CN115268390A - High-precision satellite tracking and pointing control ground simulation system AHP (attitude and heading Process) efficiency evaluation method - Google Patents
High-precision satellite tracking and pointing control ground simulation system AHP (attitude and heading Process) efficiency evaluation method Download PDFInfo
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Abstract
The invention provides an AHP (attitude and heading protocol) efficiency evaluation method for a satellite high-precision tracking and pointing control ground simulation system, and belongs to the technical field of AHP efficiency evaluation methods of spacecraft tracking and pointing technologies. Firstly, constructing a hierarchical model structure, and then determining a weight coefficient of a similar element and a value of the similar element; then, carrying out efficiency evaluation on the satellite high-precision tracking pointing control ground simulation system; respectively carrying out AHP analysis on the disturbance simulation unit, the tracking satellite simulation subsystem, the target satellite simulation subsystem and the remote restoration pointing simulation subsystem; and finally, performing AHP analysis on the system. The invention can evaluate the efficiency of the satellite high-precision tracking and pointing control ground simulation system, and the satellite high-precision tracking and pointing control ground simulation system can be close to a real system to a great extent.
Description
Technical Field
The invention relates to an AHP (attitude and heading protocol) efficiency evaluation method for a satellite high-precision tracking and pointing control ground simulation system, and belongs to the technical field of AHP efficiency evaluation methods of spacecraft tracking and pointing technologies.
Background
The study of the ground simulation verification method of the attitude and orbit control system of the spacecraft (master graduate paper of Harbin university of industry, he Chaobin, 2013, 7 months and 1 day) deeply studies the design and implementation means, simulation scheme and other problems of the ground simulation system of the attitude and orbit control system of the spacecraft. The scheme of the ground simulation verification system of the attitude and orbit control system of the spacecraft is designed, and the components of the ground simulation system and the functions of each main subsystem are provided. On the existing simulation platform, the problem of relative rail mobility is analyzed, and a ground simulation experiment is completed. The experimental result shows that the designed simulation system can meet the simulation requirement of the rail maneuvering. Aiming at the problems of long running period such as deep space exploration and the like, in order to reduce simulation time and improve simulation efficiency, a time scaling-based super-real-time simulation scheme of a semi-physical simulation system is researched, and the simulation time problem is strictly defined from the mathematical point of view. Based on the angle of actual engineering realization, a super real-time simulation scheme of the semi-physical simulation system is designed, and simulation verification is performed. The experimental result shows that the designed super real-time scheme is effective and feasible. But the function is single, only the attitude and orbit control ground simulation test of a single aircraft can be carried out, and the method has certain limitation.
The thesis "early warning machine system performance evaluation and software platform development based on the ADC method" (university of hallbin university of the hall academic degree thesis, yin Jinli, 2019, 6 months and 1 day) takes the task executed by the early warning machine system as a starting point, analyzes the specific functions required for executing the task, and studies the performance of the early warning machine system by combining a performance evaluation model and a performance evaluation method. And establishing an early warning machine system efficiency evaluation index system according to the hierarchical structure of the system capacity, and respectively solving the three components of the ADC method, namely the availability, the credibility and the inherent capacity of the system. Analyzing the condition of the early warning machine for executing the task through the overall result and the module result of the efficiency evaluation, summarizing a disadvantage module or link aiming at the task system, and providing theoretical support and direction for improving the performance of the early warning machine; on the basis of the model and the method, the efficiency of a certain early warning machine is evaluated, and an evaluation result is given. Although the method takes the task executed by the early warning machine system as a starting point, analyzes the specific functions required by the task execution, and combines the efficiency evaluation model and the method to research the efficiency of the early warning machine system, the method is different from the research field of the application.
