CN116300517B - Multi-person collaborative deduction simulation platform and method for spacecraft on-orbit operation task - Google Patents
Multi-person collaborative deduction simulation platform and method for spacecraft on-orbit operation task Download PDFInfo
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Abstract
The application provides a multi-person collaborative deduction simulation platform for an on-orbit task of a spacecraft, which comprises the following steps: the task collaborative deduction module consists of a mechanical arm sub-module, a relay antenna sub-module, a camera sub-module, a pose sub-module, an energy sub-module and an astronaut sub-module, wherein the sub-modules input corresponding data through the collaborative deduction module, are arranged and modified through a platform, and control the movement of a three-dimensional model through a data driving module, so that multi-post collaborative deduction is realized; the original simulation results in the form of charts and values are subjected to visual analysis by a three-dimensional visual means, and key problems in-orbit tasks such as collision and shielding are more conveniently found by combining with the simulation of a real space environment; meanwhile, the collaborative simulation deduction platform supports multi-post and multi-terminal collaborative operation and deduction, is convenient for the cooperation of designers among different subsystems, and therefore the problem among the subsystems is found to meet the requirement of the platform for providing multi-subsystem collaborative deduction.
Description
Technical Field
The application belongs to the technical field of spacecraft task simulation, and particularly relates to a multi-person collaborative deduction simulation platform for a spacecraft on-orbit operation task.
Background
In the on-orbit running stage of the spacecraft, a plurality of tasks and working conditions are required to be executed, in the design, planning and executing stages of the tasks, multidisciplinary and multidigit personnel are usually required to cooperate together to complete, and in order to ensure the rationality of task design and the reliability of task execution, a multidisciplinary collaborative digital simulation deduction platform is required to be constructed to execute the tasks in advance and verification. At present, in the task design and planning stage, all systems and post personnel are mainly designed aiming at own systems and posts, and the following two problems mainly exist:
on the one hand, the current multi-disciplinary simulation of the on-orbit task of the spacecraft is mostly calculated and deduced by adopting a mechanism model, and the output result is mostly numerical values and charts, and is not visual enough due to the lack of a three-dimensional display mode. The key information such as collision among devices, antenna signal shielding, sunlight shading and the like is not easy to directly obtain, high requirements are put forward on experience and calculation of designers, and the efficiency and effect of simulation are seriously affected.
On the other hand, the current spacecraft on-orbit task design and planning process lacks a multi-subsystem collaborative deduction platform, and each system designer needs to consider the mutual influence and relationship among the systems, such as collision and shielding among the systems, energy distribution conditions and the like besides the design of own system tasks. Each system designer does not fully know other system designs for inter-post coordination is insufficient, resulting in insufficient efficiency of spacecraft on-orbit task design.
Therefore, in order to improve the on-orbit task design efficiency and effect of the spacecraft, a multi-user collaborative task simulation deduction platform capable of intuitively displaying the result of multi-disciplinary simulation and promoting efficient collaboration among systems is needed.
Disclosure of Invention
The application aims to provide a design and implementation method of a multi-person collaborative deduction simulation platform for on-orbit operation tasks of a spacecraft, which solves the problem that simulation results are not visual in the current on-orbit task design stage of space standing, and enables users to perform multi-disciplinary joint collaborative simulation in a more visual mode, so that more information in the simulation results is found.
The application further aims to provide a multi-post collaborative deduction method based on the multi-person collaborative deduction simulation platform, and the data integration among the systems is realized by establishing the association among the three-dimensional model, the multi-post design data and the natural environment data, so that the joint deduction is realized.
