry, tracking, and command (TT&C) edge nodes. The cloud-based processing center is communicatively connected to each of the TT&C edge nodes. Specifically, the cloud-based processing center enables collaborative positioning, resource assessment, and task control. The five TT&C edge nodes are deployed at the edge, exhibiting characteristics of distributed TT&C sensing, centralized decision-making, and collaborative processing. Through a "cloud + edge" working mode, the system achieves elastic resource scheduling and dynamically reconfigures the TT&C edge nodes according to task requirements, enabling them to perform TT&C, spectrum sensing, active sensing, and passive sensing functions. Multiple edge nodes collaborate to achieve integrated TT&C sensing control of aerospace targets. In particular, when non-cooperative targets are detected approaching via active and passive sensing functions, the cloud-based processing center can reconfigure the TT&C edge nodes to perform TT&C functions, controlling cooperative aerospace targets to change their tracks / orbits to avoid the approaching threat of non-cooperative targets, thereby achieving traffic management and real-time emergency response for aerospace targets. The measurement and control sensing edge node includes a time-frequency synchronization unit, an antenna and radio frequency unit, and an edge baseband unit; it can realize active sensing signal transmission, measurement and control, and spectrum sensing functions, and can also realize the preprocessing of active sensing signals and passive sensing signals. It reports measurement and control, spectrum sensing status information, active sensing signal data, active sensing preprocessing information, passive sensing preprocessing information, and node resource status information to the cloud processing center, and receives task execution control commands and parameters from the cloud processing center to realize measurement and control and sensing functions and support aerospace target traffic management; Specifically, the time-frequency synchronization unit is used to provide a unified clock and synchronization signal for the measurement and control sensing edge nodes, realizing high-precision time-frequency synchronization among multiple measurement and control sensing edge nodes; that is, the measurement and control sensing edge nodes achieve high-precision time-frequency synchronization through the time-frequency synchronization unit, and the synchronization implementation methods include GNSS Beidou synchronization, fiber optic time-frequency transmission, etc.; the time-frequency synchronization unit can provide a high-precision unified clock, IRIG-B code, and second pulse signal to the outside world, with a synchronization accuracy of up to the nanosecond level; Specifically, the antenna and radio frequency unit includes an antenna, a transceiver channel module, and a multi-channel preprocessing module. The multi-channel preprocessing module is used to timestamp the transceiver signals in conjunction with the clock and synchronization signals. Specifically, the edge baseband unit includes a beamforming module, a spectrum sensing module, an uplink telemetry and control signal generation module, a downlink telemetry and control signal demodulation module, an active sensing signal generation module, an echo signal preprocessing module, and a passive sensing preprocessing module; The cloud-based processing center includes a central monitoring module, an active sensing central processing module, a passive sensing central processing module, a resource scheduling and orchestration module, and a target cataloging and situation storage module. The cloud processing center allocates resources to each of the measurement and control edge nodes through the resource scheduling and orchestration module, and sends task execution control commands and parameters to the allocated measurement and control edge nodes. The measurement and control edge nodes execute control commands and parameters according to the task, and dynamically reconstruct the modules within the edge baseband unit to perform measurement and control services, spectrum sensing, active sensing, or passive sensing tasks, and report the timestamped processing information and status information to the cloud processing center; the cloud processing center performs collaborative positioning and decision-making on aerospace targets based on the information reported by multiple measurement and control edge nodes, realizing integrated control of aerospace target measurement and control; among which, measurement and control services can be further subdivided into collaborative measurement and control, relay measurement and control, array measurement and control, and conventional measurement and control.

[0024] In this embodiment, specifically, the antenna and radio frequency unit consists of N antennas, N transceiver channel modules, and one multi-channel preprocessing module; The synchronization of the time and frequency synchronization unit can be achieved through GNSS BeiDou synchronization or fiber optic time and frequency transmission, which is used to provide high-precision unified clock, IRIG-B code and second pulse signal to the outside world, with synchronization accuracy reaching the nanosecond level.

[0025] In this embodiment, the various sub-service functions involved in the integrated measurement, control, and sensing are further described in detail.