The patent 'ball valve quality multistage fuzzy comprehensive evaluation method based on AHP and information entropy' (patent, wenzhou university, CN201910337645.7, 20190425) discloses a ball valve quality multistage fuzzy comprehensive evaluation method based on AHP and information entropy, which relates to the field of valve body assembly quality, and comprises the following steps: A. establishing a ball valve product quality characteristic analysis model, and dividing each quality characteristic into a target layer, a standard layer and a scheme layer; B. constructing a judgment matrix of the quality characteristics of the ball valve product by using an AHP method, and then obtaining the weight of each quality characteristic of the ball valve; C. constructing a ball valve product quality characteristic standardization matrix by using an information entropy method, and then obtaining the weight of each quality characteristic of the ball valve; D. and (3) obtaining the weight of each quality characteristic by integrating the AHP method and the information entropy method, obtaining an integrated evaluation weight index value by using a fuzzy integrated evaluation method, sequencing the integrated evaluation weight index values, and determining the importance of the quality characteristic of the ball valve product according to a sequencing result. The method has the advantages of improving the calculation speed and enabling the evaluation result to be more accurate. Although the method discloses a ball valve quality multi-stage fuzzy comprehensive evaluation method based on AHP and information entropy, and relates to the field of valve body assembly quality, the method is different from the research field of the application.
The prior art and the AHP efficiency evaluation method of the satellite high-precision tracking pointing control ground simulation system have almost no similar points. Based on this, the patent provides a method for evaluating the AHP performance of a satellite high-precision tracking pointing control ground simulation system, which can establish a hierarchical model corresponding to the system according to the implementation form of the designed satellite high-precision tracking pointing control ground simulation system, respectively obtain the similarity value of each similar element by comparing with the actual system, and finally obtain the performance analysis result of the whole simulation system from part to whole so as to verify the effectiveness and feasibility of the whole simulation system.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and further provides a method for evaluating the AHP performance of a satellite high-precision tracking pointing control ground simulation system.
The purpose of the invention is realized by the following technical scheme:
a satellite high-precision tracking pointing control ground simulation system AHP efficiency evaluation method comprises the steps of firstly constructing a hierarchical model structure, and sequencing according to the forms of the highest layer, the middle layer and the lowest layer; the intermediate level contains each branch system and each branch corresponding constitutional unit in the system, and branch system includes: the system comprises a tracking satellite simulation subsystem, a target satellite simulation subsystem, a remote repair pointing simulation subsystem and a disturbance simulation unit; next, determining a similar element weight coefficient and a similar element value; then, carrying out efficiency evaluation on the satellite high-precision tracking and pointing control ground simulation system; respectively carrying out AHP analysis on the disturbance simulation unit, the tracking satellite simulation subsystem, the target satellite simulation subsystem and the remote restoration pointing simulation subsystem; and finally, performing AHP analysis on the system, and obtaining the overall similarity of the system of the satellite high-precision tracking pointing control ground simulation system by analyzing the similarity of the obtained tracking satellite simulation subsystem, the target satellite simulation subsystem, the remote repair pointing simulation subsystem and the disturbance simulation unit, so as to finish the AHP efficiency evaluation of the satellite high-precision tracking pointing control ground simulation system.
The invention has the beneficial effects that:
compared with the attitude and orbit control system ground full-physical simulation verification system scheme in the prior art, the attitude and orbit control system ground full-physical simulation verification method has almost no similarity, and the method can be used for carrying out efficiency evaluation on a satellite high-precision tracking pointing control ground simulation system.
The invention provides a satellite high-precision tracking pointing control ground simulation system AHP efficiency evaluation method which can establish a hierarchical model corresponding to a designed satellite high-precision tracking pointing control ground simulation system according to the implementation form of the system, respectively obtain the similarity value of each similar element by comparing with an actual system, and finally obtain the efficiency analysis result of the whole simulation system from part to whole so as to verify the effectiveness and feasibility of the whole simulation system. In addition, the ground simulation system for the high-precision tracking and pointing control of the satellite designed and realized by the invention can be close to a real system to a great extent.
Drawings
FIG. 1 is a schematic diagram of a satellite high-precision tracking pointing control ground simulation system according to the present invention.
FIG. 2 is a schematic diagram of a system hierarchy model according to the present invention.
FIG. 3 is a partial schematic view of a hierarchical model of the simulation system of the present invention.
FIG. 4 is a schematic diagram of a hierarchical structure model of a disturbance simulation unit according to the present invention.
FIG. 5 is a schematic view of a hierarchical structure model of a satellite tracking simulation subsystem according to the present invention.
