CN113608244A - Space gravitational wave detection satellite constellation ground demonstration verification system - Google Patents
Space gravitational wave detection satellite constellation ground demonstration verification system Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
本发明提供了一种空间引力波探测卫星星座地面演示验证系统，包括：大理石平台，被配置为其表面所在的二维平面模拟空间引力波探测卫星星座三星形成的空间轨道平面；三个相同的漂浮体，被配置为模拟组成空间引力波探测卫星星座的卫星；以及任务控制终端，被配置为对实验任务内容以及相关条件进行设置，并进行各漂浮体配置参数的设置和更新，本发明实现了对激光对准的动力学过程、控制算法以及控制策略进行地面半物理或全物理等效模拟及仿真验证。
The invention provides a space gravitational wave detection satellite constellation ground demonstration and verification system, comprising: a marble platform, which is configured to simulate a space orbit plane formed by a three-star space gravitational wave detection satellite constellation on a two-dimensional plane on which its surface is located; three identical The floating body is configured to simulate the satellites forming the space gravitational wave detection satellite constellation; and the task control terminal is configured to set the experimental task content and related conditions, and set and update the configuration parameters of each floating body. The present invention realizes the The semi-physical or full-physical equivalent simulation and simulation verification of the dynamic process, control algorithm and control strategy of laser alignment are carried out.
Description
Technical Field
The invention relates to the technical field of spaceflight, in particular to a ground equivalent demonstration verification system for space gravitational wave detection satellite constellation inter-satellite laser pointing capture and alignment control.
Background
Gravitational wave detection is carried out from an initial resonant rod to a ground L-shaped laser interferometer and then to the edge of space gravitational wave detection. The main difference between the ground and the space laser interference gravitational wave detector is the difference of the measurement frequency bands. Due to the influence of earth surface vibration and gravity gradient noise and the limitation of the interference arm length, the frequency band for detecting the ground gravitational wave cannot cover the low-frequency range in the gravitational wave generated by a celestial body event, so that a long-baseline laser interference gravitational wave detection system with a space of million kilometers in magnitude needs to be developed.
At present, the space gravitational wave detection plans at home and abroad comprise three same satellites which form an equilateral triangle with the side length of hundreds of thousands or millions of kilometers and run on the earth center or the sun center orbit, and the three satellites form 3 michelson interferometers with the non-independent included angles of 60 degrees and are used for measuring the distance change caused by gravitational waves among the satellites. In order to construct a laser interferometry arm of a Michelson interferometer, three satellites need to be controlled to realize inter-satellite laser pairwise capture and alignment in the same space plane, the inter-satellite distance is too far, the relative position is easy to change, the orbit and attitude control of each satellite is coupled, and measurement information has errors and obvious time delay, so that the implementation of the three-satellite laser pairwise alignment becomes very difficult.
Disclosure of Invention
The invention aims to provide a space gravitational wave detection satellite constellation ground demonstration verification system, which aims to solve the problem that two-by-two alignment of three-star lasers in the existing space gravitational wave detection is very difficult, and realize ground semi-physical or full-physical equivalent simulation and simulation verification on the dynamic process, control algorithm and control strategy of laser alignment.