[0026] For proactive sensing services, the number of measurement and control sensing edge nodes is 4 to 5 when performing proactive sensing tasks. Specifically, when there are 4 nodes, non-cooperative target positioning can be achieved through 1 transmit and 3 receive; when there are 5 nodes, non-cooperative target positioning can be achieved through 1 transmit and 4 receive. 1 transmit and 4 receive has better positioning accuracy and link redundancy than 1 transmit and 3 receive. Furthermore, the proactive sensing business function of "1 transmit, 3 receive" is described in detail: The cloud-based processing center sends the active sensing transmission parameters to the assigned telemetry and sensing edge node A, and sends the active sensing reception parameters to the remaining multiple telemetry and sensing edge nodes. That is, the central monitoring module of the cloud-based processing center initiates the active sensing task, completes the resource allocation through the resource scheduling and orchestration module, and then sends the active sensing transmission parameters (including the transmission beam direction, transmission signal power, and transmission signal frequency) to the assigned telemetry and sensing edge node A, and sends the active sensing reception parameters (including the reception beam direction, reception signal frequency, and reception bandwidth) to the remaining 3 telemetry and sensing edge nodes (B, C, and D). The active sensing signal generation module of the measurement and control sensing edge node A generates an active sensing signal, timestamps it through the multi-channel preprocessing module, and forms an active sensing signal containing timestamp A before transmitting it. Specifically, the active sensing signal generation module of the measurement and control sensing edge node A generates a corresponding active sensing signal according to the received command and sends the active sensing signal to the beamforming module. The beamforming module performs weight calculations according to the command from the cloud processing center, performs beamforming, and sends the synthesized active sensing signal to the multi-channel preprocessing module. The multi-channel preprocessing module receives a high-precision clock, IRIG-B code, and second pulse signal provided by the time-frequency synchronization unit, as well as control commands from the cloud processing center. It timestamps the active sensing signal, performs digital-to-analog conversion, and outputs the signal. It then sends the active sensing signal containing timestamp A to the active sensing center processing module of the cloud processing center unit and completes the transmission of the active sensing signal containing timestamp A through the antenna and transceiver channel module. The remaining multiple telemetry and sensing edge nodes receive the reflected echo signals from aerospace targets. These signals are acquired and timestamped by corresponding multi-channel preprocessing modules, and then processed by the echo signal preprocessing module to form active sensing reception preprocessing information. Specifically, the reception of reflected echo signals from aerospace targets is achieved through the transceiver channels and antennas of three additional telemetry and sensing edge nodes. The multi-channel preprocessing modules of telemetry and sensing edge nodes B, C, and D receive high-precision clocks, IRIG-B codes, and second pulse signals provided by the time-frequency synchronization unit, as well as control commands from the cloud processing center, to process the reflected echo signals from aerospace targets. The echo signals are acquired, timestamped, and converted from analog to digital. The acquired multi-channel signals are then transmitted to the beamforming module. The beamforming module calculates weights according to the commands from the cloud processing center, forming composite active sensing echo signals with timestamps B, C, and D. These composite signals are then sent to the echo signal preprocessing module, which performs pulse compression, correlation accumulation, and data extraction to form active sensing reception preprocessing information with timestamps B, C, and D. This preprocessing information is then sent to the active sensing center processing module in the cloud processing center. The active sensing center processing module of the cloud-based processing center receives the pre-processed information from each active sensing reception, and performs autocorrelation with the active sensing signal containing timestamp A to determine the transmission and arrival time difference of the active sensing signal. Combined with the position coordinates of each telemetry and sensing edge node, the position of the aerospace target is determined. Specifically, the active sensing center processing module receives the pre-processed information from active sensing reception containing timestamps B, C, and D, and performs autocorrelation with the active sensing signal containing timestamp A to determine the time difference from transmission from telemetry and sensing edge node A to telemetry and sensing edge nodes B, C, and D. Combined with the position coordinates of the telemetry and sensing edge nodes, the position of the aerospace target can be determined. The position information of non-cooperative aerospace targets is then sent to the central monitoring module. The central monitoring module displays the status information of the active sensing mission and can also adjust the trajectory of cooperative target satellites based on the results of active sensing. Simultaneously, the information of non-cooperative aerospace targets is transmitted to the target cataloging and situation storage module, which updates and stores the situation information of the aerospace targets based on the received information.

