Physical simulation verification device for space gravitational wave detection satellite formation

Abstract

The utility model belongs to the technical field of spacecraft ground tests, and particularly discloses a space gravitational wave detection satellite formation physical simulation verification device which comprises a main console, three satellite simulation modules, a vision measurement module and a simulation module. Each satellite simulation module comprises a satellite simulator; the satellite simulator comprises a satellite platform and two laser interferometers, the two laser interferometers are arranged above the satellite platform, and a preset included angle is formed between the laser emitting directions of the two laser interferometers; the satellite simulator is arranged above the air suspension assembly; the simulation module comprises a plurality of board cards, the board cards are electrically connected, the pose and disturbance of the space gravitational wave detection satellite are simulated and calculated, and a simulation result is fed back to the main console; the main console sends a control instruction to the satellite simulation module; and the vision measurement module tracks and positions the pose of the satellite simulation module in real time and feeds back the pose to the main console. According to the invention, physical simulation verification can be carried out on the performance of the space gravitational wave detection satellite formation.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 202410217975.3, titled "Physical Simulation Verification Device for Space Gravitational Wave Detection Satellite Formation", which was filed with the China National Intellectual Property Administration on February 28, 2024. All or part of its content is incorporated into this application by reference. Technical Field

[0002] This application belongs to the technical field of spacecraft ground testing, and more specifically, relates to a physical simulation verification device for space gravitational wave detection satellite formation. Background Art

[0003] Analyzing gravitational wave signals provides a brand-new window for studying the universe. Among them, gravitational waves in the millihertz frequency band, which are the most widely distributed, are the mainstream direction for future gravitational wave detection. When the arm length of a gravitational wave detector is close to the wavelength of gravitational waves, the detection has the highest sensitivity. To detect gravitational waves in the millihertz frequency band, the arm length of a gravitational wave detector is usually designed to be as long as hundreds of thousands of kilometers or even millions of kilometers. Due to the limitations of the Earth's geographical environment, gravitational wave detectors usually need to be deployed in space for operation, which are called space gravitational wave detectors. Space gravitational wave detection is to measure the distance change between inertial references through laser interferometry, so as to detect gravitational wave signals.

[0004] Currently, a series of space gravitational wave detection plans have been proposed at home and abroad, such as Laser Interferometer Space Antenna (LISA), TianQin, etc. These space gravitational wave detection plans are all composed of three identical satellites forming an equilateral triangle satellite formation. However, due to space environment disturbances, the relative positions of the three satellites are prone to change, which will affect the measurement of laser interferometry. In addition, there are couplings between the orbit control and attitude control of the satellites, and between the satellite attitude control and the inter-satellite laser tracking and pointing control, making the detection of space gravitational waves face many uncertainties. To reduce mission risks, it is necessary to conduct physical simulation verification of the control and ranging performance of inter-satellite laser acquisition, tracking, and pointing for space gravitational wave detection satellite formations in a ground environment. Summary of the Utility Model

[0005] Aiming at the defects of the prior art, the purpose of this application is to provide a physical simulation verification device for space gravitational wave detection satellite formation, aiming to solve the problem of how to conduct physical simulation and verification of the control and ranging performance of inter-satellite laser acquisition, tracking, and pointing of gravitational wave detection satellites equipped with laser interferometers in a ground environment.

[0006] To achieve the above purpose, this application provides a physical simulation verification device for space gravitational wave detection satellite formation, including: a main console, three satellite simulation modules, a visual measurement module, and a simulation module;

[0007] Each satellite simulation module includes: a satellite simulator; the satellite simulator includes: a satellite platform and two laser interferometers, the two laser interferometers are arranged above the satellite platform, and the laser emission directions of the two laser interferometers form a preset angle;

[0008] The three satellite simulation modules are distributed in a triangle, and the two laser interferometers on each satellite simulation module are respectively opposite to the laser emission directions of one laser interferometer on the other two satellite simulation modules; the three satellite simulators are used to simulate space gravitational wave detection satellites on the ground;

[0009] The main console is respectively communicatively connected to the three satellite simulation modules, the simulation module and the visual measurement module; the simulation module includes a plurality of boards, the plurality of boards are electrically connected to each other, simulates and calculates the pose and external environment disturbance of the space gravitational wave detection satellite, and feeds back the simulation results to the main console; the main console is used to send control instructions to the three satellite simulation modules; the visual measurement module is used to track and locate the pose of the three satellite simulation modules in real time and feed it back to the main console.

[0010] In this application, the main console scales the numerical pose and orbit information and environmental disturbance information of the gravitational wave detection satellite calculated by the boards of the simulation module and sends them to the satellite simulator; then, in the micro low-damping motion environment provided by the high-pressure air suspension technology, physical simulation verification is carried out on the control of inter-satellite laser acquisition, tracking and pointing of the satellite simulator equipped with a laser interferometer, and finally the ranging performance is verified. The physical simulation verification of the space gravitational wave detection satellite formation is realized in the ground environment.