The application provides a multi-person collaborative deduction simulation platform for an on-orbit task of a spacecraft, which comprises the following steps: the task collaborative deduction module consists of a mechanical arm sub-module, a relay antenna sub-module, a camera sub-module, a pose sub-module, an energy sub-module and an astronaut sub-module, wherein the sub-modules input corresponding data through the collaborative deduction module, are arranged and modified through a platform, and control the movement of a three-dimensional model through a data driving module, so that multi-post collaborative deduction is realized; the data driving control module gathers multi-source multi-format data from the task collaborative deduction module, analyzes and processes the multi-source multi-format data, and finally is connected with the three-dimensional model in a hanging mode, so that the three-dimensional model is driven through simulation data, and a simulation result is visually displayed; the three-dimensional simulation module receives the data uploaded by other modules and performs movement and response, so that visual display is provided, and the three-dimensional simulation module is a final display effect of a multi-person deduction simulation platform; and the task summary evaluation module is used for comparing and analyzing the real spacecraft data with the simulation data so as to correct the simulation model.
Furthermore, the collaborative deduction module gathers multi-role and multi-post simulation data, takes a unified time axis as a standard, and automatically composes and generates a simulation sequence in the platform for multi-post staff to carry out collaborative joint simulation. The different post roles use the platform to input corresponding equipment control instructions and data, control time is aligned in the platform by taking a unified time axis as a standard, three-dimensional simulation and previewing are carried out by using the platform, and after the situation that the self responsible equipment data is correct, the data are uploaded to a task manager side. The task manager gathers the data that all subsystem devices uploaded and saves and issues, synchronizes all task data to each subsystem person, and each subsystem person mainly pays attention to whether the conditions such as shielding, collision and interference occur between the responsible device and other system devices, and pays attention to the execution condition of the whole task. The administrator controls the deduction start, suspension and stop of the whole task, the whole subsystem automatically and synchronously deducts, each subsystem operator observes the running deduction condition of the system equipment, reports the abnormal conditions to the administrator, and after the abnormal conditions are suspended by the administrator, the responsible person who has abnormal equipment uploads new data corresponding to the time or operates and places the equipment in a three-dimensional interface through a spacecraft action state simulation sub-module, automatically updates the equipment position and state data, and ensures that the updated data is uploaded to the administrator by the responsible person after no errors.
Further, the three-dimensional simulation module comprises three sub-modules, namely an environment celestial body simulation, a spacecraft action state simulation and a measurement and control station simulation.
Further, the environment celestial body is used for simulating the natural celestial bodies such as the sun, the moon, the earth and the like in a three-dimensional mode through the simulation submodule, the motion state of each celestial body is actually displayed, and the real simulation is performed on the motion states of the celestial bodies such as the sun-earth distance, the earth-moon distance, the earth rotation and revolution, the moon rotation and revolution and the like.
Further, the spacecraft action state simulation sub-module performs simulation display on the composition structure, the whole running state and the equipment running state of the spacecraft. In order to meet the requirement of the universality simulation of on-orbit operation tasks of various spacecrafts, the module adopts a cabin section and equipment splicing method to manage and simulate the constituent structure of the spacecrafts, and when one-time task deduction begins, configuration editing operation is firstly carried out, and cabin sections and equipment participating in the tasks are selected. In addition, the sub-module is based on a data driving module to complete the action simulation of the gestures, tracks and longitudes of all cabin sections of the spacecraft and the action simulation of the positions and the gestures of equipment such as a mechanical arm, an antenna and the like. In addition, the submodule provides auxiliary functions such as collision detection, signal shielding, light shielding and the like, and assists in observation and calculation of key information in the deduction and simulation processes.
Further, the station simulation sub-module simulates a ground measurement and control station and a relay satellite. The method comprises the steps of arranging ground base stations according to real geographic positions, arranging relay satellites according to real space environments, calculating measurement and control area information of a spacecraft according to positions of the real base stations and the relay satellites and by combining antenna signals, further determining whether the spacecraft is located in the measurement and control area or not and in which measurement and control areas, determining satellite tracking or base station tracking states of each antenna through deduction and simulation, and simultaneously calculating on-off and shielding conditions of communication measurement and control signals under the combined action of the relay satellites and the action state simulation submodule of the spacecraft.