FIG. 6 is a diagram illustrating a hierarchical structure model of a target satellite simulation subsystem and a remote repair pointing simulation subsystem according to the present invention.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 to 6, the method for evaluating AHP performance of a satellite high-precision tracking pointing control ground simulation system according to the present embodiment includes:
example 1
The method for evaluating the AHP efficiency of the satellite high-precision tracking pointing control ground simulation system is applied to a satellite high-precision tracking pointing ground simulation device and is used for ground simulation of relative motion of a spacecraft; the structure of the satellite high-precision tracking pointing control ground simulation device is as follows:
1. high-precision tracking and pointing control ground simulation device for satellite
The satellite high-precision tracking pointing control ground simulation device is used for simulating the process of tracking the satellite launching load to the load capturing target satellite,
the satellite high-precision tracking pointing control ground simulation system can be divided into a tracking satellite simulation subsystem, a target satellite simulation subsystem, a remote repair pointing simulation subsystem and a coordinate binding subsystem, and the composition schematic diagram of the system is shown in fig. 1.
The tracking satellite simulation subsystem takes a three-axis air bearing table as a main body, simulates the kinematics and the dynamic characteristics of a tracking satellite, and a high-precision sensing unit, an on-table management control computer and an attitude simulation control unit form a control closed loop to control the attitude of the three-axis air bearing table, wherein the high-precision sensing unit sends a feedback signal to the on-table management control computer, and the on-table management control computer sends a control signal to the attitude simulation control unit; and simultaneously simulating the disturbance torque during load launching. And the desktop management control computer sends the relative motion instruction to the coordinate binding subsystem through a wireless network. And the tracking pointing unit completes the tracking of the target satellite and sends a feedback signal to the on-board management control computer. And the disturbance simulation unit simulates the disturbance of the load during launching to the tracking satellite.
The remote repairing pointing subsystem simulates a load and a load motion track, the on-table management control computer sends a control signal to the on-table load simulation pointing unit, the on-table load simulation pointing unit points backwards, the load simulation pointing under-table replacing unit simulates the motion track of the load on the imaging unit, and the load simulation pointing under-table replacing unit is realized by a two-dimensional turntable and a laser.
The target satellite simulation subsystem simulates the relative motion track of a target satellite and a tracking satellite on an imaging unit by a high-precision scanning motion unit, and the high-precision scanning motion unit is realized by a two-dimensional turntable and a laser.
And the coordinate binding subsystem carries out coordinate operation after receiving an instruction of the on-table management control computer, and sends the bound instruction to the load simulation pointing under-table substitution unit and the high-precision scanning motion unit.
2. AHP efficiency evaluation method
An Analytic Hierarchy Process (AHP) is used as a system-level analysis method, a hierarchical structure model of the whole system is constructed through qualitative analysis according to the problem to be solved, numerical values and weight corresponding to each layer of factors are calculated layer by layer through mathematical calculation, and finally an analysis result of a total target is obtained to finish the evaluation of the system. The key implementation steps corresponding to the AHP-based efficiency evaluation method are as follows: constructing a hierarchical model structure, determining a weight coefficient of the similar elements and determining the values of the similar elements.
2.1 constructing a hierarchical model Structure
The ordering is first done in the form of the highest layer, middle layer, and lowest layer. As shown in fig. 2. The highest layer is the final purpose of the analysis, and the similarity of the whole system is obtained;
the middle layer comprises all links which are required to be completed for achieving the final purpose, namely all subsystems and corresponding structural units in all subsystems contained in the whole simulation system;
wherein, subsystem 1 is a tracking satellite simulation subsystem, subsystem 2 is a target satellite simulation subsystem, subsystem 3 is a remote repair pointing simulation subsystem, and subsystem 4 is a disturbance simulation unit;
the corresponding structural unit of the tracking satellite simulation subsystem comprises: the device comprises a measuring unit, a control unit, an attitude kinematics unit and an attitude dynamics unit; the corresponding structural units of the target satellite simulation subsystem comprise: 8978 simulation of motion in three directions of zxft 8978; the corresponding structural unit of the remote repair pointing simulation subsystem comprises: x, Y, Z in three directions; the corresponding structural units of the disturbance simulation unit comprise: simulating disturbance torque;
the bottom layer is corresponding indexes under the corresponding structural units, wherein the indexes corresponding to the measurement units of the tracking satellite simulation subsystem are the measurement precision of the attitude measurement unit and the target measurement unit; tracking the corresponding indexes of a control unit of the satellite simulation subsystem as the thrust and the moment of a control algorithm and an actuating mechanism; tracking the corresponding index of an attitude kinematics unit of the satellite simulation subsystem as a kinematics equation; the corresponding indexes of the attitude dynamics unit of the tracking satellite simulation subsystem are the rising time, the overshoot, the stabilization time and the peak time in the three-axis direction of X, Y, Z.
