Digital accompanying flight system for launch vehicle based on real-time telemetry data, and method

Abstract

The present invention relates to a digital accompanying flight system for a launch vehicle based on real-time telemetry data, and a method. The system comprises a ballistic simulation model, a propulsion simulation model, a mass simulation model, an aerodynamics simulation model, an environment simulation model, a timing model, and a trigger correction model. The ballistic simulation model, the propulsion simulation model, the mass simulation model, the aerodynamics simulation model, and the environment simulation model synchronously perform simulation. On the basis of a preset flight sequence and real-time telemetry data, the timing model determines, at each simulation step length, whether a key timing action has occurred, and simulates the key timing action by adopting a discrete event message. On the basis of telemetry data of a launch vehicle which is obtained in real time, the trigger correction model determines whether the ballistic simulation model needs to be corrected, and when correction is needed, sends a correction message to the ballistic simulation model.

Description

A digital flight companion system and method for launch vehicles based on real-time telemetry data

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 24, 2023, with application number 202311387764.6 and invention name “A digital flight escort system and method for a launch vehicle based on real-time telemetry data”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention belongs to the field of aerospace product system simulation, and relates to a digital flight companion system and method for a carrier rocket based on real-time telemetry data. Background Art

[0003] During a launch vehicle's flight, ground personnel must conduct in-flight interpretation, monitoring key parameters of critical systems and equipment to assess the rocket's flight status. This information assists with safety and control decisions, analyzes abnormalities, and assesses orbital insertion accuracy. The comprehensiveness and accuracy of in-flight interpretation directly impacts ground personnel's understanding of the rocket's status and, in turn, their decision-making. Therefore, in-flight interpretation is crucial to rocket launch missions.

[0004] Traditionally, in-flight interpretation relies solely on telemetry data, supporting the monitoring of directly measurable data, including dynamic parameters such as position, velocity, and attitude, and engine parameters such as turbopump speed and pre-injection pressure. However, traditional methods struggle to monitor key data that cannot be directly measured, such as dynamic pressure, angle of attack, and mass. This results in incomplete monitoring parameters and hinders in-flight interpretation and decision-making by ground personnel.

[0005] Summary of the Invention

[0006] The technical problem solved by the present invention is to overcome the shortcomings of the existing technology and propose a digital flight companion method for launch vehicles based on real-time telemetry data to accurately track key timing, improve the confidence of the simulation model, and enhance the test verification capability of virtual-reality fusion and the flight mission guarantee capability.

[0007] The technical solution of the present invention is: a digital accompanying flight system for a carrier rocket based on real-time telemetry data, the system including a trajectory simulation model, a power simulation model, a mass simulation model, an aerodynamic simulation model, an environmental simulation model, a timing model, and a trigger correction model;

[0008] The trajectory simulation model calculates the rocket's center of mass position, center of mass velocity, and flight attitude at each simulation step based on engine thrust, aerodynamic forces, Earth's gravity, mass characteristic parameters, and key timing actions, using integration methods according to dynamic and kinematic equations. In response to correction messages, the center of mass position, center of mass velocity, and flight attitude are immediately updated to the corresponding values ​​in the telemetry data. At the next simulation step, these updated values ​​are used for integration operations.

[0009] The dynamic simulation model calculates the engine thrust, the remaining mass of the oxidizer in the tank, and the remaining mass of the propellant in the tank during the launch vehicle's flight at each simulation step based on the engine's on / off action, the engine's internal ballistic parameters, and the atmospheric environment information corresponding to the center of mass motion position.

[0010] The mass simulation model responds to separation actions and engine power-on / off actions at each simulation step, determines the sections involved in mass calculation, interpolates the mass characteristic parameters of each section of the launch vehicle, and summarizes them into the mass characteristic parameters of the launch vehicle; the mass characteristic parameters include mass, center of mass position, and moment of inertia;

[0011] The aerodynamic simulation model calculates the aerodynamic forces on the launch vehicle during flight at each simulation step based on the separation action, the launch vehicle's aerodynamic characteristics, and the atmospheric environment information, center of mass motion speed, and flight attitude.

[0012] The environmental simulation model calculates the Earth's gravity and atmospheric environment information corresponding to the center of mass motion position of the launch vehicle at each simulation step based on the center of mass motion position, the preset Earth atmosphere model, and the gravitational field model. The atmospheric environment information includes atmospheric pressure, atmospheric density, and atmospheric temperature.

[0013] The timing model determines whether key timing actions occur at each simulation step based on the preset flight timing and real-time telemetry data, and uses discrete event messages to simulate key timing actions;

[0014] Trigger the correction model to determine whether the trajectory simulation model needs to be corrected based on the real-time telemetry data of the launch vehicle. If correction is required, send a correction message to the trajectory simulation model.

[0015] Preferably, the ballistic simulation model also calculates and outputs six numbers including distance from the center of the earth, range, angle of attack, sideslip angle and trajectory; the power simulation module also calculates and outputs the engine consumption per second; the mass simulation model also calculates and outputs the tank liquid level height; the aerodynamic simulation model also calculates and outputs the dynamic pressure, total angle of attack and heat flow value.

[0016] Preferably, the trigger correction model uses a dynamic switching flag word to identify whether the telemetry data meets the correction conditions, and then judges whether the dynamic switching flag word meets the trigger conditions based on the trigger parameters, and uses the corresponding trigger output mode to send the correction message to the ballistic simulation model.

[0017] Preferably, the method of dynamically switching the flag word to identify whether the telemetry data meets the correction condition is:

[0018] The telemetry data is judged to be reasonable. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions and the dynamic switching flag is set to 1. Otherwise, the dynamic switching flag is set to 0.

[0019] Preferably, the trigger correction model removes outliers from the launch vehicle telemetry data acquired in real time before making a rationality judgment on the telemetry data.