[0011] In an optional example, the simulation module includes: a space environment disturbance simulation calculation board, a micro-newton thruster simulation calculation board, an attitude and orbit control board, an error and noise simulation calculation board, and an attitude and orbit simulation calculation board;

[0012] The space environment disturbance simulation calculation board is respectively electrically connected to the micro-newton thruster simulation calculation board and the attitude and orbit simulation calculation board, and the micro-newton thruster simulation calculation board is electrically connected to the attitude and orbit simulation calculation board;

[0013] The attitude and orbit control board is respectively electrically connected to the micro-newton thruster simulation calculation board and the error and noise simulation calculation board;

[0014] The output ends of the space environment disturbance simulation calculation board, the micro-newton thruster simulation calculation board, the error and noise simulation calculation board, and the attitude and orbit simulation calculation board are electrically connected to the main console through the attitude and orbit simulation calculation board.

[0015] In an alternative example, the satellite platform includes: a first platform, a second platform, a gas source assembly, a third platform, an inertial measurement assembly, and a cold gas propulsion assembly;

[0016] The first platform is disposed above the second platform, the inertial measurement assembly is disposed on the second platform, and the first platform is used to carry a laser interferometer;

[0017] The gas source assembly is disposed above the third platform; the third platform is disposed below the second platform;

[0018] The cold gas propulsion assembly is disposed on both sides of the second platform and is used to control the satellite simulator to perform motions with two translational degrees of freedom and one rotational degree of freedom, so as to control the attitude of the satellite simulator and simulate the external environmental disturbances received by the satellite simulator;

[0019] The inertial measurement assembly is used to measure the inertial information of the satellite simulator.

[0020] In an alternative example, the satellite platform further includes: a power supply assembly;

[0021] The power supply assembly includes: a storage battery and a power supply controller, which provide power for the electrical equipment on the satellite simulator.

[0022] In an alternative example, the inertial measurement assembly includes: an acceleration sensor and a gyroscope.

[0023] In an alternative example, the gas source assembly includes: a plurality of high-pressure gas cylinders, an inflation valve, a plurality of switching valves, a plurality of pressure reducing valves, a plurality of solenoid valves, a pressure sensor, and a plurality of gas pipelines;

[0024] Compressed gas is stored in the high-pressure gas cylinders;

[0025] The plurality of high-pressure gas cylinders are uniformly disposed in the middle and lower part of the second platform; the plurality of high-pressure gas cylinders are connected in parallel through a plurality of gas pipelines to form a high-pressure gas path; the plurality of switching valves connect the high-pressure gas path with the inflation valve; the plurality of pressure reducing valves connect the high-pressure gas path with the plurality of solenoid valves; the solenoid valves are disposed between the second platform and the cold gas propulsion assembly; the inflation valve and the pressure reducing valves are disposed in the plurality of gas pipelines; the switching valves are disposed on the plurality of high-pressure gas cylinders; a pressure sensor is disposed on each gas pipeline for pressure monitoring.

[0026] In an alternative example, each satellite simulation module further includes: an air suspension assembly;

[0027] The air suspension assembly includes: a plurality of air floating thrust bearings; the plurality of air floating thrust bearings are disposed below the third platform;

[0028] Each air-floating thrust bearing has multiple air holes at the bottom; the compressed gas in the high-pressure gas cylinder is released from the small holes at the bottom of the air-floating thrust bearing through a pressure reducing valve, forming a high-rigidity air film between the bottom of the air-floating thrust bearing and the surface of the fourth platform, and suspending the satellite simulator on the surface of the fourth platform.

[0029] Optionally, the fourth platform is a marble platform with a smooth surface.

[0030] In an alternative example, there are 4 air-floating thrust bearings, and each air-floating thrust bearing has 10 air holes at the bottom.

[0031] Specifically, the space environment disturbance simulation calculation board is used to simulate and calculate the external environment disturbance parameters of three space satellites;

[0032] The attitude and orbit simulation calculation board is used to realize the orbit and attitude recursion of three space satellites by using an integrator;

[0033] The error and noise simulation calculation board is used to simulate the measurement errors of the orbital positions and satellite attitudes of three space satellites;

[0034] The attitude and orbit control board is used to control the position and attitude of three space satellites and to realize drag-free control in a given direction;

[0035] The micro-newton thruster simulation calculation board is used to perform drag-free control on three space satellites considering the actual working resolution of the thruster.

[0036] In an alternative example, the laser interferometer platform includes: a responsive laser interferometry unit and a beam acquisition, tracking and pointing unit;

[0037] The responsive laser interferometry unit is used to measure the distance change between two satellite simulators based on a laser interference link through responsive laser interferometry technology;

[0038] The beam acquisition, tracking and pointing unit is used to measure the angle difference between the transmitted light and the incident light based on the wavefront differential sensing technology of the transmitted light and the incident light of the laser interferometer, and adjust the angle of the transmitted light through a fast steering mirror of a flexible hinge mechanical structure to make it coincide with the incident laser, thereby establishing a laser interference link.