[0027] In this embodiment, for the passive sensing service function, the number of nodes required is 4. When executing the passive sensing task, multiple measurement and control edge nodes coordinate to search the entire airspace according to the control commands of the cloud processing center, and after the target is found, they switch to self-tracking state and receive passive sensing signals of non-cooperative aerospace targets in real time. Specifically, the central monitoring module of the cloud processing center initiates the passive sensing task, completes the allocation of resources through the resource scheduling and orchestration module, and then sends the passive sensing reception parameters (including the receiving beam direction of the aerospace target to be sensed, the receiving signal frequency, and the receiving bandwidth) to the four allocated measurement and control edge nodes. The four measurement and control edge nodes coordinate to search the entire airspace according to the control commands of the cloud processing center. After the target is found, the center controls each node to switch to self-tracking state and receive passive sensing signals of non-cooperative aerospace targets in real time. Each of the aforementioned measurement and control sensing edge nodes has a multi-channel preprocessing module that timestamps the received passive sensing signals, generates passive sensing preprocessing information, and reports it. Specifically, the time-frequency synchronization unit can provide a high-precision unified clock, IRIG-B code, and second pulse signal. The multi-channel preprocessing module receives the high-precision clock, IRIG-B code, and second pulse signal provided by the time-frequency synchronization unit, as well as the control commands from the cloud processing center. It collects, timestamps, and performs analog-to-digital conversion on the passive sensing signals, and transmits the collected multi-channel signals to the beamforming module. The beamforming module performs weight calculations according to the commands from the cloud processing center to form a synthesized passive sensing signal, which is then sent to the passive sensing preprocessing module. The passive sensing preprocessing module performs signal detection and signal resampling to generate passive sensing preprocessing information, which is then sent to the passive sensing center processing module of the cloud processing center. The passive sensing center processing module of the cloud-based processing center receives the passive sensing preprocessing information, performs signal autocorrelation processing, extracts the timestamps of the same target signal from different telemetry and sensing edge nodes, subtracts them to obtain the arrival time difference of the target signal, and solves the hyperbolic equation based on the coordinate positions of each telemetry and sensing edge node to determine the precise position of the non-cooperative aerospace target. Specifically, the passive sensing center processing module receives passive sensing preprocessing information from multiple telemetry and sensing edge nodes, performs signal autocorrelation processing, and extracts the timestamps of the same target signal from different telemetry and sensing edge nodes, which are the arrival times of the target signal received by each node. Subtracting them pairwise yields the arrival time difference of the target signal between two telemetry and sensing edge nodes. Combining the coordinate positions of each telemetry and sensing edge node, solving the hyperbolic equation determines the precise position of the non-cooperative target. The non-cooperative aerospace target position information is then sent to the central monitoring module, which displays the status information of the passive sensing task and can also adjust the trajectory of cooperative target satellites based on the passive sensing results. Simultaneously, the information of the non-cooperative aerospace target is transmitted to the target cataloging and situation storage module, which updates and stores the situation information of the aerospace target based on the received information.

[0028] In this embodiment, for spectrum sensing, the distributed integrated measurement and control sensing system can arbitrarily schedule measurement and control sensing edge nodes to sense and process spectrum signals in the aerospace environment. Since spectrum sensing does not require multi-point coordination, it is not necessary to extract and identify timestamp information. When performing spectrum sensing tasks, the multi-channel preprocessing module of the measurement and control sensing edge node collects, converts analog to digital, and packages the received spectrum signals, then transmits them to the beamforming module to form a synthesized spectrum signal. Specifically, the central monitoring module of the cloud processing center initiates the spectrum sensing service, completes resource allocation through the resource scheduling and orchestration module, and then transmits the task time and type commands to a specific measurement and control sensing edge node through the communication link. The multi-channel preprocessing module receives the control commands from the cloud processing center, collects, converts analog to digital, and packages the spectrum signals, and transmits the collected multi-channel signals to the beamforming module. The beamforming module calculates the weights according to the commands from the cloud processing center to form a synthesized spectrum signal, which is then sent to the spectrum sensing module. The spectrum sensing module performs signal frequency point detection and signal type identification on the synthesized spectrum signal to determine whether it is a cooperative target signal or a non-cooperative target signal. The spectrum sensing results are then sent to the central monitoring module of the cloud processing center for display and decision-making, eliminating the need for multi-point collaboration and timestamp extraction. Specifically, the spectrum sensing module performs signal frequency point detection and signal type identification to determine whether it is a cooperative target signal or a non-cooperative target signal. The spectrum sensing results are then sent to the central monitoring module of the cloud processing center, which displays the spectrum sensing results and makes further judgments and decisions based on them.

[0029] In this embodiment, it should be noted that the measurement and control business functions include routine measurement and control, collaborative measurement and control, relay measurement and control, and array measurement and control.