[0020] Preferably, the trigger parameter is used as a threshold for determining whether the dynamic switching flag word meets the trigger condition;

[0021] The trigger conditions include rising trigger, falling trigger, rising or falling trigger; the rising trigger condition means that the current dynamic switching flag word is greater than the trigger parameter, and the previous simulation step dynamic switching flag word is less than the trigger parameter; the falling trigger condition means that the current dynamic switching flag word is less than the trigger parameter, and the previous simulation step dynamic switching flag word is greater than the trigger parameter;

[0022] The trigger output mode includes one-time triggering and continuous triggering. One-time triggering means that after the trigger condition is met, the current simulation step outputs a correction message, and each subsequent simulation step no longer re-judges whether the dynamic switching flag word meets the trigger condition, and no correction message is output; continuous triggering means that when the dynamic switching flag word meets the trigger condition, the current simulation step outputs a correction message, and each subsequent simulation step re-judges whether the dynamic switching flag word meets the trigger condition, and outputs a correction message based on the judgment result.

[0023] Preferably, the trajectory simulation model, power simulation model, mass simulation model, aerodynamic simulation model, and environment simulation model include input parameters Input, output parameters Output, state parameters State, event response interface Event, and message Message;

[0024] Input parameter Input is the input parameter in the mathematical description of the model;

[0025] Output parameter Output is the output parameter in the mathematical description of the model;

[0026] The state parameter State is the state parameter in the mathematical description of the model;

[0027] Messages, including messages sent by the model actively, and messages sent by other models and responded by this model;

[0028] The event response interface Event is implemented in the form of a callback function and defines how the model responds to received messages.

[0029] Preferably, the timing model defines the key timing action as a discrete event message, and adds it to a list of messages to be injected, wherein the list of messages to be injected contains multiple discrete event messages and their corresponding message sending conditions; receives telemetry data, retrieves the list of messages to be injected based on the telemetry data and the current flight time, adds the discrete event messages that meet the sending conditions to the current message injection list, and simultaneously sends the discrete event messages in the current message injection list to the trajectory simulation model, the power simulation model, the mass simulation model, the aerodynamic simulation model, and the environmental simulation model until all discrete event messages in the current message injection list are sent;

[0030] The message sending condition is that the relative time between key sequence actions, the flight time corresponding to the execution of the key sequence action, or specific telemetry data meets the preset conditions; the discrete event message contains a unique sequence number and a message name;

[0031] The discrete event messages correspond to key timing actions on a one-to-one basis, and the discrete event message sending time is the flight time of the key timing action.

[0032] Another technical solution of the present invention is: a digital flight companion method for a carrier rocket based on real-time telemetry data, wherein each simulation step of the method executes the following steps in parallel:

[0033] Acquire launch vehicle telemetry data in real time, determine whether key sequence actions have occurred based on the preset flight sequence and real-time telemetry data, and simulate key sequence actions using discrete event messages; the key sequence actions include separation and engine power on / off.

[0034] Conduct trajectory simulation: Based on engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, key timing actions, dynamic equations and kinematic equations, the center of mass motion position, center of mass motion speed, and flight attitude of the rocket are calculated using the integration method;

[0035] Perform dynamic simulation: Calculate the engine pressure and thrust during the launch vehicle's flight based on the engine's on / off motion, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position.

[0036] Perform mass simulation: respond to separation actions and engine power-on / off actions, determine the sections involved in mass calculation, interpolate and calculate the mass characteristic parameters of each section of the launch vehicle, and summarize them into the launch vehicle mass characteristic parameters; mass characteristic parameters include mass, center of mass position, and moment of inertia;

[0037] Perform aerodynamic simulation: Based on the separation action, the aerodynamic characteristics of the launch vehicle, and using atmospheric environment information, center of mass motion speed, and flight attitude, calculate the aerodynamic forces acting on the launch vehicle during flight;

[0038] Perform environmental simulation: Based on the center of mass movement position, the preset earth atmosphere model and gravitational field model, calculate the earth's gravity, atmospheric pressure, atmospheric density, and atmospheric temperature that the carrier rocket is subjected to during flight.

[0039] Preferably, the following steps are also performed in each simulation step: based on the real-time acquired launch vehicle telemetry data, determine whether the ballistic simulation model needs to be corrected. If correction is required, after the ballistic simulation, power simulation, mass simulation, aerodynamic simulation, and environmental simulation of this simulation step are completed, the center of mass motion position, center of mass motion speed, and flight attitude obtained by the ballistic simulation are updated using the corresponding values ​​in the acquired telemetry data.

[0040] Preferably, a dynamic switching flag word is used to identify whether the telemetry data meets the correction conditions, and then based on the trigger parameters, it is determined whether the dynamic switching flag word meets the trigger conditions, and then based on the trigger output mode, it is determined whether the ballistic simulation model needs to be corrected.

[0041] Preferably, the method of dynamically switching the flag word to identify whether the telemetry data meets the correction condition is:

[0042] The telemetry data is judged to be reasonable. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions and the dynamic switching flag is set to 1. Otherwise, the dynamic switching flag is set to 0.

[0043] Preferably, the trigger parameter is used as a threshold for determining whether the dynamic switching flag word meets the trigger condition;

[0044] The trigger conditions include rising trigger, falling trigger, rising or falling trigger; the rising trigger condition means that the current dynamic switching flag word is greater than the trigger parameter, and the previous simulation step dynamic switching flag word is less than the trigger parameter; the falling trigger condition means that the current dynamic switching flag word is less than the trigger parameter, and the previous simulation step dynamic switching flag word is greater than the trigger parameter;

[0045] The trigger output mode includes one-time triggering and continuous triggering. One-time triggering means that after the trigger condition is met, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step will not be re-judged; continuous triggering means that when the dynamic switching flag word meets the trigger condition, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step will be re-judged.

[0046] Preferably, the trigger correction model removes outliers from the launch vehicle telemetry data acquired in real time before making a rationality judgment on the telemetry data.

[0047] Preferably, the discrete event message corresponds to the key timing action on a one-to-one basis, and the discrete event message is sent at the flight time of the key timing action.