[0039] Generally speaking, compared with the prior art by the above technical solutions conceived in the present application, the following beneficial effects are achieved:

[0040] The utility model provides a physical simulation verification device for a space gravitational wave detection satellite formation. Based on the attitude and orbit information of the space satellite for gravitational wave detection and the environmental disturbance information, on this basis, a micro-low resistance motion environment in outer space is simulated based on the high-pressure air suspension technology, so as to realize the full physical simulation verification of the dynamics of the gravitational wave satellite formation on the ground. A vision measurement component is used to measure the position and attitude information of the satellite simulator, more realistically simulating the position and attitude information of the satellite measured by the global navigation satellite system and the star sensor in space; at the same time, the cold gas thrusters are tangentially distributed along the rotation axis line of the satellite simulator, and both generating force and generating torque can be achieved through combination, meeting the motion of the satellite simulator in three degrees of freedom on the marble platform. Each satellite simulator's air suspension component is equipped with four air floating thrust bearings, which can improve the load-carrying capacity and meet the needs of adding other physical verification loads to the satellite simulator in subsequent tasks.

[0041] The device provided by the utility model can conduct physical simulation verification on the control and ranging performance of inter-satellite laser acquisition, tracking and pointing of the space gravitational wave detection satellite formation. It can effectively evaluate the influence of space environment disturbance, the coupling of satellite orbit control and attitude control, and the coupling of satellite attitude control and inter-satellite laser tracking and pointing control on laser interferometry. It has important significance and broad application prospects for reducing mission risks and optimizing the design of the space gravitational wave satellite formation. Brief Description of the Drawings

[0042] Figure 1 It is a schematic diagram of the physical simulation verification device for the space gravitational wave detection satellite formation provided by the embodiment of the present application;

[0043] Figure 2 It is an architecture diagram of the simulation module provided by the embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of the satellite simulator provided by the embodiment of the present application;

[0045] Figure 4 It is a schematic diagram of the gas source component of the satellite simulator provided by the embodiment of the present application;

[0046] Figure 5 It is a bottom view of the satellite simulator provided by the embodiment of the present application;

[0047] Figure 6 It is a top view of the satellite simulator formation provided by the embodiment of the present application;

[0048] In all the attached drawings, the same reference numerals are used to denote the same elements or structures, where: 100 denotes the main console, 200 denotes the satellite simulation module, 300 denotes the vision measurement module, 400 denotes the simulation module; 201 denotes the satellite simulator, 202 denotes the air suspension assembly; 2011 denotes the beam acquisition, tracking and pointing unit, 2012 denotes the responsive laser interferometric measurement unit, 2013 denotes the power supply assembly, 2014 denotes the cold gas propulsion assembly, 2016 denotes the gas source assembly, 2017 denotes the inertial measurement assembly, 2018 denotes the communication assembly, 2019 denotes the on-board computer assembly 2019, 2101 denotes the high-pressure gas cylinder, 2102 denotes the gas pipeline, 2103 denotes the pressure sensor, 2104 denotes the solenoid valve, 2105 denotes the pressure reducing valve, 2106 denotes the switching valve, 2107 denotes the inflation valve, 2108 denotes the first platform, 2109 denotes the Laval nozzle, 2110 denotes the second platform, 2111 denotes the third platform; 2021 denotes the air floating thrust bearing, 2022 denotes the fourth platform. Detailed implementation manners

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The objective of the present application is to provide a physical simulation verification device for a space gravitational wave detection satellite formation, so as to solve the problem of physically simulating and verifying the control and ranging performance of inter-satellite laser acquisition, tracking and pointing for a gravitational wave detection satellite equipped with a laser interferometer in a ground environment. In response to the high-precision laser pointing control requirements of a gravitational wave detection satellite formation, the present application first calculates the attitude and orbit information and disturbance information of the gravitational wave detection satellite through digital simulation; secondly, sends the results of the digital calculation to the main console, and the main console scales the above information proportionally and sends it to the satellite simulator; then, in the micro low-damping motion environment provided by the high-pressure air suspension technology, the satellite simulator equipped with a laser interferometer conducts physical simulation verification on the control of inter-satellite laser acquisition, tracking and pointing, and finally verifies the ranging performance.

[0051] Specifically, in response to the need for high-precision laser pointing control in the space gravitational wave detection satellite formation, this application first calculates the numerical attitude and orbit information of the gravitational wave detection satellite and the environmental disturbance information through digital simulation; secondly, it sends the results of the numerical calculation to the main console; the main console scales the numerical attitude and orbit information of the gravitational wave detection satellite and the environmental disturbance information proportionally and sends them to the satellite simulator; then, in the slightly low-damping motion environment provided by the high-pressure air suspension technology, it conducts physical simulation verification on the control of inter-satellite laser acquisition, tracking, and pointing of the satellite simulator equipped with a laser interferometer, and finally verifies the ranging performance. It realizes the physical simulation verification of the space gravitational wave detection satellite formation in the ground environment.

[0052] As Figures 1 to 6 shown, the embodiment of this application proposes a physical simulation verification device for a space gravitational wave detection satellite formation, which includes: a main console 100, three satellite simulation modules 200, a vision measurement module 300, and a simulation module 400;

[0053] Each satellite simulation module 200 includes: a satellite simulator 201; the satellite simulator 201 includes: a satellite platform and two laser interferometers, the two laser interferometers are arranged above the satellite platform, and the laser emission directions of the two laser interferometers form a preset angle.

[0054] The three satellite simulation modules 200 are distributed in a triangle, and the two laser interferometers on each satellite simulation module are respectively opposite to the laser emission directions of one laser interferometer on the other two satellite simulation modules; the three satellite simulators 201 are used to simulate space gravitational wave detection satellites on the ground.