In order to solve the above technical problem, the present invention provides a space gravitational wave detection satellite constellation ground demonstration verification system, which comprises:
the marble platform is configured to simulate a space orbit plane formed by a space gravitational wave detection satellite constellation tristimulus on a two-dimensional plane where the surface of the marble platform is located;
three identical floating bodies configured to simulate satellites constituting a space gravitational wave exploration satellite constellation; and
and the task control terminal is configured to set the experimental task content and relevant conditions and set and update the configuration parameters of each floating body.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the marble platform can meet the requirement that a plurality of floating bodies freely float back and forth after being leveled, and the floating walking area reaches dozens of square meters to hundreds of square meters.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the floating body includes an upper space and a lower space, and a gas cylinder, an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor, a pipeline, a thruster, a single-shaft flywheel and a power supply system are installed in the lower space, wherein the gas cylinder, the inflation valve, the self-locking valve, the pressure reducing valve, the electromagnetic valve, the pressure sensor, the pipeline and the thruster form a propulsion subsystem, and the cold air propulsion subsystem adopted by the in-orbit satellite is simulated.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the floating body is provided with four gas cylinders which are vertically installed in the lower layer space, gas outlets of the gas cylinders are connected with pipelines to lead to the thrusters, and self-locking valves, pressure reducing valves and pressure sensors are installed among the pipelines;
the inflation valve is used for filling gas into the gas cylinder;
the self-locking valve is used as a switch for outputting gas in the gas cylinder;
the pressure reducing valve properly reduces the pressure of the high-pressure gas in the pipeline;
the pressure sensor is used for measuring the pressure values of the outlet of the gas cylinder and the outlet of the pressure reducing valve;
the electromagnetic valve is arranged on a pipeline close to the nozzle of the thruster, and the quick air injection of the thruster is realized by receiving a control command;
4 thrusters with downward nozzles are uniformly arranged at the bottom of the lower-layer space, and the floating body floats on the marble platform at a height of dozens of microns by downward air injection.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the power supply system is located between 4 gas cylinders, and includes a storage battery and a power supply controller, and is configured to provide power to each device on the floating body, so as to simulate a satellite-borne battery and a power supply controller of a satellite;
the single-shaft flywheel is installed below a power supply system, and a rotating shaft of the single-shaft flywheel is arranged along the direction of the floating body to the ground axis, so that the floating body can perform single-degree-of-freedom attitude control on the ground axis and is used for simulating attitude control of each satellite of a space gravitational wave detection satellite constellation in the direction of freedom perpendicular to the plane of a constellation track.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, 4 groups of thruster clusters are uniformly distributed on the outer side surface of the floating body along the same axial height, each group of thruster clusters includes 2 thrusters, the nozzle directions of the thrusters of the thruster clusters are all perpendicular to the ground axis of the floating body and radially outward along the floating body, so that the floating body can perform displacement air injection control with two degrees of freedom on the marble platform, and thus, two-degree-of-freedom free motion of each satellite of the space gravitational wave detection satellite constellation in the constellation orbit plane is simulated.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, a single-axis fiber optic gyroscope, two identical laser emitting and detecting integrated machines, a support capable of controlling and adjusting an opening angle in a closed-loop manner, a laser radar synchronous positioning and mapping system, a wireless router and a high-performance computer are installed in the upper space of a floating body;
the single-axis optical fiber gyroscope is used for measuring and determining the angular speed and the rotating attitude of the floating body in the direction of the earth axis;
the two same laser emission and detection integrated machines can respectively emit laser and receive laser signals towards two different directions simultaneously and are used for simulating space gravitational wave detection satellite constellation intersatellite laser links, and the laser emission and detection integrated machines can simulate laser interferometer loads adopted by the space gravitational wave detection satellites;
the support capable of adjusting the opening angle in a closed-loop control mode is used for loading two laser emitting and detecting all-in-one machines so as to ensure that an included angle between optical axes of the two laser emitting and detecting all-in-one machines is 60 degrees, a plane formed by the two optical axes is approximately parallel to the ground, the opening angle of the support is adjusted within a small-angle range through the driving of a precision motor, and the structure of the support simulates a telescope structure of a space gravitational wave detection satellite;
the laser radar synchronous positioning and mapping system comprises laser radar equipment and necessary sensors, and the position and the posture of the floating body on the marble platform are calculated through a laser synchronous positioning and mapping algorithm to simulate the orbit and the posture determination of each satellite of a space gravitational wave detection satellite constellation;
the high-performance computer is a core part of the floating body, performs data acquisition and processing and various algorithm realization of each sensor, generates a control instruction and outputs the control instruction to the execution mechanism to complete closed-loop control, and is used for simulating the function of the satellite-borne computer of the satellite;
the wireless router is connected with the high-performance computer, on one hand, the data transmitted by the high-performance computer is output to other floating bodies and the task control terminal through a wireless function, on the other hand, the wireless router receives wireless signals of other floating bodies and the task control terminal and then transmits the wireless signals to the high-performance computer of the floating body;
adding a certain time delay to the signal data to simulate the inter-satellite communication and satellite-ground communication delay characteristics of space gravitational wave detection satellite constellation at the million kilometer level.