[0048] The beneficial effects of the present invention compared with the prior art are:

[0049] (1) The present invention obtains flight status parameters and flight timing through real-time telemetry data, and makes real-time corrections to the trajectory simulation model, accurately tracks key timing, improves the confidence of the simulation model, and enhances the test verification capability of virtual-reality fusion and the flight mission guarantee capability;

[0050] (2) The present invention carries out real-time simulation calculation and analysis on the ground, and uses the simulation module to supplement the calculation of flight status parameters that cannot be directly telemetered, including the distance from the center of the earth, the range, the six orbit numbers, the engine thrust, the total mass of the whole rocket, the center of mass position of the whole rocket, the remaining mass of the fuel, the dynamic pressure, the total angle of attack, and the heat flux value, so as to enrich the in-flight judgment parameters, improve the monitoring capability of the flight health status of the carrier rocket, and better support the ground personnel's in-flight judgment and decision-making.

[0051] (3) The trigger correction model of the present invention ensures that the trigger correction message is accurately and efficiently sent to the trajectory simulation model through the judgment of whether the correction condition is satisfied, the judgment of whether the trigger condition is satisfied, and the configuration of the trigger output mode;

[0052] (4) When generating the dynamic switching flag word, the present invention adopts a method of judging whether the telemetry data is within a reasonable range, thereby avoiding the problem of correction errors caused by unreasonable telemetry data and ensuring the reliability of telemetry data application;

[0053] (5) Before making a rationality judgment on the telemetry data, the present invention first removes outliers from the real-time telemetry data of the launch vehicle, thereby ensuring stable and reliable operation of the simulation;

[0054] (6) The trigger parameters, trigger conditions, and trigger output modes of the present invention can be flexibly configured, compatible with different trigger correction requirements of multiple models, and have strong versatility;

[0055] (7) The present invention constructs a unified input and output specification for the launch vehicle digital flight model, and constructs the launch vehicle digital flight model based on a unified model interface, thereby improving the standardization and universality of the model and laying the foundation for various models to share a mature and reliable universal model.

[0056] (8) The timing model of the present invention adopts the form of message list to influence the behavior of the ballistic simulation model, the power simulation model, the mass simulation model, the aerodynamic simulation model, and the environmental simulation model in the form of discrete event messages. It can not only send predetermined timings (such as ignition and takeoff), but also send timings with complex logical relationships, such as dependencies between timings (separation after shutdown) or accidental events (exhaustion shutdown), thus ensuring the flexibility of timing transmission;

[0057] (9) The present invention makes necessary simplifications to the calculation of professional models by transforming the trajectory simulation model and the dynamic simulation model into mechanism models, and the mass simulation model, the aerodynamic simulation model, and the environmental simulation model into data models. This improves the operation efficiency while ensuring the accuracy of the model. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] FIG1 is a digital accompanying flight scheme for a carrier rocket according to an embodiment of the present invention;

[0059] FIG2 is a diagram showing the composition and input-output relationship of a model according to an embodiment of the present invention;

[0060] FIG3 is a process flow of a trajectory simulation model correction message response interface function according to an embodiment of the present invention.

[0061] FIG4 is a process flow diagram of a trajectory simulation model integral calculation message response interface function according to an embodiment of the present invention;

[0062] 5 is a flow chart of a power simulation model output calculation message response interface function processing flow according to an embodiment of the present invention;

[0063] 6 is a flow chart of a quality simulation model output calculation message response interface function processing according to an embodiment of the present invention;

[0064] 7 is a process flow diagram of a pneumatic simulation model output calculation message response interface function according to an embodiment of the present invention;

[0065] FIG8 is a flow chart of an environment simulation model output calculation message response interface function processing according to an embodiment of the present invention;

[0066] FIG9 is a model description specification of an embodiment of the present invention;

[0067] FIG10 is a process of defining and registering a timing model message according to an embodiment of the present invention;

[0068] FIG11 is a diagram illustrating the setting of model parameters for triggering the correction condition of the digital accompanying flight model according to an embodiment of the present invention;

[0069] FIG12 is a flowchart of triggering the correction model operation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The present invention will be further described below in conjunction with the embodiments.

[0071] As shown in Figures 1 and 2, the present invention provides a digital flight companion system for a carrier rocket based on real-time telemetry data. The system includes a trajectory simulation model, a power simulation model, a mass simulation model, an aerodynamic simulation model, an environmental simulation model, a timing model, and a trigger correction model.

[0072] The trajectory simulation model calculates the rocket's center of mass position, center of mass velocity, and flight attitude at each simulation step based on engine thrust, aerodynamic forces, Earth's gravity, mass characteristic parameters, and timing motion, using integration methods according to dynamic and kinematic equations. In response to correction messages, the center of mass position, center of mass velocity, and flight attitude are immediately updated to the corresponding values ​​in the telemetry data. At the next simulation step, these updated values ​​are used for integration operations.

[0073] The dynamic simulation model calculates the engine thrust, the remaining mass of the oxidizer in the tank, and the remaining mass of the propellant in the tank during the launch vehicle's flight at each simulation step based on the engine's on / off action, the engine's internal ballistic parameters, and the atmospheric environment information corresponding to the center of mass motion position.

[0074] The mass simulation model parses discrete event messages at each simulation step to obtain key timing actions, respond to separation actions and engine power-on / off actions, determine the sections involved in mass calculation, interpolate and calculate the mass characteristic parameters of each section of the launch vehicle, and summarize them into the launch vehicle mass characteristic parameters; the mass characteristic parameters include mass, center of mass, and moment of inertia;

[0075] The aerodynamic simulation model calculates the aerodynamic forces on the launch vehicle during flight at each simulation step based on the separation action, the launch vehicle's aerodynamic characteristics, and the atmospheric environment information, center of mass motion speed, and flight attitude.

[0076] The environmental simulation model calculates the atmospheric environment information corresponding to the center of mass motion position of the launch vehicle at each simulation step based on the center of mass motion position, the preset Earth atmosphere model, and the gravitational field model. The atmospheric information includes gravity, atmospheric pressure, atmospheric density, and atmospheric temperature.

[0077] The timing model determines whether key timing actions have occurred at each simulation step based on the preset flight timing and real-time telemetry data. Discrete event messages are used to simulate key timing actions, including separation and engine power on / off.

[0078] Trigger the correction model to determine whether the trajectory simulation model needs to be corrected based on the real-time telemetry data of the launch vehicle. If correction is required, send a correction message to the trajectory simulation model.