[0055] The main console 100 is respectively communicatively connected to the three satellite simulation modules 200 and the vision measurement module 300; the main console is used to send control instructions to the three satellite simulation modules; the vision measurement module is used to track and locate the poses of the three satellite simulation modules in real time and feedback them to the main console.

[0056] The simulation module 400, communicatively connected to the main console 100, is used to simulate and calculate the poses of the space gravitational wave detection satellites and external environmental disturbances, and feedback the simulation results to the main console 100.

[0057] In an optional example, as Figure 2As shown, the simulation module 400 includes: a space environment perturbation simulation calculation board 401, a micro-newton thruster simulation calculation board 402, an attitude and orbit control board 403, an error and noise simulation calculation board 404, and an attitude and orbit simulation calculation board 405. Among them, the space environment perturbation simulation calculation board 401 is electrically connected to the micro-newton thruster simulation calculation board 402 and the attitude and orbit simulation calculation board 405 respectively, and the micro-newton thruster simulation calculation board 402 is electrically connected to the attitude and orbit simulation calculation board 405. The attitude and orbit control board 403 is electrically connected to the micro-newton thruster simulation calculation board 402 and the error and noise simulation calculation board 404 respectively. The output ends of the space environment perturbation simulation calculation board 401, the micro-newton thruster simulation calculation board 402, the error and noise simulation calculation board 404, and the attitude and orbit simulation calculation board 405 are electrically connected to the main console 100 through the attitude and orbit simulation calculation board 405.

[0058] Specifically, the space environment perturbation simulation calculation board 401 is used to simulate and calculate the external environment perturbation parameters of three space satellites.

[0059] The attitude and orbit simulation calculation board 405 is used to realize the orbit and attitude recursion of three space satellites by using an integrator.

[0060] The error and noise simulation calculation board 404 is used to simulate the measurement errors of the orbit positions and satellite attitudes of three space satellites.

[0061] The attitude and orbit control board 403 is used to control the position and attitude of three space satellites and realize drag-free control in a given direction.

[0062] The micro-newton thruster simulation calculation board 402 is used to perform drag-free control on three space satellites considering the actual working resolution of the thruster.

[0063] In an optional example, the laser interferometer platform includes: a responsive laser interferometry unit 2012 and a beam acquisition, tracking, and pointing unit 2011.

[0064] The responsive laser interferometry unit 2012 is used to measure the distance change between two satellite simulators 201 based on the laser interference link through responsive laser interferometry technology.

[0065] The beam acquisition, tracking, and pointing unit 2011 is used to measure the angle difference between the emitted light and the incident light based on the wavefront differential sensing technology of the emitted light and the incident light of the laser interferometer, and adjust the angle of the emitted light through a fast steering mirror of a flexible hinge mechanical structure to make it coincide with the incident laser, thereby establishing a laser interference link.

[0066] As shown Figure 1 in the figure, a local area network built by a wireless router forms a communication network, and information communication between the simulation module, the main console, each satellite simulator 201, and the vision measurement component is connected through WIFI.

[0067] Among them, the marble platform carrying the air suspension component 202 is adjusted for flatness and levelness, which can achieve the purpose of reducing the influence of gravity. The flatness of the optimized marble platform is better than 15μm / m, the levelness is better than 15mrad, and the sliding force generated by gravity is less than 1mg. It can meet the requirements for each satellite simulator 201 to perform micro-low-damping floating motion within an area of 3m×5m. There are three marble platforms in total, and the distance between the center points of each marble platform is 10m. The three marble planes are at the same height and are used to simulate the space orbital plane formed by the satellite formation for space gravitational wave detection.

[0068] Specifically, the simulation module consists of five major parts: a space environment disturbance simulation calculation board, an attitude and orbit simulation calculation board, an error and noise simulation calculation board, an attitude and orbit control board, and a micro-newton thruster simulation calculation board. The space environment disturbance simulation calculation board realizes the calculation of earth gravity, sunlight pressure, atmospheric drag, solar gravity, and even micro-meteorite impacts; the attitude and orbit simulation calculation board uses an integrator to realize orbit and attitude recursion; the error and noise simulation calculation board realizes the simulation of the measurement errors of the global navigation satellite system for orbital position and star sensors for satellite attitude; the attitude and orbit control board is used to realize attitude control for pointing to the sun / earth / relative direction, as well as realizing drag-free control in a given direction, and giving a control strategy under a given thruster layout; the micro-newton thruster simulation calculation board gives actual drag-free control considering the actual working resolution of the thruster. The simulation module sends the real attitude and orbit information and perturbation force / moment information of the satellite to the ground console.

[0069] Optionally, the main console is the information center of the entire simulation device and consists of general computer hardware and dedicated upper computer software.

[0070] Furthermore, the main console not only needs to receive the satellite attitude and orbit simulation information and space disturbance simulation information sent by the simulation module, but also needs to satisfy the sending of control instructions for the satellite simulator 201 and the real-time monitoring of its working status.