Further, the task collaborative deduction module is used for comprehensively coordinating design schemes of all the systems and providing a unified operation platform for all the subsystems. After the master person in charge starts task deduction once, each subsystem designer inputs subsystem design data, and joint deduction is carried out by taking time and key node states as main control factors. With the progress of time and tasks, subsystem designers can judge the working state among the systems according to the three-dimensional display result and the numerical value, and update the subsystem data after deduction is finished, thereby realizing effective cooperation among the subsystems.
The task summary evaluation module is used for comparing the differences between the design, simulation and actual conditions after the on-orbit task of the spacecraft is finished, evaluating and correcting the task design, and providing modification and guidance comments for future task design planning. The three-dimensional model and the chart driven by the simulation result of the task design are compared with the three-dimensional model and the chart driven by the real telemetry data, the deviation and the error are intuitively and clearly displayed, and the design data with problems are reversely deduced according to the deviation of the model deviation distance, the pose dislocation state, the numerical result error and the like, so that the optimization and the correction of the on-orbit task design are realized, and the reference opinion and the notice are provided for the follow-up on-orbit task.
In one embodiment, the on-orbit task deduction simulation platform of the spacecraft comprises a task total guiding and controlling platform and a plurality of post control platforms, wherein:
the general guidance control platform is used for creating an on-orbit simulation task deduction scheme of the spacecraft, managing work and flow of deduction participators, receiving subsystem data sent by each station operation platform, screening and analyzing the subsystem data based on each subsystem station operation platform to determine a complete flow collaborative simulation deduction task flow, and distributing the finally determined subsystem data to the station operation platform.
And the plurality of post operation platforms select post applications to add into the deduction tasks after the main guide and control platform creates the simulation deduction tasks, and upload corresponding post subsystem data after confirmation by the main guide and control platform. In the process of simulation deduction, whether conflict exists between the running state of the corresponding subsystem and the related system is concerned, subsystem data distributed by the total guiding and controlling platform is received after deduction is finished, and correction and modification are carried out. The plurality of post operation platforms are divided into a spacecraft pose post, a mechanical arm post, an antenna post, a camera post, a solar panel post and a astronaut post based on the task collaborative deduction module.
Further, the spacecraft pose post is used for uploading and observing spacecraft pose data, including six spacecraft orbit numbers, pitch angles, roll angles, yaw angles and the like, and the spacecraft longitude and latitude, the position and attitude and the satellite point track are focused on whether the spacecraft orbit is correct or not in the deduction process, so that the spacecraft cabin is ensured to move correctly.
Further, the mechanical arm post is used for uploading and observing mechanical arm data of spacecraft assembly, and comprises a mechanical arm working state, a mechanical arm landing point, mechanical arm joint angles and the like, wherein the mechanical arm movement position, state, collision and shielding are focused in the deduction process, so that the mechanical arm is ensured to move correctly and other subsystems are not influenced.
Further, the antenna post is used for uploading and observing the states of the wide beam and the narrow beam of the relay antenna for the satellite and the base station, and in the deduction process, the focus is on whether the antenna is for the satellite and the base station or not, and whether the measurement and control area where the spacecraft is and the antenna signal are shielded or not, so that the state of the measurement and control area is free from errors and the antenna signal is not influenced by other subsystems.
Further, the camera post is used for uploading camera related data assembled by the spacecraft, including the on-off states of the panoramic camera and the directional camera, the angles of the panoramic camera and the like at times. In the deduction process, the important attention is paid to whether the camera picture is blocked or not, whether the operation equipment can be clearly observed, and the camera arrangement is carried out.
Further, the solar sailboard post is used for uploading and observing relevant data of the solar sailboard, including rotation angles, daily conditions, working states and the like of each sailboard. In the deduction process, the importance is attached to whether the rotation angle of the solar sailboard is correct or not, whether the solar situation is correct or not is judged, the solar incident angle, the shielding rate and the like are calculated through simulated rays, and the solar sailboard is ensured to work normally, and the energy system is ensured to work normally.
Further, the spacecraft post is used for uploading and observing the spacecraft work position and action information, including a spacecraft movement path, operation actions and the like, and by combining with the VR technology, the work of the spacecraft in the task is simulated, so that the method can be used for spacecraft work path planning and spacecraft training.