[0030] In this embodiment, when performing routine measurement and control tasks, uplink measurement and control signal generation and downlink measurement and control signal demodulation are achieved simultaneously through a single measurement and control sensing edge node; that is, for routine measurement and control functions, multi-point coordination is not required, so there is no need to extract and identify timestamp information, and uplink measurement and control signal generation and downlink measurement and control signal demodulation can be achieved simultaneously through any one measurement and control sensing edge node. The uplink telemetry and control signal generation module generates uplink telemetry and control signals and ranging frames according to commands, and sends the ranging frames to the downlink telemetry and control signal demodulation module. The beamforming module transmits the uplink telemetry and control signals and receives the downlink telemetry and control signals fed back by the cooperative target telemetry and control response payload. Specifically, the central monitoring module of the cloud processing center initiates telemetry and control services, completes resource allocation through the resource scheduling and orchestration module, and then transmits the task time and type commands through the communication link to the uplink telemetry and control signal generation module of a certain allocated telemetry and control sensing edge node. The uplink telemetry and control signal generation module generates corresponding uplink telemetry and control signals according to the received commands, sends the ranging frames to the downlink telemetry and control signal demodulation module, and sends the uplink telemetry and control signals to the beamforming module. The beamforming module forms a suitable telemetry and control beam and transmits the uplink telemetry and control signals through the antenna and radio frequency unit. Then, it receives the downlink telemetry and control signals fed back by the cooperative target telemetry and control response payload through the telemetry and control beam and sends the downlink telemetry and control signals to the downlink telemetry and control signal demodulation module. The downlink telemetry and control signal demodulation module receives the downlink telemetry and control signal, performs carrier acquisition, demodulation, and frame data extraction to obtain the status information of the telemetry and control target. Specifically, the downlink telemetry and control signal demodulation module receives the downlink telemetry and control signal, performs carrier acquisition, demodulation, and frame data extraction to obtain the status information of the telemetry and control target, and sends the status information of the telemetry and control target to the central monitoring module of the cloud processing center. The central monitoring module displays the status information of the telemetry and control task and transmits the information of the cooperative targets to the target cataloging and situation storage module. The target cataloging and situation storage module updates and stores the situation information of the cooperative aerospace targets according to the received information.

[0031] In this embodiment, when performing a collaborative measurement and control task, uplink measurement and control signals are transmitted through measurement and control sensing edge node A, and downlink measurement and control signals are demodulated through measurement and control sensing edge node B; that is, for collaborative measurement and control, uplink measurement and control signals can be transmitted through one measurement and control sensing edge node, and downlink measurement and control signals can be demodulated through another measurement and control sensing edge node. The uplink telemetry and control signal generation module of the telemetry and control sensing edge node A generates uplink telemetry and control signals and ranging frames. The ranging frames are then sent to the downlink telemetry and control signal demodulation module of the telemetry and control sensing edge node B via a communication link. The uplink telemetry and control signal containing timestamp A is then transmitted via a multi-channel preprocessing module. Timestamp A is sent to the telemetry and control sensing edge node B via the central monitoring module of the cloud processing center. Specifically, the central monitoring module of the cloud processing center initiates a collaborative telemetry and control task, allocates resources through a resource scheduling and orchestration module, and then sends the collaborative telemetry and control task parameters to the two allocated telemetry and control sensing edge nodes (assumed to be A and B). The uplink telemetry and control signal generation module of the A telemetry and control sensing edge node generates the corresponding uplink telemetry and control signal based on the received command. The uplink telemetry and control signal is sent to the beamforming module, and the ranging frame is sent to the downlink telemetry and control signal demodulation module of the B telemetry and control sensing edge node through the communication link. The beamforming module performs weight calculation according to the command of the cloud processing center, completes beamforming, and sends the synthesized uplink telemetry and control signal to the multi-channel preprocessing module. The multi-channel preprocessing module receives the high-precision clock, IRIG-B code and second pulse signal provided by the time and frequency synchronization unit and the control command of the cloud processing center. It timestamps the uplink telemetry and control signal, performs digital-to-analog conversion and outputs the signal. It completes the transmission of the uplink telemetry and control signal containing the timestamp A through the antenna and transceiver channel module, and sends the timestamp A to the central monitoring module. The central monitoring module sends the timestamp A to the B telemetry and control sensing edge node. The telemetry, tracking, and command (TT&C) edge node B receives a downlink TT&C signal generated by the aerospace target based on the uplink TT&C signal containing timestamp A. The downlink TT&C signal demodulation module of the TT&C edge node B pairs the received downlink TT&C signal containing timestamp A with the forwarded timestamp A. After pairing, the status information of the TT&C target is extracted. Specifically, the aerospace target receives the uplink TT&C signal containing timestamp A, generates a downlink TT&C signal containing timestamp A, and transmits it. B, the telemetry, tracking, and command (TT&C) node, receives downlink TT&C signals containing timestamp A via its antenna and transceiver channel modules and sends them to the multi-channel preprocessing module. The multi-channel preprocessing module receives control commands from the cloud processing center, acquires, performs analog-to-digital conversion, and packetizes the downlink TT&C signals containing timestamp A, and transmits the acquired multi-channel signals to the beamforming module. The beamforming module calculates weights according to commands from the cloud processing center to form a synthesized downlink TT&C signal containing timestamp A, which is then sent to the downlink TT&C signal demodulation module. The downlink TT&C signal demodulation module pairs the received downlink TT&C signal containing timestamp A with the timestamp A forwarded by the central monitoring module. After pairing, it performs carrier acquisition, demodulation, and frame data extraction to obtain the status information of the TT&C target. This status information is then sent to the central monitoring module of the cloud processing center. The central monitoring module displays the status information of the TT&C task and transmits the information of the cooperating targets to the target cataloging and situation storage module. The target cataloging and situation storage module updates and stores the situation information of the cooperating aerospace targets based on the received information.