[0071] In an optional example, the satellite platform includes: a first platform 2108, a second platform 2110, a gas source component 2016, a third platform 2111, an inertial measurement component 2017, and a cold gas propulsion component 2014;

[0072] The first platform 2108 is disposed above the second platform 2110, and the inertial measurement component 2017 is disposed on the second platform 2110. The first platform 2108 is used to carry a laser interferometer;

[0073] The gas source component 2016 is disposed between the second platform 2110 and the third platform 2111, and the third platform 2111 is disposed between the second platforms 2110;

[0074] The cold gas propulsion component 2014 is disposed on both sides of the second platform 2110 and is used to control the satellite simulator 201 to move in two translational degrees of freedom and one rotational degree of freedom, so as to control the attitude of the satellite simulator 201 and simulate the external environmental disturbances received by the satellite simulator 201;

[0075] The inertial measurement component 2017 is used to measure the inertial information of the satellite simulator 201.

[0076] In an optional example, the satellite platform further includes: a power supply component 2013;

[0077] The power supply component 2013 includes: a storage battery and a power supply controller, which provide power for the electrical equipment on the satellite simulator 201.

[0078] In an optional example, the inertial measurement component 2017 includes: an acceleration sensor and a gyroscope.

[0079] In an optional example, the gas source component 2016 includes: a plurality of high-pressure gas cylinders 2101, an inflation valve 2107, a plurality of switching valves 2106, a plurality of pressure reducing valves 2105, a plurality of solenoid valves 2104, a pressure sensor 2103, and a plurality of gas pipelines 2102;

[0080] The high-pressure gas cylinders 2101 store compressed gas;

[0081] The plurality of high-pressure gas cylinders 2101 are uniformly disposed in the middle and lower part of the second platform 2110; the plurality of high-pressure gas cylinders 2101 are connected in parallel through a plurality of gas pipelines 2102 to form a high-pressure gas path; the plurality of switching valves 2106 connect the high-pressure gas path with the inflation valve 2107; the plurality of pressure reducing valves 2105 connect the high-pressure gas path with the plurality of solenoid valves 2104; the solenoid valves 2104 are disposed between the second platform 2110 and the cold gas propulsion component 2014; the inflation valve 2107 and the pressure reducing valves 2105 are disposed in the plurality of gas pipelines 2102; the switching valves 2106 are disposed on the plurality of high-pressure gas cylinders 2101; and each gas pipeline 2102 is provided with a pressure sensor 2103 for pressure monitoring.

[0082] In an optional example, each satellite simulation module further includes: a plurality of air suspension components 202;

[0083] The plurality of air suspension components 202 are disposed below the third platform 2111;

[0084] The air suspension component 202 includes: a plurality of air floating thrust bearings 2021 and a fourth platform 2022; the plurality of air floating thrust bearings 2021 are disposed above the fourth platform 2022;

[0085] Each air floating thrust bearing 2021 has a plurality of air holes at the bottom; the compressed gas in the high-pressure gas cylinder 2101 is released from the small holes at the bottom of the air floating thrust bearing 2021 through the pressure reducing valve 2105, and a high-rigidity air film is formed between the bottom of the air floating thrust bearing 2021 and the surface of the fourth platform 2022, suspending the satellite simulator 201 on the surface of the fourth platform 2022.

[0086] Optionally, the fourth platform 2022 is a marble platform with a smooth surface.

[0087] In an optional example, there are 4 air floating thrust bearings 2021, and each air floating thrust bearing 2021 has 10 air holes at the bottom.

[0088] As Figure 3 shown, the three identical satellite simulators 201 are each composed of a satellite platform and a laser interferometer platform. The satellite platform is the carrier of the entire satellite simulator 201, including a gas source component 2016, a power supply component 2013, a communication component 2018, an inertial measurement component 2017, a cold gas propulsion component 2014, and an on-board computer component 2019. The laser interferometer platform is the key payload of the entire satellite simulator 201, including a beam acquisition tracking and pointing unit 2011 and a responsive laser interferometry unit 2012.

[0089] As Figure 3 shown, the power supply component 2013 on the satellite platform includes a storage battery and a power controller, which are used to simulate the on-board battery and power controller on the satellite and can provide power for the electrical devices on the satellite simulator 201.

[0090] As Figure 3 shown, the inertial measurement component 2017 is composed of an acceleration sensor and a gyroscope, and is used to measure the linear acceleration and angular velocity information of the satellite platform.

[0091] Optionally, the satellite simulator 201 is the core of the entire simulation device, consisting of a satellite platform and two laser interferometer platforms at a 60° angle. The satellite platform is the carrier of the entire satellite simulator 201, including a gas source component 2016, a power supply component 2013, a communication component 2018, an inertial measurement component 2017, a cold gas propulsion component 2014, and an on-board computer component 2019. The laser interferometer platform is the key payload of the entire satellite simulator 201, including a beam acquisition, tracking, and pointing unit 2011 and a responsive laser interferometry unit 2012.