The method for carrying out task deduction by using the on-orbit operation task multi-person collaborative deduction simulation platform of the spacecraft comprises the following steps:
step 1: editing a spacecraft configuration by using a master pilot platform, and creating a simulation deduction task;
step 2: each subsystem uses a multi-post operation platform to add the task created in the step 1;
step 3: uploading corresponding data by each subsystem, and aligning equipment control data by taking a unified time axis as a standard;
step 4: each subsystem runs simulation deduction, so that control information is ensured to be free of errors;
step 5: returning to the step 3, wherein the simulation state is correct, and entering the step 6;
step 6: the subsystem uploads the control data to an administrator terminal;
step 7: after the manager confirms the data uploaded by each subsystem, the data are summarized by using a simulation deduction platform, and all the data are pushed to each subsystem;
step 8: controlling the simulation deduction task to be carried out, and synchronously carrying out simulation deduction by each subsystem;
step 9: in the simulation deduction process, each subsystem observes corresponding data, a three-dimensional model state and a preset collaborative plan, a built-in algorithm and a physical engine of the system automatically judge whether each equipment component collides, whether each signal is shielded, whether each antenna is correct in star tracking, whether a solar sailboard is normal in steering, whether a finished procedure is consistent with the collaborative plan, judge whether abnormality exists, prompt abnormality and enter step 10 if abnormality exists; if the subsystems are not abnormal, the step 11 is carried out;
step 10: the abnormal subsystem edits and modifies the data through the platform or uploads new data, and returns to the step 4;
step 11: no abnormality exists between each subsystem and the system, and the simulation deduction is finished.
The multi-person collaborative deduction simulation platform for the on-orbit operation task of the spacecraft simulates the environment space and the operation work of the spacecraft, receives control data to carry out simulation deduction, and the design and implementation method of the platform comprises the following steps:
step 1: constructing a three-dimensional space simulation environment, simulating the movements of the day, month, ground and star, and simulating the spacecraft operation environment;
step 2: constructing a spacecraft three-dimensional structure component library, realizing the configurable structure of the spacecraft, meeting various working conditions and tasks, and enabling the spacecraft to perform corresponding movement according to the data after receiving the multi-source data;
step 3: the multi-source data required by the on-orbit task of the spacecraft are gathered, analyzed and summarized, and analysis of the multi-source data is realized;
step 4: the data are connected with the spacecraft and the equipment thereof in a hanging mode, so that the spacecraft and the equipment thereof are driven through the data uploaded by the responsible persons of all the subsystems, and deduction is conducted;
step 5: simulating physical effects, performing calculation such as collision and shielding according to data, a three-dimensional model and physical laws, and simulating real physical phenomena;
step 6: the multi-post collaboration platform is constructed, the driving of the multi-post and multi-terminal to the same task is realized, the subsystem equipment responsible person only has driving authority to own equipment, the operation data is uploaded to the manager end for unified summarization, and then the operation data is issued to each subsystem for unified collaborative deduction.
Compared with the prior art and a simulation platform, the technical scheme of the application has the beneficial effects that:
the original simulation results in the form of charts and values are subjected to visual analysis by a three-dimensional visual means, and key problems in on-orbit tasks such as collision and shielding can be more conveniently found by combining with simulating a real space environment, so that the requirement of providing an intuitive three-dimensional display mode is met; meanwhile, the collaborative simulation deduction platform supports multi-post and multi-terminal collaborative operation and deduction, is convenient for the cooperation of designers among different subsystems, and therefore the problem among the subsystems is found to meet the requirement of the platform for providing multi-subsystem collaborative deduction.
Drawings
FIG. 1 is a schematic diagram of a multi-user collaborative deduction simulation platform
FIG. 2 is a schematic diagram of a general control platform and a plurality of post control platforms
FIG. 3 is a flow chart of a method for implementing a multi-person collaborative deduction simulation platform
FIG. 4 is a task deduction flow chart
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings and detailed description. These embodiments are exemplary and are not intended to limit the scope of the application.