[0079] The above system runs under a synchronized clock, which is set through the operation control module. The operation control module is also responsible for the process control of system start, pause, continue and stop, completing data interaction, message transmission and time management between models, and supporting the replacement of integration algorithms and adjustment of simulation step size during the process.

[0080] The operation control module of the present invention adopts a message loop and event-driven mechanism. The process is completely driven by a message sequence and messages are used to control the operation process. The model responds to different messages, executes related tasks, and participates in the operation of the digital companion flight, thereby solving the operation control problem of the digital companion flight system, which is a hybrid system in which continuous variables and discrete events coexist. A high-precision timer is implemented by querying the CPU frequency to ensure that the running time is consistent with the physical time, thereby achieving synchronization, coordination, and orderliness of the digital companion flight process.

[0081] In order to achieve high-fidelity digital model expression corresponding to the actual flight process of the rocket, improve the standardization and versatility of the model, and facilitate designers from various disciplines to build and integrate models separately, a unified mathematical description of the model is proposed.

[0082] The trajectory simulation model, power simulation model, mass simulation model, aerodynamic simulation model, and environment simulation model are described using a unified mathematical model:

[0083] Among them, T is the simulation time, U is the model input parameter, Y is the model output parameter; X is the model state parameter; F is the model state change law; G is the model output parameter change law.

[0084] The trajectory simulation model and the dynamic simulation model of the present invention are mechanism models; the mass simulation model, the aerodynamic simulation model and the environmental simulation model are data models.

[0085] Based on the above unified mathematical description, the present invention establishes the model IOSEM description specification, such as 08. The ballistic simulation model, power simulation model, mass simulation model, aerodynamic simulation model, and environmental simulation model include input parameters Input, output parameters Output, state parameters State, event response interface Event, and message Message; as shown in Figure 9.

[0086] Input parameter Input is the model input parameter in the mathematical description of this model;

[0087] Output parameter Output is the model output parameter in the mathematical description of this model;

[0088] The state parameter State is the state parameter in the mathematical description of this model;

[0089] Messages, including messages sent by the model actively, and messages sent by other models and responded by this model;

[0090] The event response interface Event is implemented in the form of a callback function and defines how the model responds to received messages.

[0091] The information types of Input, Output, and State are all parameter lists. Each model must clearly specify the number of parameters, description of each parameter, and data type. This is the personalized information of the model.

[0092] The following takes a certain type of Long March series carrier rocket as an example to explain each model in detail:

[0093] (1) Ballistic simulation model

[0094] The trajectory simulation model is as follows:

[0095] Input parameters include launch point parameters, initial attitude, program angle, engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, and timing action;

[0096] Output parameters include center of mass motion position, center of mass motion speed, flight attitude, distance from the center of the earth, range, six orbit numbers, angle of attack, and sideslip angle;

[0097] State parameters include center of mass motion position, center of mass motion speed, and flight attitude;

[0098] Messages include correction messages, initialization messages, integral calculation messages, output calculation messages, and end messages; among them:

[0099] Correction messages refer to messages sent by the trigger correction model to correct the center of mass motion position, center of mass motion speed, and flight attitude;

[0100] Initialization information refers to the message that assigns initial values ​​to variables in the trajectory simulation model;

[0101] The integral calculation message is calculated according to the dynamic equation and kinematic equation, and the center of mass motion position, center of mass motion speed and flight attitude message of the rocket flight are obtained by the integral method;

[0102] Output calculation messages refer to the rocket's center of mass motion position, center of mass motion speed, flight attitude messages obtained based on integral calculations, as well as the six parameters of the Earth's center of mass, range, and orbit calculated.

[0103] The end message refers to the message used to release the memory after the calculation of the trajectory simulation model is completed.

[0104] The event response interface Event includes the correction message response interface, the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0105] The processing flow of the correction message response interface function is shown in Figure 3. The processing flow is: determine whether a correction message is received. If a correction message is received, collect the telemetry data and extract the center of mass motion position, center of mass motion speed, and flight attitude from it, and immediately update the center of mass motion position, center of mass motion speed, and flight attitude to the corresponding values ​​in the telemetry data; if no correction message is received, continue to wait for the correction message and do not perform subsequent operations.

[0106] The initialization message response interface completes the function of assigning initial values ​​to six variables in the ballistic simulation model: center of mass motion position, center of mass motion speed, flight attitude message, distance from the center of the earth, range, and orbit;

[0107] The processing flow of the integral calculation message response interface function is shown in Figure 4. The processing flow is that at each simulation step, based on the original parameters and input parameters of the engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, and time sequence action, according to the dynamic equation and kinematic equation, after the steps of rocket external force synthesis, calculation of rocket acceleration, rocket torque synthesis, and calculation of rocket angular acceleration, the center of mass motion position, center of mass motion speed, and flight attitude of the rocket flight are calculated by the integration method;

[0108] The output calculation message response interface calculates the six parameters of the earth's center of mass, range, angle of attack, sideslip angle and orbit based on the rocket's center of mass motion position, center of mass motion speed and flight attitude message obtained by integral calculation;

[0109] The end message response interface completes the memory release function after the trajectory model calculation is completed.

[0110] (2) Power simulation model

[0111] The power simulation model is as follows:

[0112] Input parameters include engine on / off action, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position;

[0113] Output parameters include engine thrust, engine power consumption per second, remaining mass of oxidizer in tank, and remaining mass of fuel in tank.

[0114] The state parameter State includes the fuel consumption of the tank;

[0115] Messages include initialization messages, integral calculation messages, output calculation messages, and end messages;

[0116] Initialization information refers to the message that assigns initial values ​​to variables in the power simulation model;

[0117] The integral calculation message refers to the message of integral calculation of the remaining mass of the tank oxidizer and the remaining mass of the tank propellant during the flight of the launch vehicle;

[0118] Output calculation messages refer to messages that calculate the engine thrust and engine power consumption during the launch vehicle's flight based on engine power-on and power-off actions, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position.

[0119] The end message refers to the message used to release the memory after the power simulation model calculation is completed.