The indexes of motion simulation in three directions of the target satellite simulation subsystem X, Y, Z are position precision;
the index of motion simulation in three directions of the remote repair pointing simulation subsystem X, Y, Z is position accuracy.
2.2, determining the weight coefficient of the similar elements
The weight coefficient of the similar element is used for indicating the contribution value of a certain similar element to the overall similarity degree of the simulation system. The set of relevant similar elements of the current layer is as follows:
U＝{u1,u2,…,un} (1)
factor uiAnd uj(ui,ujE is U; i, j =1,2, …, n) and let uiRelative to ujThe importance of is noted as uijThen, the matrix P can be determined as:
the decision matrix P is constructed using an exponential scale.
After consistency check is carried out on the selected judgment matrix, P is normalized according to columns to obtain
The elements in the formula are as follows:
will be provided with
Summing by rows yields a column vector α:
normalizing alpha to obtain:
calculated by this calculation
That is, the value of the weight coefficient corresponding to the corresponding similar element of the current layer.
2.3, determining the value of the similarity element
For the lowest level similar element, a certain index u in the simulation system is setiCorresponding to a value of xfThe corresponding index value of the actual system is xs。
For non-underlying semblance ukFor example, the similarity value is obtained by calculating the value of the lower layer of the similarity element associated with the lower layer, and the calculation formula is as follows:
wherein n is the same as the analogous element ukNumber of related lower level semblance elements, uiIs the related similar elements of the lower layer,
is a similar Yuan uiCorresponding weight coefficient, q (u)i) Is a similar Yuan uiCorresponding similarity value magnitude.
3. Efficiency evaluation of satellite high-precision tracking and pointing control ground simulation system
As shown in fig. 3, the simulation system is mainly focused on the similarity between the tracking satellite simulation subsystem, the target satellite simulation subsystem, and the remote repair pointing simulation subsystem and the actual system. In addition, although the disturbance simulation unit is divided into the tracking satellite simulation subsystem during system design and implementation, the disturbance simulation unit is taken out separately in consideration of the functional independence during performance evaluation and is positioned at the same level with the three subsystems.
3.1 disturbance simulation Unit AHP analysis
The disturbance simulation unit is used for simulating the disturbance torque generated by the releasing and repairing unit, and the disturbance torque is used as a similar element. The corresponding hierarchy model is shown in fig. 4.
The disturbance simulation unit can realize that the output error of the specified disturbance torque is better than 7 percent, so the torque simulation similarity q (M)r) Comprises the following steps:
correspondingly, the similarity Q of the disturbance simulation unitR＝q(Mr)＝93％。
3.2 tracking satellite simulation subsystem AHP analysis
The tracking satellite simulation subsystem is mainly used for simulating the attitude of a tracking satellite, and a corresponding hierarchical structure diagram is shown in fig. 5.
The method is characterized in that common elements of a tracking satellite simulation subsystem and an actual on-orbit tracking satellite are comprehensively considered, and four structural units, namely an attitude kinematics unit, an attitude dynamics unit, a measurement unit and a control unit, are used as similar elements.
The calculation method of the similarity of the lower layer is as follows:
for the attitude kinematics unit, because the actual in-orbit satellite and the tracking satellite simulation subsystem both adopt the attitude kinematics equation based on quaternion as the attitude kinematics unit, the similarity of the attitude kinematics unit is recorded as Q1And has Q1＝1。
For the attitude dynamic unit, the dynamic characteristics of X, Y, Z in three axial directions in the attitude dynamic unit are selected as similar elements, and t is usedr(rise time)、tp(peak time), ts(settling time) and σrAnd (overshoot) four factors are used as index layer factors to analyze the similarity of the attitude dynamics unit in the tracking satellite simulation subsystem.
The simulation values corresponding to the similarity elements of the indexes and the actual values of the actual orbiting satellites are shown in the following table.