Fig. 1 is a schematic diagram of a multi-person collaborative deduction simulation platform composition of an on-orbit operation task of a spacecraft. The platform core function is composed of four functional modules, namely three-dimensional simulation 101, data driving control 102, task collaborative deduction 103 and task summary evaluation 104.
The three-dimensional simulation 101 is divided into three sub-modules, namely an environment celestial body simulation 105, a spacecraft action state simulation 106 and a measurement and control station simulation 107, wherein the three-dimensional simulation module 101 receives data uploaded by other modules and performs movement and response, so that visual display is provided, and the three-dimensional simulation module is the final display effect of a multi-person deduction simulation platform; the data driving control module 102 is a data source of the three-dimensional simulation module 101, and is divided into a data convergence sub-module 108, a data analysis sub-module 109 and a data hooking sub-module 110, and after data convergence, analysis and hooking, the three-dimensional model is driven by simulation data, and a simulation result is visually displayed; the task collaborative deduction module 103 is a data source of the data driving module 102, and the core of the task collaborative deduction module is composed of subsystem sub-modules 111. Users with different posts and different systems input corresponding data through the collaborative deduction module 103, the corresponding data are arranged and modified through a platform, and the movement of the three-dimensional model 101 is controlled through the data driving module 102, so that multi-post collaborative deduction is realized; the task summary evaluation module 104 is a verification module of the spacecraft after the on-orbit task is executed, and is divided into a verification module 112 and an analysis module 113, and is used for comparing and analyzing real spacecraft data with simulation data, so as to correct the simulation model and provide reference comments and notes for the subsequent task.
The environmental celestial body simulation sub-module 105 simulates the operation rules of the sun, the moon and the earth, truly reflects the sun-earth distance and the earth-moon distance, simulates the rotation and revolution of the earth and the rotation and revolution of the moon, and determines the absolute time, thereby realizing the actual simulation of the illumination shadow and the operation orbit, and being used for intuitively calculating and demonstrating the working operation state of the sunlight shadow area and the solar sailboard. For example, in the running process of the space station, the sunlight shadow area where the space station is located can be determined through time and space station track information, so that the sun-to-day work of the solar sailboard is simulated, and the position of the satellite point where the space station is located can also be determined.
The spacecraft action state simulation sub-module 106 performs simulation display on the constituent structure, the overall operation state and the equipment operation state of the spacecraft. In order to meet the requirement of the universality simulation of various on-orbit operation tasks of the spacecraft, the module adopts a cabin section and equipment splicing method to manage and simulate the constituent structure of the spacecraft. In addition, the sub-module completes the action simulation of the gestures, tracks and longitudes of all cabin sections of the spacecraft and the action simulation of the positions and the gestures of the equipment such as the mechanical arm, the antenna and the like based on the data driving module 103. In addition, the submodule provides auxiliary functions such as collision detection, signal shielding, light shielding and the like, and assists in observation and calculation of key information in the deduction and simulation processes. For example, in a task of running a space station on the track, firstly, a cabin section and a robot arm landing point are selected according to the configuration of the space station, after the task is started, three-dimensional simulation is performed according to the control of the data driving module 103, and whether the positions of the cabin sections of the space station are correct or not is observed in the task, and whether the action of the robot arm is correct or not is observed in the task.
The station simulation sub-module 107 simulates the ground measurement and control station and the relay satellite. The method comprises the steps of arranging ground base stations according to real geographic positions, arranging relay satellites according to real space environments, calculating measurement and control area information of a spacecraft according to positions of the real base stations and the relay satellites and by combining antenna signals, further determining whether the spacecraft is located in the measurement and control area or not and in which measurement and control areas, determining satellite tracking or base station tracking states of each antenna through deduction and simulation, and simultaneously calculating on-off and shielding conditions of communication measurement and control signals under the combined action of the relay satellites and the action state simulation submodule of the spacecraft. Taking the space station on-orbit task as an example, the relay antenna performs satellite tracking action according to the control of the data driving module 103 in the task process, the relay antenna emits rays, whether the rays are shielded with other equipment (such as a mechanical arm) or not is observed, and meanwhile whether the satellite tracking of the relay antenna is normal or not is observed.