[0120] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0121] The initialization message response interface completes the function of assigning initial values ​​to the engine thrust, engine second consumption, tank oxidizer remaining mass, and tank propellant remaining mass in the power simulation model;

[0122] The integral calculation message response interface processes the integral calculation of the remaining mass of the tank oxidizer and the remaining mass of the tank propellant during the launch vehicle's flight.

[0123] The processing flow of the output calculation message response interface function is shown in Figure 5. The processing flow is to calculate the oxidizer and fuel densities, oxidizer and fuel density deviations, oxidizer and fuel flow rate increments, and thrust increments based on the input information consisting of engine power on / off action, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position, and ultimately obtain the engine thrust and engine consumption per second during the launch vehicle flight.

[0124] The end message response interface completes the memory release function after the power simulation calculation is completed.

[0125] (3) Quality simulation model

[0126] The quality simulation model is as follows:

[0127] Input parameters include separation action, engine on / off action, and preset quality characteristic table;

[0128] Output parameters include mass, center of mass position, moment of inertia, and tank level height;

[0129] State parameter State: The default value is the variable State, and its value remains unchanged during the calculation process;

[0130] Messages include initialization messages, integral calculation messages, output calculation messages, and end messages; among them,

[0131] Initialization information refers to the message that assigns initial values ​​to variables in the quality simulation model;

[0132] The integral calculation message is an empty message for the mass simulation model;

[0133] Output calculation messages refer to messages that respond to separation actions, engine power-on and power-off actions, determine the segments involved in mass calculation, perform mass characteristic parameter interpolation calculations on each segment of the launch vehicle, and summarize them into launch vehicle mass characteristic parameters;

[0134] The end message refers to the message of memory release after the quality simulation model calculation is completed.

[0135] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0136] The initialization message response interface completes the function of assigning initial values ​​to the mass, center of mass position, moment of inertia, and tank liquid level height variables in the mass simulation model;

[0137] No operations are performed in the points calculation message response interface;

[0138] The processing flow of the output calculation message response interface function is shown in Figure 6. The processing flow is to respond to the input parameters of the separation action and the engine power on / off action, and determine the segments involved in the mass calculation based on the original parameters. The mass characteristic parameters of each launch vehicle segment are interpolated and summarized into the launch vehicle mass characteristic parameters, and the launch vehicle mass characteristic parameters and tank liquid level are output;

[0139] The end message response interface completes the memory release function after the power simulation calculation is completed.

[0140] (4) Pneumatic simulation model

[0141] In a specific embodiment of the present invention, the aerodynamic simulation model is as follows:

[0142] Input parameters include separation action, launch vehicle aerodynamic characteristics, atmospheric environment information, center of mass motion speed, and flight attitude;

[0143] Output parameters include aerodynamic force, dynamic pressure, total angle of attack, and heat flow value;

[0144] State parameter State: The default value is the variable State, and its value remains unchanged during the calculation process;

[0145] Messages include initialization messages, integral calculation messages, output calculation messages, and end messages; among them,

[0146] Initialization information refers to the message that assigns initial values ​​to variables in the aerodynamic simulation model;

[0147] The integral calculation message is an empty message for the aerodynamic simulation model;

[0148] Output calculation message refers to the information about the aerodynamic force on the launch vehicle during flight calculated at each simulation step based on the separation action, the aerodynamic characteristics of the launch vehicle, the atmospheric environment information, the center of mass motion speed, and the flight attitude;

[0149] The end message refers to the message of memory release after the aerodynamic simulation model calculation is completed.

[0150] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0151] The initialization message response interface completes the function of assigning initial values ​​to aerodynamic force, dynamic pressure, total angle of attack, and heat flow variables in the aerodynamic simulation model;

[0152] No operations are performed in the points calculation message response interface;

[0153] The processing flow of the output calculation message response interface function is shown in Figure 7. The processing flow is to calculate the normal force coefficient, axial force coefficient, lateral force coefficient, lift coefficient, and drag coefficient of the launch vehicle based on the original parameters and input parameters consisting of the separation action, the aerodynamic characteristics parameters of the launch vehicle, the atmospheric environment information, the center of mass motion speed, and the flight attitude, and then calculate the aerodynamic force, dynamic pressure, total angle of attack, and heat flux value of the launch vehicle during flight based on the above coefficients;

[0154] The end message response interface completes the memory release function after the aerodynamic simulation calculation is completed.

[0155] (5) Environmental simulation model

[0156] The environmental simulation model is as follows:

[0157] Input parameters include the center of mass motion position, the preset earth atmosphere model, and the gravitational field model.

[0158] Output parameters include gravity, atmospheric pressure, atmospheric density, and atmospheric temperature.

[0159] State parameter State: The default value is the variable State, and its value remains unchanged during the calculation process;

[0160] Messages include initialization messages, integral calculation messages, output calculation messages, and end messages; among them,

[0161] Initialization information refers to the message that assigns initial values ​​to variables in the environment simulation model;

[0162] The integral calculation message is an empty message for the environmental simulation model;

[0163] Output calculation message refers to the message that calculates the environmental information corresponding to the center of mass motion position of the launch vehicle based on the center of mass motion position, the preset earth atmosphere model, and the gravitational field model at each simulation step;

[0164] The end message refers to the message of memory release after the calculation of the environment simulation model is completed.

[0165] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0166] The initialization message response interface completes the function of assigning initial values ​​to gravity, atmospheric pressure, atmospheric density, and atmospheric temperature variables in the environmental simulation model;

[0167] No operations are performed in the points calculation message response interface;

[0168] The processing flow of the output calculation message response interface function is shown in Figure 8. The processing flow is to calculate the environmental information corresponding to the center of mass motion position of the launch vehicle, including the earth's gravity, atmospheric pressure, atmospheric density, and atmospheric temperature, based on the center of mass motion position, the original parameters composed of the preset earth atmosphere model and gravitational field model, and the input parameters;

[0169] The end message response interface completes the memory release function after the environment simulation calculation is completed.