TABLE 1 simulation values corresponding to the index similarity elements and actual values of the actual orbiting satellites
By using the equations (1) to (7), the similarity of the dynamic characteristics in the X direction is QX=91.10%, similarity of kinetic properties in Y direction QY=89.55%, degree of similarity of kinetic characteristics in Z direction QZ=78.65%, and the reliability Q of the kinetic unit can be determined by using the equations (1) to (7) again2＝88.67％
For the control unit, the tracking satellite simulation subsystem and the orbit satellite adopt the same control algorithm to ensure the consistency of the space and the ground, so the reliability Q of the control algorithmControl algorithmIs 1.
The tracking satellite simulation subsystem and the actual space in-orbit satellite both adopt a form of 'flywheel + jet thruster' as an actuating mechanism to respectively generate thrust and moment. For the jet thruster, although the jet thrusters adopted by the actual orbit satellite and the tracking satellite simulation subsystem have the same thrust electromagnetic valve working pressure, the thrust generated by the orbit satellite and the tracking satellite are different due to the influence of atmospheric pressure, and the thrust is used as a similar element to calculate the reliability of the jet thruster. Through on-orbit verification, the adopted jet thruster can generate thrust with the magnitude of 5 +/-0.2N in the outer space; and under the standard atmospheric pressure, the thrust is 4.8N-4.9N. Selecting the median as reference, and obtaining the thrust as the corresponding similarity value q (T) of the similarity unitThrust force) =97%, while for a flywheel, the operational effect is not different in actual space and in the ground environment, and the similarity Q can be consideredMoment of forceAnd =1. By using the equations (1) to (7), the reliability Q of the control unit can be obtained3＝99.09％。
For the measuring unit, the measuring unit is composed of an attitude measuring unit and a target measuring unit. For an actual satellite, the adopted attitude measurement scheme is a combination mode of a fiber optic gyro component and a star sensor. Whether the measurement unit is an actual satellite attitude measurement unit or a ground tracking satellite simulation subsystem, the measurement accuracy which can be realized by the attitude measurement unit can meet the requirement of control accuracy, so that the similarity value Q corresponding to the similarity element of the attitude measurement unit can be considered to beAttitude measurementIs 1; regardless of measuring the relative azimuth of the target or the relative distance of the target, the laser range finder and the visual navigation camera can replace real measuring equipment (namely a radar measuring unit) to complete the measurement task of the target satellite in the ground simulation system, and the similarity value Q of the target measuring unit can be consideredTarget measurementAgain 1. Therefore, the reliability Q of the measurement unit4＝1。
The calculation and analysis result is as follows: reliability Q of the attitude kinematics unit1=1, kinetic unit reliability Q2=88.67%, reliability Q of control unit in tracking satellite analog subsystem3=99.09%, reliability Q of measuring cell4＝1
Calculating the weight coefficient vector corresponding to the attitude dynamics unit, the measurement unit, the control unit and the attitude kinematics unit
Comprises the following steps:
then tracking the similarity Q of the satellite simulation subsystem as a wholeCComprises the following steps:
3.3 AHP analysis of target satellite simulation subsystem and remote repair pointing simulation subsystem
The target satellite simulation subsystem and the remote repair pointing simulation subsystem are respectively used for simulating relative motion trajectories of a target satellite and a repair unit, the position accuracy of motion simulation in three directions X, Y, Z is required to be concerned, the position accuracy is used as a similar element, and the corresponding hierarchical structure diagrams of the target satellite simulation subsystem and the remote repair pointing simulation subsystem are shown in fig. 6.