Optionally, in the space gravitational wave detection satellite constellation ground demonstration verification system, the task control terminal is installed near the marble platform and is a ground computer with a wireless signal transmission function;
the task control terminal sets the experimental task content and related conditions, and sets and updates configuration parameters of each floating body, including the initial position, the initial posture and the thruster control parameters of the floating body;
the task control terminal distributes relevant parameters and experimental step sequences of the floating bodies to all the floating bodies through wireless signals, remotely controls the floating bodies to start, and determines starting and stopping of experimental tasks so as to simulate the effect of a ground station.
Optionally, in the system for demonstrating and verifying the space gravitational wave detection satellite constellation on the ground, the workflow of the system for demonstrating and verifying the space gravitational wave detection satellite constellation on the ground includes:
the first step is as follows: placing the three floating bodies at proper positions on a marble platform, starting a power main switch of the floating bodies, sending power supply starting instructions of each sensor and each actuating mechanism to a high-performance computer of each floating body through a task control terminal, and ensuring that the sensor and the actuating mechanism in each floating body are normally powered on and self-check is completed;
the second step is as follows: after the self-checking of each floating body is successful, calibrating relevant parameters of a laser radar synchronous positioning and mapping system according to a laser synchronous positioning and mapping principle, and ensuring that the laser radar synchronous positioning and mapping system can accurately position and fix the attitude;
the third step: after the laser radar synchronous positioning and mapping system calibration are completed, recording initial position coordinates and initial postures of the three floating bodies on a marble platform coordinate system; the method comprises the steps that related task configuration information such as initial pose information, control parameter information, expected position and attitude information of each floating body is sent to each floating body through a task control terminal, measurement errors, transmission time delays and control errors which possibly occur in the in-orbit of each satellite of a satellite constellation are detected according to space gravitational waves, and equivalent interference is added to the information so as to ensure that the working state of the floating body can approximately simulate the in-orbit state of the satellite;
the fourth step: after the information of each floating body is configured, an experiment task starting instruction is sent to each floating body through a task control terminal, then each floating body utilizes a sensor, an executing mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation intersatellite laser pointing capturing and aligning control algorithm and a posture cooperative control strategy to autonomously carry out pairwise floating body laser pointing capturing and aligning control experiments, each floating body sends own pose information and control information with time delay to other two floating bodies according to on-orbit equivalent transmission time intervals in the experiment process, the motion condition of the floating bodies is recorded and observed, and the control algorithm is improved and repeated through the experiment result.
The inventor of the invention discovers that the current space gravitational wave detection satellite constellation inter-satellite laser capture and alignment control algorithm and the satellite attitude cooperative control strategy in the constellation still stay in the theoretical research and digital simulation stages, and with the progressive promotion of the domestic space gravitational wave detection plan, the ground semi-physical or full-physical equivalent simulation and simulation verification of the dynamics process, the control algorithm and the control strategy are urgently needed.
Aiming at the technical problems faced by a space gravitational wave detection satellite constellation, the invention aims to construct a demonstration verification system capable of carrying out equivalent simulation on the space gravitational wave detection satellite constellation inter-satellite laser capture and alignment control process under the ground environment based on the relative motion characteristics of the space gravitational wave detection satellite constellation and the characteristics of inter-satellite laser capture and alignment control tasks, and semi-physical experimental verification can be carried out on an in-orbit inter-satellite laser capture and alignment control algorithm, a multi-satellite attitude cooperative control strategy and the like by utilizing the demonstration verification system.