[0092] As Figure 4 shown, the gas source component 2016 is the storage and release component of compressed gas for the entire simulator, including a high-pressure gas cylinder 2101, an inflation valve 2107, a switching valve 2106, a pressure reducing valve 2105, a solenoid valve 2104, a pressure sensor 2103, and a gas pipeline 2102. Four high-pressure gas cylinders 2101 are evenly distributed in parallel in the middle and lower part of a single satellite simulator 201. The four high-pressure gas cylinders 2101 form a high-pressure gas path in a parallel connection. The high-pressure gas path is connected to the inflation valve 2107 through the switching valve 2106 for external inflation devices to inflate the high-pressure gas cylinder 2101; the high-pressure gas path is connected to the solenoid valve 2104 through the pressure reducing valve 2105 for the cold gas thruster to generate continuous and controllable reaction thrust to simulate the attitude and environmental disturbances of a space satellite; the high-pressure gas path is connected to the aerostatic thrust bearing 2021 through the pressure reducing valve 2105 to generate a high-rigidity gas film. Each gas pipeline 2102 is monitored for pressure by a pressure sensor 2103.

[0093] The communication network consists of a local area network built by a wireless router, which connects the information communication between the simulation module, the main console, each satellite simulator 201, and the vision measurement component through the wireless router.

[0094] The inertial measurement component 2017 consists of an acceleration sensor and a gyroscope, and is used to measure the linear acceleration and angular velocity information of the satellite platform.

[0095] As Figure 5 shown, the cold gas propulsion component 2014 consists of a solenoid valve 2104 and a Laval nozzle 2109. Each satellite simulator 201 is equipped with 8 cold gas propulsion components 2014, which are distributed around the satellite simulation floating body. The input excitation of each thruster can be controlled separately, enabling the satellite simulator 201 to perform motions with two translational degrees of freedom and one rotational degree of freedom on the marble platform, and thus the three-degree-of-freedom motion within the satellite formation plane.

[0096] As Figure 5As shown in the figure, 4 identical air-floating thrust bearings 2021 are installed at the bottom of the satellite platform. Each air-floating thrust bearing 2021 has 10 air holes. After being connected to the high-pressure gas cylinder 2101 through the gas pipeline 2102, a high-rigidity air film can be provided between the surface of the marble platform and the satellite simulation floating body, so that the satellite simulation floating body can be suspended above the marble platform. The 4 air-floating thrust bearings 2021 not only meet the multi-degree-of-freedom motion requirements of the satellite simulation floating body, but also increase the load capacity of the device. Sensors and other devices can be installed according to different mission requirements.

[0097] Among them, the satellite simulation floating body mentioned in this application refers to the part of the satellite simulation module 200 except the marble platform.

[0098] As Figure 6 shown in the figure, two interferometer optical platforms are mounted on each satellite simulator 201 at an angle of 60°. Together with two other satellite simulators 201, they form an equilateral triangle satellite formation configuration.

[0099] The control and calculation component is the control center of the satellite simulator 201. It can receive the pose information of the satellite simulator 201 measured by the vision sensor; it can receive the inertial information of the satellite simulator 201 measured by the inertial measurement component 2017; it can calculate the driving information of the satellite pose and send the control command to the cold gas propulsion component 2014.

[0100] Furthermore, the beam acquisition, tracking and pointing unit 2011 measures the angle difference between the emitted light and the incident light based on the wavefront differential sensing technology of the emitted light and the incident light. The angle of the emitted light is adjusted through the fast steering mirror of the flexible hinge mechanical structure to make it coincide with the incident laser, so as to establish a laser link.

[0101] After establishing the laser interference link, the distance change between two satellite simulators 201 is measured through the responsive laser interferometry.

[0102] Furthermore, the vision measurement component consists of multiple motion capture cameras, motion capture software and target balls. The multiple motion capture cameras capture the target balls fixed on the satellite simulator 201, and can accurately construct the three-dimensional spatial position information of the rigid body composed of the target balls in real time, realizing the real-time tracking and positioning of the motion of the satellite simulator 201.

[0103] The working process of the space gravitational wave detection satellite formation simulation control and simulation device provided by this application is as follows:

[0104] Step S1: Power on and initialize the simulation module, the main console, the satellite simulator, and the vision measurement component. After initialization, the satellite simulator is controlled to the center point position of the marble platform. The main console establishes wireless communication links with the simulation module, the satellite simulator, and the vision measurement component respectively.

[0105] Step S2: Start the simulation module, input space environment parameters, satellite body parameters, and mission parameters on the input panel, and start the software to run.

[0106] Step S3: Real-time send the expected information of the formation attitude and orbit of the space gravitational wave detection satellite and information such as environmental perturbation forces calculated by the simulation module in Step S2 to the main console.

[0107] Step S4: The main console calculates the expected information of the attitude and orbit of each satellite in the three-satellite coplanar coordinate system and the environmental perturbation forces received, and after equi-ratio scaling, sends them to the satellite simulator.

[0108] Step S5: The satellite simulator performs three-degree-of-freedom motion on the marble tabletop according to the pose control information and the injected perturbation information from the main console.

[0109] Step S6: On the basis of the satellite platform completing position and attitude control in Step S5, the beam on the laser interferometer platform points to the TT&C system to carry out the control of laser acquisition, tracking, and pointing.

[0110] Step S7: After establishing a laser link after the control of inter-satellite laser acquisition, tracking, and pointing in Step S6, carry out laser interferometry.

[0111] Step S8: Observe and record the position and attitude data of the satellite simulator, the incident laser angle of the laser interferometer, and the ranging and tracking data displayed by the main console software.