The maximum pointing error value of the target satellite simulation subsystem and the remote repair thought-only simulation subsystem can be obtained after the pointing error analysis is carried out on the target satellite simulation subsystem and the remote repair thought-only simulation subsystem
For obtaining the similarity Q of X, Y, Z three-direction object motion simulationTX、QTY、QTZIs provided with Lx、Ly、LzRespectively has three-directional strokes and has Lx＝6m,Ly＝6m,LzAnd =3m, then:
for the target satellite simulation subsystem, the judgment matrix is subjected to hierarchical single sequencing to obtain weight coefficient vectors corresponding to the movements in the three directions of X, Y, Z
Comprises the following steps:
therefore, the similarity Q of the target simulation subsystem can be obtainedTComprises the following steps:
in the same way as the target simulation subsystem, the maximum pointing error is
The similarity of the remote repair pointing simulation subsystem X, Y, Z to the repair unit motion simulation in three directions is as follows:
similarity Q of remote restoration pointing simulation subsystemPComprises the following steps:
3.4 systematic AHP analysis
For the whole simulation system, the space mission required to be realized and verified is comprehensively considered, the tracking satellite simulation subsystem is most important, the target satellite simulation subsystem and the remote repair pointing simulation subsystem are the second and have the same importance, the importance degree of the disturbance simulation unit is relatively lowest, and the importance degrees of the similar elements are sequentially from high to low:
wherein, the weight coefficient vector corresponding to the tracking satellite simulation subsystem is
The weight coefficient vector corresponding to the target satellite simulation subsystem is
The weight coefficient vector corresponding to the remote repair pointing simulation subsystem is
The disturbance simulation unit corresponds to a weight coefficient vector of
From this, a decision matrix P is constructed:
where a is an exponential scale value, taking a =1.316, the exponential scale meaning is shown in the following table.
TABLE 2 relationship of index scale to 1-9 scale and corresponding meanings
Obtaining the maximum eigenvalue lambda of the judgment matrix PmaxFor 3.998 ≈ 4, the consistency ratio CR =0 < 0.10 is obtained, and the consistency requirement is satisfied.
Level single ordering, tracking satellite simulation subsystem, target satellite simulation subsystem, remote restoration pointing simulation subsystem and weight coefficient vector corresponding to disturbance simulation unit
Comprises the following steps:
the similarity of the tracking satellite simulation subsystem, the target satellite simulation subsystem, the remote repair pointing simulation subsystem and the disturbance simulation unit obtained by the analysis is respectively as follows:
correspondingly, the overall system similarity Q =0.538Q of the satellite high-precision tracking pointing control ground simulation systemC+0.179QT+0.179QP+0.104QR=96.26%. Therefore, the AHP efficiency evaluation of the satellite high-precision tracking and pointing control ground simulation system is completed, and the designed and realized satellite high-precision tracking and pointing control ground simulation system can be close to a real system to a great extent.
The current layer appearing in this embodiment is the layer currently being analyzed. During analysis, analysis is carried out from bottom to top, the bottommost layer is analyzed firstly, then the middle layer is analyzed, and finally the highest layer is analyzed; when the middle layer is analyzed, the current layer is the middle layer, and when the highest layer is analyzed, the current layer is the highest layer.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (3)
1. A satellite high-precision tracking pointing control ground simulation system AHP efficiency evaluation method is characterized by comprising the following steps:
the method comprises the following steps: building a hierarchical model structure
Firstly, sorting according to the forms of the highest layer, the middle layer and the lowest layer; the highest layer is the final purpose of the analysis, and the similarity of the whole system is obtained; the intermediate layer comprises all links which need to be completed for achieving the final purpose, namely all subsystems and corresponding structural units in all subsystems contained in the whole simulation system, wherein the subsystems comprise: the system comprises a tracking satellite simulation subsystem, a target satellite simulation subsystem, a remote repair pointing simulation subsystem and a disturbance simulation unit; the bottom layer is corresponding indexes under the corresponding structural units;
step two: determining similarity weight coefficients
The weight coefficient of the similar element is used for indicating the contribution value of a certain similar element to the overall similarity degree of the simulation system, and the set of the related similar elements at the current layer is as follows:
U＝{u1,u2,…,un} (1)
factor uiAnd uj(ui,ujE is U; i, j =1,2, …, n) and let uiRelative to ujThe importance of is noted as uijThen, the matrix P can be determined as:
constructing a judgment matrix P by using exponential scale;
after consistency check is carried out on the selected judgment matrix, P is normalized according to columns to obtain
The elements in the formula are as follows:
will be provided with
Summing by rows yields a column vector α:
normalizing alpha to obtain:
calculated by this calculation
The value of the weight coefficient corresponding to the corresponding similar element of the current layer is obtained;
step three: determining the value of the similar elements
For the lowest level similar element, a certain index u in the simulation system is setiCorresponding to a value of xfThe corresponding index value of the actual system is xs；