[0170] (6) Timing Model

[0171] The timing model is as follows:

[0172] Input parameters include preset flight timing and real-time telemetry data;

[0173] The output parameter Output includes discrete event messages, specifically: booster engine ignition, first stage engine ignition, takeoff, booster separation, fairing separation, first stage engine shutdown, first stage separation, interstage separation, second stage engine primary ignition, second stage engine primary shutdown, second stage engine secondary ignition, second stage engine secondary shutdown, and rocket-satellite separation;

[0174] State parameter State: The default value is the variable State, and its value remains unchanged during the calculation process;

[0175] Messages include discrete event messages, initialization messages, integral calculation messages, output calculation messages, and end messages.

[0176] Discrete event messages include booster engine ignition, first-stage engine ignition, takeoff, booster separation, fairing separation, first-stage engine shutdown, first-stage separation, interstage separation, second-stage engine primary ignition, second-stage engine primary shutdown, second-stage engine secondary ignition, second-stage engine secondary shutdown, and rocket-satellite separation.

[0177] Initialization information refers to the message that assigns initial values ​​to variables in the time series model;

[0178] The integral calculation message is an empty message for the time series model;

[0179] Output calculation message refers to the message that determines whether the key timing action occurs at each simulation step based on the preset flight timing and real-time telemetry data, and uses discrete event messages to simulate the key timing action;

[0180] The end message refers to the message that memory is released after the time series model calculation is completed.

[0181] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0182] Initialize the message response interface to complete the function of assigning initial values ​​to the variables of the message list to be injected and the current message injection list in the timing model;

[0183] No operations are performed in the points calculation message response interface;

[0184] The definition and registration of messages are completed in the output calculation message response interface function. The specific process is shown in Figure 10. The processing flow is as follows: the key timing action is defined as a discrete event message and added to the message list to be injected. The message list to be injected contains multiple discrete event messages and their corresponding message sending conditions; at each simulation step, telemetry data is received, and the message list to be injected is retrieved based on the telemetry data and the current flight time to determine whether the key timing action occurs. The discrete event message that meets the sending conditions is added to the current message injection list, and the discrete event messages in the current message injection list are simultaneously sent to the ballistic simulation model, the power simulation model, the mass simulation model, the aerodynamic simulation model, and the environmental simulation model until all discrete event messages in the current message injection list are sent;

[0185] The end message response interface completes the memory release function after the timing model calculation is completed.

[0186] (7) Triggering the correction model;

[0187] In a specific embodiment of the present invention, the trigger correction model is as follows:

[0188] The input parameters include launch vehicle telemetry data, trigger parameters, trigger conditions, and trigger output mode. An example of trigger model parameter settings is shown in Figure 11. The trigger mode is set to external input trigger, the trigger parameter is set to 0.5, the trigger condition is set to greater than (rising trigger), the trigger output is set to continuous trigger, and the trigger behavior is set to state update.

[0189] The output parameter Output includes the correction message;

[0190] State parameter State: The default value is the variable State, and its value remains unchanged during the calculation process;

[0191] Messages include correction messages, initialization messages, integral calculation messages, output calculation messages, and end messages;

[0192] Correction messages refer to messages sent to the trajectory simulation model to correct the center of mass motion position, center of mass motion speed, and flight attitude;

[0193] Initialization information refers to the message that assigns initial values ​​to the variables in the trigger correction model;

[0194] The integral calculation message is an empty message for the trigger correction model;

[0195] Output calculation message refers to the message that determines whether the trajectory simulation model needs to be corrected based on the real-time telemetry data of the launch vehicle;

[0196] The end message is a message used to trigger the release of memory after the correction model calculation is completed.

[0197] The event response interface Event includes the initialization message response interface, the integral calculation message response interface, the output calculation message response interface, and the end message response interface. The execution order of each response interface is controlled by the operation control module.

[0198] The initialization message response interface completes the function of assigning initial values ​​to trigger parameters, trigger conditions, and trigger output mode variables in the trigger correction model;

[0199] No operations are performed in the points calculation message response interface;

[0200] The output calculation message response interface function issues a correction message. The specific process is shown in Figure 12. The processing flow is to obtain real-time telemetry data, remove outliers, and judge the rationality of the telemetry data. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions, and the dynamic switch flag word is set to 1. Otherwise, the dynamic switch flag word is set to 0. The dynamic switch flag word is used to identify whether the telemetry data meets the correction conditions. Then, based on the trigger parameters, it is judged whether the dynamic switch flag word meets the trigger conditions. The corresponding trigger output mode is used to send the correction message to the ballistic simulation model.

[0201] The end message response interface completes the triggering of the memory release function after the correction model calculation is completed.

[0202] The specific execution process after the correction message is issued is: the operation control module inserts the correction message into the operation control process, and executes it after the current simulation step trajectory simulation model, power simulation model, mass simulation model, aerodynamic simulation model, environment simulation model, timing model, and trigger correction model are completed, and the key state variables of the ballistic simulation model, the center of mass motion position, the center of mass motion speed, and the flight attitude are updated.

[0203] Based on the above system, the present invention also proposes a digital flight companion method for a launch vehicle based on real-time telemetry data. The method performs the following steps in parallel at each simulation step:

[0204] Acquire launch vehicle telemetry data in real time, determine whether key sequence actions have occurred based on the preset flight sequence and real-time telemetry data, and simulate key sequence actions using discrete event messages; the key sequence actions include separation and engine power on / off.

[0205] Conduct trajectory simulation: Based on the engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, and separation action, the rocket's center of mass motion position, center of mass motion speed, and flight attitude are calculated using the integration method according to the dynamic equations and kinematic equations;

[0206] Perform dynamic simulation: Calculate the engine pressure and thrust during the launch vehicle's flight based on the engine's on / off motion, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position.

[0207] Perform mass simulation: respond to separation actions and engine power-on / off actions, determine the sections involved in mass calculation, interpolate and calculate the mass characteristic parameters of each section of the launch vehicle, and summarize them into the launch vehicle mass characteristic parameters; mass characteristic parameters include mass, center of mass, and moment of inertia;

[0208] Perform aerodynamic simulation: Based on the separation action, the aerodynamic characteristics of the launch vehicle, and using atmospheric environment information, center of mass motion speed, and flight attitude, calculate the aerodynamic forces acting on the launch vehicle during flight;

[0209] Perform environmental simulation: Based on the center of mass movement position, the preset earth atmosphere model and gravitational field model, calculate the earth's gravity, atmospheric pressure, atmospheric density, and atmospheric temperature that the carrier rocket is subjected to during flight.