[0112] Step S9: Examine the simulation effect of the simulation control simulation device for the formation of the space gravitational wave detection satellite through the experimental results, and optimize and improve the satellite attitude and orbit control, the control of laser acquisition, tracking, and pointing of the laser interferometer, and the ranging performance of the laser interferometer according to the simulation results.

[0113] Due to the complex tasks of the space gravitational wave detection program, involving the coordinated cooperation of multiple systems and high engineering risks, it is urgent to verify the dynamic process, control algorithms, and key payloads of the space gravitational wave detection satellite formation on the ground, especially the full-physical simulation verification of the high-precision laser pointing control strategy for the space gravitational wave detection satellite formation and the performance of the spaceborne laser interferometer. However, at present, only numerical verification and mathematical simulation have been carried out on control algorithms such as the laser pointing acquisition and alignment control algorithm and the attitude cooperative control strategy for the space gravitational wave detection satellite formation, and it is difficult to predict and model the real space environment and the time-varying perturbations suffered in the space environment.

[0114] Compared with the existing numerical simulation theories and technologies, the physical simulation verification device for the space gravitational wave detection satellite formation provided by this application can simulate the micro low-resistance motion environment in outer space based on the high-pressure air suspension technology, so as to realize the full physical simulation verification of the dynamics of the gravitational wave satellite formation on the ground.

[0115] Compared with the physical simulation verification device for the space gravitational wave detection satellite formation provided by this application, it has many advantages. Among them, the position and attitude information of the gravitational wave detection satellite and the external environmental disturbance information are calculated by multiple boards, and the information is scaled and then sent to the satellite simulator. Thus, the control effect of inter-satellite laser tracking under the external disturbing force on the satellite is tested.

[0116] The visual measurement component is used to measure the position and attitude information of the satellite simulation floating body, which more realistically simulates the global navigation satellite system and the star sensor to measure the position and attitude information of the satellite in space;

[0117] At the same time, the cold gas thrusters are distributed tangentially along the rotation axis of the satellite simulator. Through combination, both force and torque can be generated, meeting the three-degree-of-freedom movement of the satellite simulator on the marble platform.

[0118] Each satellite simulator's air suspension component is equipped with four air floating thrust bearings, which can improve the load capacity and meet the need for adding other physical verification loads on the satellite simulator in subsequent tasks.

[0119] Compared with the existing numerical simulation theories and technologies, the physical simulation verification device for the space gravitational wave detection satellite formation provided by this application can simulate the micro low-resistance motion environment in outer space based on the high-pressure air suspension technology, so as to realize the full physical simulation verification of the dynamics of the gravitational wave satellite formation on the ground. The visual measurement component is used to measure the position and attitude information of the satellite simulation floating body, which more realistically simulates the global navigation satellite system and the star sensor to measure the position and attitude information of the satellite in space; At the same time, the cold gas thrusters are distributed tangentially along the rotation axis of the satellite simulator. Through combination, both force and torque can be generated, meeting the three-degree-of-freedom movement of the satellite simulator on the marble platform. Each satellite simulator's air suspension component is equipped with four air floating thrust bearings, which can improve the load capacity and meet the need for adding other physical verification loads on the satellite simulator in subsequent tasks.

[0120] A physical simulation verification device for the space gravitational wave detection satellite formation provided by this application can improve and optimize the control algorithm and ranging performance of inter-satellite laser acquisition, tracking and pointing according to the experimental results.

[0121] It should be noted that when the gravitational wave detection space satellite is disturbed by the external environment, the detection result will be affected. Therefore, it is necessary to overcome the influence of the external environment disturbance in the device pose control and algorithm calculation. In this application, the external environment disturbance is scaled proportionally on the ground to simulate the pose of the space satellite, so as to carry out physical simulation and verification of the control and ranging performance of the inter-satellite laser acquisition, tracking and pointing of the gravitational wave detection satellite equipped with a laser interferometer in the ground environment. It can effectively simulate many random challenges such as the disturbance of the space environment, the coupling of the orbits and attitude controls of each satellite, and the coupling of the satellite attitude and the inter-satellite laser tracking control, and has a strong simulation and demonstration verification effect, which has important significance and broad application prospects.

[0122] It should be understood that expressions such as "including" and "may include" that can be used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "including" and / or "having" can be interpreted as indicating a specific characteristic, number, operation, constituent element, component or their combination, but cannot be interpreted as excluding the existence or possibility of addition of one or more other characteristics, numbers, operations, constituent elements, components or their combinations.

[0123] In addition, in this application, the expression "and / or" includes any and all combinations of the associated listed words. For example, the expression "A and / or B" can include A, can include B, or can include both A and B.

[0124] In the description of the embodiments of this application, it should be noted that unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that they are connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" means that they are connected to each other and can rotate relative to each other after connection. "Sliding connection" means that they are connected to each other and can slide relative to each other after connection. The orientation terms mentioned in the embodiments of this application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only with reference to the direction of the attached drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of this application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of this application.