In the ground demonstration and verification system for the space gravitational wave detection satellite constellation provided by the invention, a space orbit plane formed by the space gravitational wave detection satellite constellation tristimulus is simulated through a two-dimensional plane on which the surface of a marble platform is positioned, three same floating bodies simulate the satellite forming the space gravitational wave detection satellite constellation, and the task control terminal sets the experimental task content and the related conditions, sets and updates the configuration parameters of each floating body, provides a system design method for performing equivalent demonstration verification on inter-satellite laser pointing capture and alignment control of a space gravitational wave detection satellite on the ground, the device can simulate the two-degree-of-freedom free motion of a satellite in a constellation plane and the free rotation of the degree of freedom vertical to the constellation plane, and can perform equivalent verification experiments on an inter-satellite laser pointing capture and alignment control algorithm and an attitude cooperative control strategy.
The invention has the advantages that the equivalent demonstration verification system has simple construction principle and convenient engineering realization, can add equivalent interference on sensor measurement information, actuating mechanism control error and information transmission of the equivalent demonstration verification system by referring to the actual state of the on-orbit satellite, and has strong demonstration verification effect on the actual physical motion process of inter-satellite laser pointing capture and alignment control and algorithm verification.
Drawings
Fig. 1 is a schematic diagram of a space gravitational wave detection satellite constellation ground demonstration verification system in an embodiment of the present invention;
FIG. 2 is a schematic view of the lower space of the floating body according to an embodiment of the present invention;
FIG. 3 is a schematic top view of the underspaced space of a floating body in accordance with an embodiment of the present invention;
FIG. 4 is a schematic bottom view of the bottom space of the floating body in one embodiment of the invention;
FIG. 5 is a schematic representation of the upper space of a floating body according to an embodiment of the present invention;
FIG. 6 is a schematic view of the interior of the upper space of the floating body according to an embodiment of the present invention;
FIG. 7 is a schematic view of the outer side of the floating body in one embodiment of the present invention;
fig. 8 is a schematic workflow diagram of a spatial gravitational wave detection satellite constellation ground demonstration verification system in an embodiment of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The ground demonstration and verification system for space gravitational wave detection satellite constellation proposed by the present invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention aims to provide a space gravitational wave detection satellite constellation ground demonstration verification system to solve the problem that two-by-two alignment of three-star lasers in the existing space gravitational wave detection is very difficult.
In order to achieve the above object, the present invention provides a space gravitational wave detection satellite constellation ground demonstration verification system, which comprises: the marble platform is configured to simulate a space orbit plane formed by a space gravitational wave detection satellite constellation tristimulus on a two-dimensional plane where the surface of the marble platform is located; three identical floating bodies configured to simulate satellites constituting a space gravitational wave exploration satellite constellation; and the task control terminal is configured to set the experimental task content and relevant conditions and set and update the configuration parameters of each floating body.
Aiming at the technical problems faced by a space gravitational wave detection satellite constellation, the invention aims to construct a demonstration verification system capable of carrying out equivalent simulation on the space gravitational wave detection satellite constellation inter-satellite laser capture and alignment control process under the ground environment based on the relative motion characteristics of the space gravitational wave detection satellite constellation and the characteristics of inter-satellite laser capture and alignment control tasks, and semi-physical experimental verification can be carried out on an in-orbit inter-satellite laser capture and alignment control algorithm, a multi-satellite attitude cooperative control strategy and the like by utilizing the demonstration verification system. The equivalent demonstration verification system comprises a marble platform, three same floating bodies and a task control terminal.
In one embodiment of the present invention, as shown in fig. 1, the marble platform is a marble platform which is leveled to allow a plurality of floating bodies to freely float back and forth to travel over an area of several tens of square meters to several hundreds of square meters. The two-dimensional plane of the marble platform surface is used for simulating a space orbit plane formed by space gravitational wave detection satellite constellation tristimulus.