[0032] In this embodiment, for relay monitoring and control, the number of nodes required is 2 to 5. Taking the relay monitoring and control of two monitoring and sensing edge nodes A and B as an example; When performing relay measurement and control tasks, the central monitoring module of the cloud processing center sends the timestamps A and B forwarded by the measurement and control sensing edge nodes A and B to the uplink measurement and control signal generation module of the corresponding node; specifically, the central monitoring module of the cloud processing center receives the timestamps A and B forwarded by the multi-channel preprocessing modules of the measurement and control sensing edge nodes A and B, and sends them to the uplink measurement and control signal generation module of the two measurement and control sensing edge nodes. The uplink telemetry and control signal generation module generates uplink telemetry and control signals containing dynamic timestamp A and timestamp B for transmission, and receives downlink telemetry and control signals fed back by the cooperative target; The timestamps A and B are dynamic unique codes that change along the time axis. The space-based target payload uses the dynamic timestamps A and B as authentication codes for uplink telemetry and control information authentication and packet assembly, enabling seamless relay telemetry and control switching among multiple nodes. Specifically, the uplink telemetry and control signal generation module of the telemetry and control sensing edge node A generates an uplink telemetry and control signal containing dynamic timestamps A and B, and sends the ranging frame to the downlink telemetry and control signal demodulation module, which then sends the uplink telemetry and control signal to the beamforming module. The beamforming module selects a suitable telemetry and control beam and transmits the uplink telemetry and control signal through the antenna and radio frequency unit. Then, it receives the downlink telemetry and control signal fed back by the cooperative target telemetry and control response payload through the telemetry and control beam, and sends the downlink telemetry and control signal to the downlink telemetry and control signal demodulation module. The downlink telemetry and control signal demodulation module receives the downlink telemetry and control signal, performs carrier acquisition, demodulation, and frame data extraction, thereby obtaining the status information of the telemetry and control target, and sends the status information of the telemetry and control target to the central monitoring module of the cloud processing center. When switching to the B telemetry and control edge node, it also completes the transmission of uplink telemetry and control signals containing timestamps A and B, and the reception and demodulation of downlink telemetry and control signals. Since timestamps A and B are dynamic and unique codes that change along the time axis, the space-air target payload can use the dynamic timestamps A and B as authentication codes for uplink telemetry and control information authentication and packet assembly, thereby realizing relay telemetry and control with seamless switching between multiple nodes.