[0125] In addition, in the embodiments of the present application, mathematical concepts such as symmetry, equality, parallelism, and perpendicularity are mentioned. These limitations are all in view of the current technological level, rather than the absolutely strict definitions in the mathematical sense. A small amount of deviation is allowed, and being approximately symmetric, approximately equal, approximately parallel, approximately perpendicular, etc. are all acceptable. For example, when it is said that A is parallel to B, it means that A is parallel to B or approximately parallel to B, and the included angle between A and B can be between 0 degrees and 10 degrees. When it is said that A is perpendicular to B, it means that A is perpendicular to B or approximately perpendicular to B, and the included angle between A and B can be between 80 degrees and 100 degrees.

[0126] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A physical simulation verification device for space gravitational wave detection satellite formation, characterized in that: include: The main control console, three satellite simulation modules, visual measurement module, and simulation module; Each satellite simulation module includes: a satellite simulator; the satellite simulator includes: a satellite platform and two laser interferometers, the two laser interferometers are arranged above the satellite platform, and the laser emission directions of the two laser interferometers are at a preset angle; The three satellite simulation modules are distributed in a triangle shape, and the laser emission directions of the two laser interferometers on each satellite simulation module are respectively opposite to the laser interferometers on the other two satellite simulation modules; the three satellite simulators are used to simulate a space gravitational wave detection satellite on the ground; The main console is communicatively connected with three satellite simulation modules, an emulation module and a visual measurement module respectively; the emulation module comprises a plurality of boards, which are electrically connected to each other, simulate and calculate the position and posture of the space gravitational wave detection satellite and the external environmental disturbance, and feed back the simulation results to the main console; the main console is used to send control instructions to the three satellite simulation modules; the visual measurement module is used to track and locate the position and posture of the three satellite simulation modules in real time, and feed back the position and posture to the main console.

2. The device according to claim 1, characterized in that The simulation module includes: a space environment disturbance simulation calculation board, a micro-newton thruster simulation calculation board, an attitude and orbit control board, an error and noise simulation calculation board, and an attitude and orbit simulation calculation board; The space environment disturbance simulation calculation board is electrically connected to the micro-newton thruster simulation calculation board and the attitude and orbit simulation calculation board respectively, and the micro-newton thruster simulation calculation board is electrically connected to the attitude and orbit simulation calculation board; The attitude and orbit control board is electrically connected to the micro-newton thruster simulation calculation board and the error and noise simulation calculation board respectively; The output ends of the space environment disturbance simulation calculation board, the micro-newton thruster simulation calculation board, the error and noise simulation calculation board, and the attitude and orbit simulation calculation board are electrically connected to the main control console through the attitude and orbit simulation calculation board.

3. The device according to claim 1, characterized in that The satellite platform comprises: a first platform, a second platform, an air source component, a third platform, an inertial measurement component and a cold air propulsion component; The first platform is used to carry a laser interferometer; The first platform is arranged above the second platform, and the inertial measurement assembly is arranged on the second platform; The gas source assembly is arranged above the third platform; the third platform is arranged below the second platform; The cold air propulsion components are arranged on both sides of the second platform, and are used to control the satellite simulator to move with two translational degrees of freedom and one rotational degree of freedom, so as to control the attitude of the satellite simulator and simulate the external environmental disturbances to which the satellite simulator is subjected; The inertial measurement component is used to measure the inertial information of the satellite simulator.

4. The device according to claim 3, characterized in that The satellite platform further includes: a power supply component; The power supply assembly includes: a battery and a power supply controller, which is used to supply power to the electrical equipment on the satellite simulator.

5. The device according to claim 3, characterized in that The inertial measurement component includes: an acceleration sensor and a gyroscope.

6. The device according to claim 3, characterized in that The gas source assembly comprises: a plurality of high-pressure gas cylinders, a charging valve, a plurality of switch valves, a plurality of pressure reducing valves, a plurality of solenoid valves, a gas pressure sensor and a plurality of gas pipelines; The high-pressure gas cylinder stores compressed gas; The multiple high-pressure gas cylinders are evenly arranged in the lower middle part of the second platform; the multiple high-pressure gas cylinders are connected in parallel through multiple gas pipelines to form a high-pressure gas circuit; the multiple switch valves connect the high-pressure gas circuit with the charging valve; the multiple pressure reducing valves connect the high-pressure gas circuit with multiple solenoid valves; the solenoid valve is arranged between the second platform and the cold air propulsion component; the charging valve and the pressure reducing valve are arranged in multiple gas pipelines; the switch valve is arranged on multiple high-pressure gas cylinders; each gas pipeline is provided with a pressure sensor for pressure monitoring.

7. The device according to claim 6, characterized in that Each satellite simulation module also includes: an air suspension assembly; The air suspension assembly includes: a plurality of air-floating thrust bearings; the plurality of air-floating thrust bearings are arranged below the third platform; Each air-floating thrust bearing has a plurality of air holes at the bottom; the compressed gas in the high-pressure gas cylinder is released from the small holes at the bottom of the air-floating thrust bearing through a pressure reducing valve, forming a high-rigidity air film at the bottom of the air-floating thrust bearing and the surface of the fourth platform, thereby suspending the satellite simulator on the surface of the fourth platform.

8. The device according to claim 7, characterized in that There are four air-floating thrust bearings, and each air-floating thrust bearing has 10 air holes at the bottom.

9. The device according to claim 7, characterized in that The fourth platform is a marble platform with a smooth surface.

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