For non-underlying semblance ukFor example, the similarity value is obtained by calculating the value of the similarity element associated with the lower layer, and the calculation formula is:
wherein n is the same as the analogous element ukNumber of related lower level semblance elements, uiIs the related similar elements of the lower layer,
is a similar Yuan uiCorresponding weight coefficient, q (u)i) Is a similar Yuan uiThe corresponding similarity value is large or small;
step four: efficiency evaluation of satellite high-precision tracking and pointing control ground simulation system
In the whole simulation system, a tracking satellite simulation subsystem, a target satellite simulation subsystem, a remote repair pointing simulation subsystem and the similarity degree of a disturbance simulation unit and an actual system are concerned;
step five: disturbance simulation unit AHP analysis
The disturbance simulation unit is used for simulating the disturbance torque generated by the release repair unit and taking the disturbance torque as a similar element; according to the disturbance torque output error, obtaining a torque simulation similarity, and correspondingly obtaining the similarity of a disturbance simulation unit;
step six: tracking satellite simulation subsystem AHP analysis
The tracking satellite simulation subsystem is mainly used for simulating the attitude of a tracking satellite, comprehensively considers the common elements of the tracking satellite simulation subsystem and an actual on-orbit tracking satellite, and takes four structural units, namely an attitude kinematics unit, an attitude dynamics unit, a measurement unit and a control unit as similar elements; then calculating the similarity of the lower layer;
the calculation and analysis result is as follows: reliability Q of the attitude kinematics unit1=1, kinetic unit reliability Q2=88.67%, reliability Q of control unit in tracking satellite analog subsystem3=99.09%, reliability Q of measuring cell4＝1
Calculated weight coefficient vectors corresponding to the attitude dynamics unit, the measurement unit, the control unit and the attitude kinematics unit
Comprises the following steps:
then tracking the similarity Q of the satellite simulation subsystem as a wholeCComprises the following steps:
step seven: AHP analysis of target satellite simulation subsystem and remote repair pointing simulation subsystem
The target satellite simulation subsystem and the remote repair pointing simulation subsystem are respectively used for simulating relative motion trajectories of a target satellite and a repair unit, the position precision of motion simulation in three directions of X, Y, Z is required to be concerned, and the position precision are used as similar elements;
the maximum pointing error value of the target satellite simulation subsystem and the remote repair thought-only simulation subsystem can be obtained after the pointing error analysis is carried out on the target satellite simulation subsystem and the remote repair thought-only simulation subsystem
For obtaining the similarity Q of X, Y, Z three-direction object motion simulationTX、QTY、QTZIs provided with Lx、Ly、LzRespectively have strokes in three directions and have Lx＝6m,Ly＝6m,LzAnd =3m, then:
for the target satellite simulation subsystem, the judgment matrix is subjected to hierarchical single sequencing to obtain weight coefficient vectors corresponding to the movements in the X, Y, Z three directions
Comprises the following steps:
therefore, the similarity Q of the target simulation subsystem can be obtainedTComprises the following steps:
in the same way as the target simulation subsystem, the maximum pointing error is
The similarity of the remote repair pointing simulation subsystem X, Y, Z to the repair unit motion simulation in three directions is as follows:
similarity Q of remote restoration pointing simulation subsystem can be obtainedPComprises the following steps:
step eight: system AHP analysis
For the whole simulation system, the space mission which needs to be realized and verified is comprehensively considered, the tracking satellite simulation subsystem is most important, the target satellite simulation subsystem and the remote repair pointing simulation subsystem have the same importance, the disturbance simulation unit has the lowest importance degree, and the importance degrees of the similar elements are sequentially from high to low:
wherein, the weight coefficient vector corresponding to the tracking satellite simulation subsystem is
The weight coefficient vector corresponding to the target satellite simulation subsystem is
The weight coefficient vector corresponding to the remote repair pointing simulation subsystem is
The weight coefficient vector corresponding to the disturbance simulation unit is
From this, a decision matrix P is constructed:
wherein a is an exponential scale value, a =1.316, and a is in an exponential scale0Of equal importance, a2To be of slight importance, a4Of obvious importance, a6Of strong importance, a8Of extreme importance, a1,a3,a5,a7Representing a neighboring scale compromise;
obtaining the maximum eigenvalue lambda of the judgment matrix PmaxFor 3.998 ≈ 4, the consistency ratio CR =0 < 0.10 is obtained, and the consistency requirement is met;
level list sorting, tracking satellite simulation subsystem, target satellite simulation subsystem, remote repair pointing simulation subsystem and weight coefficient vector corresponding to disturbance simulation unit
Comprises the following steps:
the similarity of the tracking satellite simulation subsystem, the target satellite simulation subsystem, the remote repair pointing simulation subsystem and the disturbance simulation unit obtained by the analysis is respectively as follows:
correspondingly, the system for controlling the ground simulation system by the high-precision tracking and pointing of the satelliteVolume similarity Q =0.538QC+0.179QT+0.179QP+0.104QR=96.26%; thus, the evaluation of the AHP efficiency of the satellite high-precision tracking pointing control ground simulation system is completed.