[0210] The above method also performs the following steps in each simulation step: based on the real-time acquired launch vehicle telemetry data, determine whether the ballistic simulation model needs to be corrected. If correction is required, after the ballistic simulation, power simulation, mass simulation, aerodynamic simulation, and environmental simulation of this simulation step are completed, the center of mass motion position, center of mass motion speed, and flight attitude obtained by the ballistic simulation are updated using the corresponding values ​​in the acquired telemetry data.

[0211] Preferably, a dynamic switching flag word is used to identify whether the telemetry data meets the correction conditions, and then based on the trigger parameters, it is determined whether the dynamic switching flag word meets the trigger conditions, and then based on the trigger output mode, it is determined whether the ballistic simulation model needs to be corrected.

[0212] Preferably, the trigger parameter is used as a threshold for determining whether the dynamic switching flag word meets the trigger condition;

[0213] The trigger conditions include rising trigger, falling trigger, rising or falling trigger; the rising trigger condition means that the current dynamic switching flag word is greater than the trigger parameter, and the previous simulation step dynamic switching flag word is less than the trigger parameter; the falling trigger condition means that the current dynamic switching flag word is less than the trigger parameter, and the previous simulation step dynamic switching flag word is greater than the trigger parameter;

[0214] The trigger output mode includes one-time triggering and continuous triggering. One-time triggering means that after the trigger condition is met, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step will not be re-judged; continuous triggering means that when the dynamic switching flag word meets the trigger condition, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step will be re-judged.

[0215] Preferably, the trigger correction model removes outliers from the launch vehicle telemetry data acquired in real time before making a rationality judgment on the telemetry data.

[0216] Preferably, the method of dynamically switching the flag word to identify whether the telemetry data meets the correction condition is:

[0217] The telemetry data is judged to be reasonable. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions and the dynamic switching flag is set to 1. Otherwise, the dynamic switching flag is set to 0.

[0218] Preferably, the discrete event messages correspond one-to-one with the critical timing actions, and the discrete event message transmission time is the flight time of the critical timing action. Although the present invention has been disclosed above with respect to preferred embodiments, this is not intended to limit the present invention. Any person skilled in the art may utilize the above-disclosed methods and technical contents to make possible variations and modifications to the technical solutions of the present invention without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent variations, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are within the scope of protection of the technical solutions of the present invention.

Claims

1. A digital flight companion system for launch vehicles based on real-time telemetry data, characterized in that Including ballistic simulation model, dynamic simulation model, mass simulation model, aerodynamic simulation model, environmental simulation model, timing model, trigger correction model; The trajectory simulation model, at each simulation step, calculates the center of mass motion position, center of mass motion speed, and flight attitude of the rocket flight according to the engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, and key timing actions, according to the dynamic equation and kinematic equation, using the integration method; in response to the correction message, the center of mass motion position, center of mass motion speed, and flight attitude are immediately updated to the corresponding values ​​in the telemetry data, and the updated values ​​are used for integration operation at the next simulation step; The power simulation model calculates the engine thrust, tank oxidizer residual mass, and tank fuel residual mass of the launch vehicle during flight according to the engine on / off action, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position at each simulation step. The mass simulation model, at each simulation step, responds to the separation action and the engine on / off action, determines the sections involved in the mass calculation, interpolates the mass characteristic parameters of each section of the launch vehicle and summarizes them into the mass characteristic parameters of the launch vehicle; the mass characteristic parameters include mass, center of mass position and moment of inertia; The aerodynamic simulation model calculates the aerodynamic force on the launch vehicle during flight at each simulation step based on the separation action, the aerodynamic characteristic parameters of the launch vehicle, the atmospheric environment information, the center of mass motion speed, and the flight attitude; The environmental simulation model calculates the earth's gravity and atmospheric environment information corresponding to the center of mass motion position of the launch vehicle at each simulation step according to the center of mass motion position, the preset earth atmosphere model and the gravitational field model, wherein the atmospheric environment information includes atmospheric pressure, atmospheric density and atmospheric temperature; The timing model determines whether the key timing action occurs at each simulation step based on the preset flight timing and real-time telemetry data, and uses discrete event messages to simulate the key timing action; The correction model is triggered to determine whether the trajectory simulation model needs to be corrected based on the real-time telemetry data of the launch vehicle. If correction is required, a correction message is sent to the trajectory simulation model.

2. A digital flight companion system for launch vehicles based on real-time telemetry data according to claim 1, characterized in that The ballistic simulation model also calculates and outputs six parameters including distance from the center of the earth, range, angle of attack, sideslip angle and orbit; the power simulation module also calculates and outputs the engine consumption per second; the mass simulation model also calculates and outputs the tank liquid level height; the aerodynamic simulation model also calculates and outputs the dynamic pressure, total angle of attack and heat flow value.

3. A digital flight companion system for launch vehicles based on real-time telemetry data according to claim 1, characterized in that The trigger correction model uses a dynamic switching flag word to identify whether the telemetry data meets the correction conditions, and then judges whether the dynamic switching flag word meets the trigger conditions based on the trigger parameters, and uses the corresponding trigger output mode to send the correction message to the trajectory simulation model.

4. A digital flight companion system for launch vehicles based on real-time telemetry data according to claim 3, characterized in that The method of dynamically switching the flag word to identify whether the telemetry data meets the correction condition is: The telemetry data is judged for rationality. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions and the dynamic switch flag is set to 1; otherwise, the dynamic switch flag is set to 0.

5. A digital flight companion system for launch vehicles based on real-time telemetry data according to claim 4, characterized in that Before the trigger correction model makes a rational judgment on the telemetry data, it first removes outliers from the real-time telemetry data of the launch vehicle.