In one embodiment of the invention, as shown in fig. 2, the floating body is used to simulate satellites that make up a constellation of space gravitational wave acquisition satellites. The floating body mainly comprises two layers, namely an upper layer space and a lower layer space; the lower layer space is provided with a gas cylinder, an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor, a pipeline, a thruster, a single-shaft flywheel, a power supply system and the like, wherein the gas cylinder, the inflation valve, the self-locking valve, the pressure reducing valve, the electromagnetic valve, the pressure sensor, the pipeline, the thruster and the like form a propulsion subsystem which is similar to a cold air propulsion subsystem adopted by an on-orbit satellite.
In an embodiment of the invention, as shown in fig. 2, four gas cylinders are installed on the floating body, and are vertically installed inside the lower layer space, gas outlets of the gas cylinders are connected with pipelines to lead to the thrusters, self-locking valves, pressure reducing valves and pressure sensors are installed among the pipelines through reasonable layout, the self-locking valves are used for switching on and off gas output of the gas cylinders, the pressure reducing valves appropriately reduce pressure of high-pressure gas, the pressure sensors are used for measuring pressure values of outlets of the gas cylinders and outlets of the pressure reducing valves, electromagnetic valves are installed on the pipelines near nozzles of the thrusters, and rapid gas injection of the thrusters is realized by receiving control instructions. As shown in fig. 2 and 4, 4 thrusters with downward nozzles are uniformly arranged at the bottom of the lower space, and the floating body can float on the marble platform at a height of tens of microns by injecting downward air.
In an embodiment of the invention, as shown in fig. 2 and 3, 4 groups of thruster clusters are uniformly installed at 90 degrees intervals in a circle on the outer side surface of the floating body near the middle height position, each group of thruster clusters comprises 2 thrusters, the nozzle directions of the 8 thrusters are all perpendicular to the ground axis of the floating body and are outward along the radial direction of the floating body, so that the floating body can perform two-degree-of-freedom displacement air injection control on a marble platform, and thus, two-degree-of-freedom free motion of each satellite of a space gravitational wave detection satellite constellation in a constellation orbit plane is simulated.
In one embodiment of the present invention, as shown in fig. 2, a single-axis flywheel is installed below a power supply system, and a rotation axis of the flywheel is along the direction of the floating body to the ground axis, so that the floating body can perform attitude control of a single degree of freedom on the opposite direction axis for simulating attitude control of each satellite of a space gravitational wave detection satellite constellation in the direction perpendicular to the plane of the constellation orbit. The power supply system mainly comprises a storage battery and a power supply controller, and is mainly used for supplying power to all devices on the floating body and simulating the functions of a satellite-borne battery and the power supply controller of a satellite.
In an embodiment of the present invention, as shown in fig. 5, a single-axis fiber optic gyroscope, two identical lasering and detecting integrated machines, a support (simply referred to as a support in fig. 5 or a support on which the lasering and detecting integrated machine is placed) capable of adjusting an opening angle by closed-loop control, a lidar synchronous positioning and mapping (simply referred to as a lidar in fig. 5), a wireless router, a high-performance computer, and the like are installed in an upper space of a floating body. The single-axis optical fiber gyroscope is mainly used for measuring and determining the angular speed and the rotating attitude of the floating body in the direction of the earth axis. The two same laser emission and detection integrated machines can emit laser and receive laser signals towards two different directions respectively and simultaneously and are used for simulating space gravitational wave detection satellite constellation intersatellite laser links, and the laser emission and detection integrated machines are similar to laser interferometer loads adopted by space gravitational wave detection satellites.
In an embodiment of the present invention, as shown in fig. 6, a support (hereinafter, referred to as a support) capable of adjusting an opening angle by closed-loop control is used for loading two laser emitting and detecting all-in-one machines, so as to ensure that an included angle between optical axes of the two laser emitting and detecting all-in-one machines is 60 degrees, and a plane formed by the two optical axes is approximately parallel to the ground, the opening angle of the support can be adjusted within a small angle range by driving of a precision motor, and the support structure refers to a telescope structure of a space gravitational wave detection satellite. The laser radar synchronous positioning and mapping system comprises laser radar equipment, necessary sensors and the like, and the position and the posture of the floating body on the marble platform are calculated through a laser synchronous positioning and mapping algorithm to simulate the orbit and the posture determination of each satellite of a space gravitational wave detection satellite constellation.