2. The method as claimed in claim 1, wherein the fifth step comprises the following steps:
the disturbance simulation unit can realize that the output error of the specified disturbance torque is better than 7 percent, so the torque simulation similarity q (M)r) Comprises the following steps:
correspondingly, the similarity Q of the disturbance simulation unitR＝q(Mr)＝93％。
3. The method of claim 1, wherein the method for calculating the similarity of the lower layer comprises:
for the attitude kinematics unit, because the actual in-orbit satellite and the tracking satellite simulation subsystem both adopt the attitude kinematics equation based on quaternion as the attitude kinematics unit, the similarity of the attitude kinematics unit is recorded as Q1And has Q1＝1；
For the attitude dynamic unit, the dynamic characteristics of X, Y, Z in three axial directions in the attitude dynamic unit are selected as similar elements with the rising time trTime of peak tpAnd a stabilization time tsAnd overshoot σrThe four factors are used as index layer factors, and the similarity of the attitude dynamics unit in the tracking satellite simulation subsystem is analyzed;
analyzing by taking an X axis as an example, and testing a tracking satellite simulation subsystem to obtain an attitude response curve of the tracking satellite simulation subsystem in the direction around the X axis, and a simulated value corresponding to each index similarity element and an actual value of an actual on-orbit satellite;
by using the formulas (1) to (7), the similarity of the dynamic characteristics in the X direction is QX=91.10%, similarity of kinetic properties in Y direction QY=89.55%, degree of similarity of kinetic characteristics in Z direction QZ=78.65%, and the reliability Q of the kinetic unit can be determined by using the equations (1) to (7) again2＝88.67％
For the control unit, the tracking satellite simulation subsystem and the orbit satellite adopt the same control algorithm to ensure the consistency of the space and the ground, so the reliability Q of the control algorithmControl algorithmIs 1;
the tracking satellite simulation subsystem and the actual space in-orbit satellite both adopt a form of 'flywheel + jet thruster' as an actuating mechanism to respectively generate thrust and moment; for the jet thruster, although the jet thrusters adopted by the actual orbit satellite and the tracking satellite simulation subsystem have the same working pressure of a thrust electromagnetic valve, the thrust generated by the orbit satellite and the tracking satellite are different due to the influence of atmospheric pressure, and the thrust is used as a similar element to calculate the reliability of the jet thruster; through on-orbit verification, the adopted jet thruster can generate thrust with the magnitude of 5 +/-0.2N in the outer space; under the standard atmospheric pressure, the thrust is 4.8N-4.9N; selecting the median as reference, and obtaining the thrust as the corresponding similarity value q (T) of the similarity unitThrust force) =97%, while for a flywheel, the operational effect is not different in actual space and in the ground environment, and the similarity Q can be consideredMoment of force=1; by using the equations (1) to (7), the reliability Q of the control unit can be obtained3＝99.09％；
For the measuring unit, the measuring unit consists of an attitude measuring unit and a target measuring unit; for an actual satellite, the adopted attitude measurement scheme is a combination mode of a fiber optic gyroscope component and a star sensor; the measurement accuracy that the attitude measurement unit can realize can meet the requirement of control accuracy no matter in an actual satellite attitude measurement unit or a ground tracking satellite simulation subsystem, so that the attitude measurement unit is considered to be a similar elementCorresponding similarity value QAttitude measurementIs 1; regardless of measuring the relative azimuth of the target or the relative distance of the target, the laser range finder and the visual navigation camera can replace real measuring equipment, namely a radar measuring unit, to complete the measurement task of the target satellite in the ground simulation system, and can be regarded as the similarity value Q of the target measuring unitTarget measurementIs also 1; therefore, the reliability Q of the measurement unit4＝1。
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