6. The digital flight companion system for launch vehicles based on real-time telemetry data according to claim 4, characterized in that: The trigger parameter is used as a threshold for determining whether the dynamic switching flag word meets the trigger condition; The trigger conditions include rising trigger, falling trigger, and rising or falling trigger; The rising trigger condition means that the current dynamic switching flag word is greater than the trigger parameter, and the previous simulation step dynamic switching flag word is less than the trigger parameter; The falling trigger condition means that the current dynamic switching flag word is less than the trigger parameter, and the previous simulation step dynamic switching flag word is greater than the trigger parameter; The trigger output mode includes one-time trigger and continuous trigger. One-time trigger means that after the trigger condition is met, the current simulation step outputs a correction message, and each subsequent simulation step no longer re-judges whether the dynamic switching flag word meets the trigger condition, and does not output a correction message; Continuous triggering means that when the dynamic switching flag word reaches the trigger condition, the current simulation step outputs a correction message, and each subsequent simulation step re-judges whether the dynamic switching flag word meets the trigger condition, and outputs a correction message based on the judgment result.

7. A digital flight companion system for launch vehicles based on real-time telemetry data according to claim 1, characterized in that The trajectory simulation model, power simulation model, mass simulation model, aerodynamic simulation model, and environment simulation model include input parameter Input, output parameter Output, state parameter State, event response interface Event, and message Message; Input parameter Input is the input parameter in the mathematical description of the model; The output parameter Output is the output parameter in the mathematical description of the model; The state parameter State is the state parameter in the mathematical description of the model; Messages, including messages sent by the model actively, and messages sent by other models and responded by this model; The event response interface Event is implemented in the form of a callback function and defines how the model responds to received messages.

8. The digital flight companion system for launch vehicles based on real-time telemetry data according to claim 1 is characterized in that The timing model defines the key timing actions as discrete event messages and adds them into the list of messages to be injected. The list of messages to be injected contains multiple discrete event messages and their corresponding message sending conditions. Receive telemetry data, retrieve the list of messages to be injected through the telemetry data and the current flight time, add the discrete event messages that meet the sending conditions to the current message injection list, and send the discrete event messages in the current message injection list to the trajectory simulation model, the power simulation model, the mass simulation model, the aerodynamic simulation model, and the environmental simulation model at the same time until all the discrete event messages in the current message injection list are sent; The message sending condition is that the relative time between key timing actions, the flight time corresponding to the execution of the key timing actions, or specific telemetry data meets the preset condition; Discrete event messages contain a unique sequence number and message name; The discrete event messages correspond to the key timing actions one by one, and the discrete event message sending time is the flight time of the key timing actions.

9. A digital flight companion method for a launch vehicle based on real-time telemetry data, characterized in that Each simulation step executes the following steps in parallel: Acquire the launch vehicle telemetry data in real time, determine whether the key timing action occurs according to the preset flight sequence and real-time telemetry data, and use discrete event messages to simulate the key timing action; the key timing action includes separation action and engine power on / off action; Conduct trajectory simulation: According to the engine thrust, aerodynamic force, earth gravity, mass characteristic parameters, key timing actions, dynamic equations and kinematic equations, the center of mass motion position, center of mass motion speed, and flight attitude of the rocket flight are calculated by the integration method; Perform dynamic simulation: Calculate the engine pressure and engine thrust during the flight of the launch vehicle based on the engine on / off action, engine internal ballistic parameters, and atmospheric environment information corresponding to the center of mass motion position; Perform mass simulation: respond to separation actions and engine on / off actions, determine the sections involved in mass calculation, perform mass characteristic parameter interpolation calculations on each section of the launch vehicle and summarize them into the mass characteristic parameters of the launch vehicle; the mass characteristic parameters include mass, center of mass position and moment of inertia; Perform aerodynamic simulation: Calculate the aerodynamic force on the launch vehicle during flight based on the separation action, the launch vehicle's aerodynamic characteristic parameters, and the atmospheric environment information, center of mass motion speed, and flight attitude; Conduct environmental simulation: Based on the movement position of the center of mass, the preset earth atmosphere model and gravitational field model, calculate the earth's gravity, atmospheric pressure, atmospheric density, and atmospheric temperature that the launch vehicle is subject to during flight.

10. A method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 9, characterized in that The following steps are also performed in each simulation step: based on the real-time acquired launch vehicle telemetry data, determine whether the trajectory simulation model needs to be corrected. If correction is required, after the ballistic simulation, power simulation, mass simulation, aerodynamic simulation, and environmental simulation of this simulation step are completed, the center of mass motion position, center of mass motion speed, and flight attitude obtained by the ballistic simulation are updated using the corresponding values ​​in the acquired telemetry data.

11. The method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 10, characterized in that: Use dynamic switching flag words to identify whether the telemetry data meets the correction conditions, and then determine whether the dynamic switching flag words meet the trigger conditions according to the trigger parameters, and then determine the trajectory simulation according to the trigger output mode. Whether the model needs to be revised.

12. A method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 11, characterized in that The method of dynamically switching the flag word to identify whether the telemetry data meets the correction condition is: The telemetry data is judged for rationality. If the telemetry data is within a reasonable range, it is considered that the telemetry data meets the correction conditions and the dynamic switch flag is set to 1; otherwise, the dynamic switch flag is set to 0.

13. The method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 11, characterized in that: The trigger parameter is used as a threshold for determining whether the dynamic switching flag word meets the trigger condition; The trigger conditions include rising trigger, falling trigger, and rising or falling trigger; The rising trigger condition means that the current dynamic switching flag word is greater than the trigger parameter, and the previous simulation step dynamic switching flag word is less than the trigger parameter; The falling trigger condition means that the current dynamic switching flag word is less than the trigger parameter, and the previous simulation step dynamic switching flag word is greater than the trigger parameter; The trigger output mode includes one-time trigger and continuous trigger. One-time trigger means that after the trigger condition is met, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step will not be re-judged; Continuous triggering means that when the dynamic switching flag word reaches the trigger condition, it is considered that the current simulation step trajectory simulation model needs to be corrected, and each subsequent simulation step is re-judged.

14. The method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 11, characterized in that Before the trigger correction model makes a rational judgment on the telemetry data, it first removes outliers from the real-time telemetry data of the launch vehicle.

15. The method for digital flight companionship of a launch vehicle based on real-time telemetry data according to claim 9, characterized in that The discrete event messages correspond to the key timing actions one by one, and the discrete event message sending time is the flight time of the key timing actions.

Images