In an embodiment of the present invention, as shown in fig. 7, the wireless router is connected to the high performance computer, on one hand, the data transmitted from the high performance computer is transmitted to other floating bodies and task control terminals through the wireless function, on the other hand, the wireless router receives wireless signals from other floating bodies and task control terminals, and then transmits the wireless signals to the high performance computer of the floating body. The signal data can be used for simulating the delay characteristics of space gravitational wave detection satellite constellation inter-satellite communication and satellite-ground communication in the million kilometers level after a certain time delay is added. The high-performance computer is a core part of the floating body, is mainly used for carrying out data acquisition and processing of each sensor and various algorithm realization, generating a control instruction and outputting the control instruction to the execution mechanism to complete closed-loop control, and is used for simulating the function of the satellite-borne computer of the satellite.
In an embodiment of the present invention, as shown in fig. 1, the task control terminal (i.e., the ground control terminal in fig. 1) refers to a ground computer with a wireless signal transmission function installed near a marble platform, and the task control terminal is mainly used for setting experimental task contents and related conditions, and setting and updating configuration parameters of each floating body, such as an initial position, an initial attitude, thruster control parameters, and the like of the floating body. The task control terminal distributes the relevant parameters of the floating bodies and the experiment step sequence to each floating body through wireless signals, remotely controls the floating bodies to start and determine the starting and stopping of the experiment tasks. The task control terminal is used for simulating the action of the ground station.
In an embodiment of the present invention, as shown in fig. 8, the workflow of the equivalent demonstration verification system has the following steps:
the first step is as follows: the three floating bodies are placed at proper positions on the marble platform, then a power main switch of the floating bodies is started, and a power supply starting instruction of each sensor and each actuating mechanism is sent to a high-performance computer of each floating body through a task control terminal, so that the sensors and the actuating mechanisms in each floating body are ensured to be normally powered on and self-check is completed.
The second step is as follows: after the self-checking of each floating body is successful, calibrating relevant parameters of a laser radar synchronous positioning and mapping system according to a laser synchronous positioning and mapping principle, and ensuring that the laser radar synchronous positioning and mapping system can accurately position and fix the attitude;
the third step: and after the laser radar synchronous positioning and mapping system calibration are completed, recording the initial position coordinates and the initial postures of the three floating bodies on the marble platform coordinate system. The method comprises the steps that relevant task configuration information such as initial pose information, control parameter information, expected position and attitude information and the like of each floating body is sent to each floating body through a task control terminal, measurement errors, transmission time delays, control errors and the like which possibly occur in the in-orbit of each satellite of a satellite constellation are detected according to space gravitational waves, and equivalent interference is added into the information so as to ensure that the working state of the floating body can approximately simulate the in-orbit state of the satellite.
The fourth step: after the information of each floating body is configured, an experiment task starting instruction is sent to each floating body through a task control terminal, then each floating body utilizes a sensor, an executing mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation intersatellite laser pointing capturing and aligning control algorithm and a posture cooperative control strategy to autonomously carry out pairwise floating body laser pointing capturing and aligning control experiments, each floating body sends own pose information and control information with time delay to other two floating bodies according to on-orbit equivalent transmission time intervals in the experiment process, the motion condition of the floating bodies is recorded and observed, and the control algorithm is improved and repeated through the experiment result.
The invention has the beneficial effects that: the invention provides a system design method for carrying out equivalent demonstration verification on inter-satellite laser pointing capture and alignment control of a space gravitational wave detection satellite constellation on the ground, which can simulate two-degree-of-freedom free motion of the satellite in a constellation plane and free rotation of the satellite perpendicular to the constellation plane, and can carry out equivalent verification experiments on an inter-satellite laser pointing capture and alignment control algorithm and an attitude cooperative control strategy.