[0033] In this embodiment, specifically, for array measurement and control, the number of nodes required is 2 to 5, taking array measurement and control of two measurement and control sensing edge nodes A and B as an example; When performing array telemetry and control tasks, the uplink telemetry and control signals sent by the telemetry and control sensing edge nodes A and B participating in the array all contain dynamic timestamp A and timestamp B. When the space-based target payload receives uplink telemetry and control signals from the telemetry and control sensing edge nodes A and B, it aligns the two uplink telemetry and control signals by authenticating the timestamps, thereby aggregating energy and improving the received signal-to-noise ratio gain. Specifically, the transmitted uplink telemetry and control signals all contain dynamic timestamps A and B. When the space-based target payload receives uplink telemetry and control signals from telemetry and control sensing edge nodes A and B, it aligns the two uplink telemetry and control signals by authenticating the timestamps, thereby aggregating energy, improving the received signal-to-noise ratio gain, and enhancing the system's ability to withstand complex environments.

[0034] In this embodiment, specifically, after the central monitoring module of the cloud processing center obtains the aerospace target location information and status information generated by the execution of the telemetry, control or sensing task, it displays the task status and adjusts the trajectory of the cooperative target satellite according to the result; The central monitoring module transmits the information of aerospace targets to the target cataloging and situation storage module, which updates and stores the situation information of aerospace targets.

[0035] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0036] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A distributed integrated measurement, control, and sensing system, characterized in that, include: One cloud-based processing center and multiple measurement and control sensing edge nodes; the cloud-based processing center is communicatively connected to each of the multiple measurement and control sensing edge nodes. The measurement and control sensing edge node includes a time-frequency synchronization unit, an antenna and radio frequency unit, and an edge baseband unit; The time-frequency synchronization unit is used to provide a unified clock and synchronization signal for the measurement and control sensing edge nodes, so as to realize high-precision time-frequency synchronization among multiple measurement and control sensing edge nodes; The antenna and radio frequency unit includes an antenna, a transceiver channel module, and a multi-channel preprocessing module. The multi-channel preprocessing module is used to timestamp the transceiver signals in conjunction with the clock and synchronization signals. The edge baseband unit includes a beamforming module, a spectrum sensing module, an uplink telemetry and control signal generation module, a downlink telemetry and control signal demodulation module, an active sensing signal generation module, an echo signal preprocessing module, and a passive sensing preprocessing module. The cloud-based processing center includes a central monitoring module, an active sensing central processing module, a passive sensing central processing module, a resource scheduling and orchestration module, and a target cataloging and situation storage module. The cloud processing center allocates resources to each of the measurement and control edge nodes through the resource scheduling and orchestration module, and sends task execution control commands and parameters to the allocated measurement and control edge nodes. The measurement and control edge nodes execute control commands and parameters according to the task, and dynamically reconstruct the modules within the edge baseband unit to perform measurement and control, spectrum sensing, active sensing, or passive sensing tasks, and report the processing information and status information with timestamps to the cloud processing center; the cloud processing center performs collaborative positioning and decision-making on aerospace targets based on the information reported by multiple measurement and control edge nodes, and realizes integrated control of aerospace target measurement and control perception.

2. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, The antenna and radio frequency unit consists of N antennas, N transceiver channel modules, and one multi-channel preprocessing module; The synchronization of the time and frequency synchronization unit can be achieved through GNSS BeiDou synchronization or fiber optic time and frequency transmission, which is used to provide high-precision unified clock, IRIG-B code and second pulse signal to the outside world, with synchronization accuracy reaching the nanosecond level.

3. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing active sensing tasks, the number of measurement and control sensing edge nodes is 4 to 5; The cloud-based processing center sends the active sensing transmission parameters to the assigned measurement and control sensing edge node A, and sends the active sensing reception parameters to the remaining multiple measurement and control sensing edge nodes. The active sensing signal generation module of the measurement and control sensing edge node A generates an active sensing signal, which is then timestamped by the multi-channel preprocessing module to form an active sensing signal containing timestamp A and then transmitted. The remaining multiple measurement and control sensing edge nodes receive the reflected echo signals from aerospace targets, collect and mark the timestamps through the corresponding multi-channel preprocessing modules, and form active sensing reception preprocessing information after processing by the echo signal preprocessing module. The active sensing center processing module of the cloud processing center receives the preprocessed information of each active sensing reception, and performs autocorrelation with the active sensing signal containing timestamp A to determine the transmission and arrival time difference of the active sensing signal. Combined with the position coordinates of each telemetry and sensing edge node, the position of the aerospace target is determined.

4. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing passive sensing tasks, multiple measurement and control edge nodes coordinate to search the entire airspace according to the control commands of the cloud processing center, and switch to self-tracking state after the target is found, receiving passive sensing signals of non-cooperative aerospace targets in real time. The multi-channel preprocessing module of each of the measurement and control sensing edge nodes timestamps the received passive sensing signals, generates passive sensing preprocessing information through the passive sensing preprocessing module, and reports it. The passive sensing center processing module of the cloud processing center receives the passive sensing preprocessing information, performs signal autocorrelation processing, extracts the timestamps of the same target signal from different telemetry and sensing edge nodes, subtracts them to obtain the arrival time difference of the target signal, and solves the hyperbolic equation by combining the coordinate positions of each telemetry and sensing edge node to determine the precise position of the non-cooperative aerospace target.

5. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing spectrum sensing tasks, the multi-channel preprocessing module of the measurement and control sensing edge node collects, converts analog to digital and packages the received spectrum signals and transmits them to the beamforming module to form a synthesized spectrum signal. The spectrum sensing module performs signal frequency point detection and signal type identification on the synthesized spectrum signal, determines whether it is a cooperative target signal or a non-cooperative target signal, and sends the spectrum sensing results to the central monitoring module of the cloud processing center for display and decision-making, without the need for multi-point collaboration and timestamp extraction.

6. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing routine telemetry and control tasks, uplink telemetry and control signal generation and downlink telemetry and control signal demodulation can be achieved simultaneously through a single telemetry and control sensing edge node; The uplink telemetry and control signal generation module generates uplink telemetry and control signals and ranging frames according to commands, and sends the ranging frames to the downlink telemetry and control signal demodulation module. The beamforming module completes the transmission of the uplink telemetry and control signals and receives the downlink telemetry and control signals fed back by the cooperative target telemetry and control response payload. The downlink telemetry and control signal demodulation module receives the downlink telemetry and control signal, performs carrier acquisition, demodulation, and frame data extraction to obtain the status information of the telemetry and control target.

7. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing collaborative telemetry and control tasks, uplink telemetry and control signals are transmitted through telemetry and control sensing edge node A, and downlink telemetry and control signals are demodulated through telemetry and control sensing edge node B. The uplink telemetry and control signal generation module of the telemetry and control edge node A generates uplink telemetry and control signals and ranging frames. The ranging frames are sent to the downlink telemetry and control signal demodulation module of the telemetry and control edge node B through the communication link. The uplink telemetry and control signal containing timestamp A is transmitted through the multi-channel preprocessing module. The timestamp A is sent to the telemetry and control edge node B through the central monitoring module of the cloud processing center. The telemetry and control edge node B receives the downlink telemetry and control signal generated by the uplink telemetry and control signal containing timestamp A from the aerospace target. The downlink telemetry and control signal demodulation module of the telemetry and control edge node B pairs the forwarded timestamp A with the received downlink telemetry and control signal containing timestamp A. After pairing, the status information of the telemetry and control target is extracted.

8. The distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing relay measurement and control tasks, the central monitoring module of the cloud processing center sends the timestamps A and B forwarded by the measurement and control sensing edge nodes A and B to the uplink measurement and control signal generation module of the corresponding node. The uplink telemetry and control signal generation module generates uplink telemetry and control signals containing dynamic timestamp A and timestamp B for transmission, and receives downlink telemetry and control signals fed back by the cooperative target; The timestamps A and B are dynamic unique codes that change along the time axis. The space target payload uses the dynamic timestamps A and B as authentication codes for uplink telemetry and control information authentication and packet assembly, enabling relay telemetry and control with seamless switching between multiple nodes.

9. A distributed measurement, control, and sensing integrated system according to claim 1, characterized in that, When performing array telemetry and control tasks, the uplink telemetry and control signals sent by the telemetry and control sensing edge nodes A and B participating in the array all contain dynamic timestamp A and timestamp B. When the space target payload receives the uplink telemetry and control signals from the telemetry and control sensing edge nodes A and B, it aligns the two uplink telemetry and control signals by authenticating the timestamps in order to aggregate energy and improve the received signal-to-noise ratio gain.

10. A distributed integrated measurement, control, and sensing system according to any one of claims 1 to 9, characterized in that, After the central monitoring module of the cloud processing center obtains the location and status information of the aerospace targets generated by the execution of the telemetry, control or sensing tasks, it displays the task status and adjusts the trajectory of the cooperative target satellites according to the results. The central monitoring module transmits the information of aerospace targets to the target cataloging and situation storage module, which updates and stores the situation information of aerospace targets.

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