The invention has the advantages that the equivalent demonstration verification system has simple construction principle and convenient engineering realization, can add equivalent interference on sensor measurement information, actuating mechanism control error and information transmission of the equivalent demonstration verification system by referring to the actual state of the on-orbit satellite, and has strong demonstration verification effect on the actual physical motion process of inter-satellite laser pointing capture and alignment control and algorithm verification.
Fig. 1 is a schematic diagram of a ground equivalent demonstration verification system for inter-satellite laser pointing acquisition and alignment control of a space gravitational wave detection satellite constellation according to an embodiment of the present invention. As shown in fig. 1, the equivalent demonstration verification system comprises a marble platform, three identical floating bodies and a ground control terminal. The floating bodies A, B, C are all placed on a marble platform. The ground control terminal is a computer with a wireless function, is placed near the marble platform, and can transmit data to the three floating bodies through wireless signals. When the three floating bodies realize pairwise laser alignment, the laser links of the three floating bodies construct an equilateral triangle, and the included angle of each two laser links is 60 degrees.
Figure 2 shows a schematic view of the underspaced space of a floating body. As shown in FIG. 2, the geometric center axis of the floating body is a floating body coordinate system ZbAxis, ZbThe negative direction of the axis is towards ground. 4 groups of thruster clusters are arranged on the outer edge of the upper end of the lower layer of the floating body, the interval between two adjacent groups of thruster clusters is 90 degrees, each group of thruster clusters comprises 2 thrusters, and the respective symmetric axes of the 4 groups of thruster clusters are respectively along the +/-X of the coordinate system of the floating bodybAnd. + -. YbThe axial direction. 4 same gas cylinders are vertically arranged on the lower layer of the floating body and are uniformly distributed in a coordinate system X of the floating bodybYbIn the four quadrant space of the plane. The gas cylinder provides working medium gas for the thruster through the pipeline, the pipeline can be reasonably distributed according to the internal space of the floating body, the actual state of the cold air propulsion subsystem configured by the satellite is referred, and an inflation valve, a self-locking valve, a pressure reducing valve, an electromagnetic valve, a pressure sensor and the like are installed at the proper position of the pipeline, so that the functional integrity and the safety of the floating body propulsion subsystem are ensured. The power supply system and the single-shaft flywheel are sequentially installed at the center of the lower layer of the floating body from top to bottom, the power supply system mainly comprises a storage battery and a power supply controller, the power supply controller regulates the output voltage of the storage battery and then transmits the regulated output voltage to each power utilization device of the floating body, and meanwhile, the power supply controller is controlled by an instruction of a high-performance computer to realize power supply on and off control of each device. The bottom of the floating body is provided with 4 round openings which are uniformly distributed at +/-XbAxis sum + -YbIn the axial direction, the gas spraying device is used for spraying gas of the bottom 4 thrusters and spraying gas of the bottom 4 thrustersThe mouth outermost end is a little higher than floats the body bottom surface, when 4 thrusters of floating body bottom jet-propelled downwards, makes with the help of thrust float the body and float dozens of microns high departments in the sky on marble platform to reduced the resistance of floating the body at marble platform surface motion, made the floating body can freely remove on marble platform under the thrust of upper end thruster cluster production.
Figure 3 shows a top view of the lower layer of the floating body. As shown in figure 3, the two thrusters on each set of thruster cluster are spaced at a relatively small angle, the thrust axis of the thrusters being aligned with the XbYbThe planes are parallel and all pass through the geometric symmetry center of the plane where the floating body thruster clusters are located, 2 thrusters of each group of thruster clusters adopt the working mode of being opened and closed simultaneously, so that the thrust resultant force of each group of thruster clusters passes through the geometric symmetry center, and when the floating body is subjected to mass balancing to enable the center of mass of the floating body to be located at the geometric symmetry center, 4 groups of thruster clusters can generate +/-XbAnd. + -. YbThe thrust in the axial direction enables the floating body to freely move in the marble plane, and simultaneously can reduce the posture interference on the floating body.
Figure 4 shows a bottom view of the bottom surface of the lower layer of the floating body. As shown in FIG. 4, the 4 openings at the bottom of the floating body are uniformly and symmetrically distributed at +/-X of the coordinate system of the floating bodybAnd. + -. YbIn the axial direction, 4 thrusters are respectively arranged at the center of each opening at the bottom, and the nozzle direction of each thruster faces to-ZbThe axial direction, i.e. the direction to ground.
Fig. 5 shows a schematic view of the upper space of the floating body. As shown in fig. 5, a wireless router, a single-axis fiber-optic gyroscope and a laser radar device are respectively installed at the top of the upper layer of the floating body, and these devices are connected with a power supply controller and a high-performance computer through corresponding cables to receive power and transmit data. The upper side of the floating body has two openings about + YbThe axis symmetry is convenient for placing the support of the two laser emission and detection integrated machines to stretch out.
Fig. 6 shows an internal schematic view of the upper space of the floating body. As shown in fig. 6, a bracket capable of closed-loop controlling and adjusting the opening angle is arranged in the upper layer of the floating bodyThe support comprises two cylinder arms, the nominal included angle between the axes of the cylinder arms is 60 degrees, and the plane formed by the axes of the two cylinder arms and the XbYbThe planes are parallel, and the laser emission and detection integrated machine is arranged in the cylinder arm, so that the laser axis is consistent with the axis of the cylinder arm during installation. The rear end of the bracket is provided with an opening angle adjusting mechanism which is controlled by a precise motor and can control the included angle between the two cylinder arms to change near the nominal included angle, thereby compensating the structural error, the installation error, the laser alignment error and the like of each floating body. The structural design of the bracket refers to a telescope structure of a space gravitational wave detection satellite. A high-performance computer is arranged in the area between the two cylindrical arms, is the central hub of the floating body, is connected with a power supply controller and other signal single machines, and is used for simulating the functions of the satellite-borne computer.
Fig. 7 shows an external view of the floating body. As shown in fig. 7, the upper layer and the lower layer of the floater shell are of an integrated structure, the whole shape is a cylinder, the side surface and the bottom surface are provided with openings, and the top surface is provided with a wireless router, a single-shaft fiber-optic gyroscope and a laser radar device.
FIG. 8 illustrates a workflow diagram of an equivalent demonstration verification system. As shown in fig. 8, in the first step, the floating body is powered up, and each single machine device is started to complete self-checking. After the self-checking is finished, calibrating a laser radar synchronous positioning and mapping system in the second step, and ensuring accurate positioning of the attitude determination. And after the laser radar synchronous positioning and mapping system calibration are completed, recording the initial position coordinates and the initial postures of the three floating bodies on the marble platform coordinate system. And thirdly, sending relevant task configuration information such as initial pose information, control parameter information, expected position and attitude information and the like of each floating body through a task control terminal, detecting the conditions of measurement errors, transmission delay, control errors and the like which may occur in the in-orbit of each satellite of a satellite constellation according to the space gravitational wave, and adding equivalent interference in the information to ensure that the working state of the floating body can approximately simulate the in-orbit state of the satellite. After the information of each floating body is configured, a fourth step of sending an experiment task starting instruction to each floating body through a task control terminal, then each floating body autonomously performs two-by-two floating body laser pointing capturing and aligning control experiments by utilizing a self sensor, an execution mechanism and an embedded adaptively modified on-orbit space gravitational wave detection satellite constellation inter-satellite laser pointing capturing and aligning control algorithm and attitude cooperative control strategy, each floating body sends self pose information and control information with time delay to other two floating bodies according to on-orbit equivalent transmission time intervals in the experiment process, and the movement condition of the floating bodies is recorded and observed until the experiment is finished. And the experimental process, the control algorithm and the like can be improved and re-tested through the experimental result.
In summary, the above embodiments have described in detail different configurations of the space gravitational wave detection satellite constellation ground demonstration verification system, and it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any content that is transformed based on the configurations provided by the above embodiments falls within the scope of protection of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (9)
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