In the data driving module 102, the data aggregation module 108 aggregates multi-source and multi-format data, including data calculated and designed by each staff in each subsystem, output data of other simulation systems, on-orbit task collaborative planning files of the spacecraft, on-orbit telemetry data and the like. After the data analysis module 109 analyzes and processes the data, the data is hooked with the spacecraft and the controllable equipment thereof through the data hooking module 110 based on the Unity 3d, and the simulation data is visually displayed through the data-driven three-dimensional model and the virtual environment.
The task collaborative deduction module 103 is used for orchestrating and coordinating design schemes of all the systems, and provides a unified operation platform for all the subsystems 111. After the master person in charge starts task deduction once, each subsystem designer inputs subsystem design data, and joint deduction is carried out by taking time and key node states as main control factors. With the progress of time and tasks, subsystem designers can judge the working state among the systems according to the three-dimensional display result and the numerical value, and update the subsystem data after deduction is finished, thereby realizing effective cooperation among the subsystems. Taking a certain cabin-out task of a space station as an example, a general responsible person edits a configuration, introduces a collaborative program, starts a task, a mechanical arm control system designer introduces mechanical arm data, a solar sailboard system designer introduces solar sailboard data, a satellite signal system designer introduces relay antenna data, a camera control system designer introduces camera data, a spaceman management system introduces spaceman action data, and starts task deduction, and each subsystem personnel pays attention to whether the working state of the system equipment and personnel is normal or not in the collaborative deduction process.
The task summary evaluation module 104 is used for comparing the gap between the design, simulation and actual situation after the on-orbit task of the spacecraft is finished, evaluating and correcting the task design, and providing modification and guidance comments for future task design planning. The three-dimensional model and the chart driven by the simulation result of the task design are compared with the three-dimensional model and the chart driven by the real telemetry data, the deviation and the error are intuitively and clearly displayed, and the design data with problems are reversely deduced according to the deviation of the model deviation distance, the pose dislocation state, the numerical result error and the like, so that the optimization and the correction of the on-orbit task design are realized, and the reference opinion and the notice are provided for the follow-up on-orbit task.
The on-orbit task deduction simulation platform of the spacecraft comprises a task total guiding and controlling platform and a plurality of post control platforms, as shown in fig. 2, wherein:
the general guidance control platform 201 is configured to create an on-orbit simulation task deduction scheme of a spacecraft, manage work and flow of deduction participants, receive subsystem data sent by each station operation platform, determine a complete flow collaborative simulation deduction task flow based on subsystem data of each subsystem station operation platform through screening and analysis, and distribute the finally determined subsystem data to the station operation platforms.
And the plurality of post operation platforms 202 select post applications to add into the deduction tasks after the master control platform creates the simulation deduction tasks, and upload corresponding post subsystem data after confirmation by the master control platform. In the process of simulation deduction, whether conflict exists between the running state of the corresponding subsystem and the related system is concerned, subsystem data distributed by the total guiding and controlling platform 201 is received after deduction is finished, and correction and modification are carried out. The plurality of post operation platforms 202 are divided into an aircraft spacecraft pose post 203, a mechanical arm post 204, an antenna post 205, a camera post 206, a solar panel post 207 and a spaceship post 208 based on the task collaborative deduction module 103.
The spacecraft pose position 203 is used for uploading and observing spacecraft pose data, including six spacecraft orbits, pitch angle, roll angle, yaw angle and the like, and is mainly focused on whether the spacecraft longitude and latitude, position pose and understar point track are correct in the deduction process, so that the spacecraft cabin is ensured to move correctly. Taking a space station on-orbit task as an example, a designer uploads six rails and attitude angles of a core cabin, an experimental cabin, a cargo ship and an airship, and a platform calculates longitude and latitude of each cabin section according to the data to drive the flight state of the space station and the attitude of each cabin section.
The mechanical arm post 204 is used for uploading and observing mechanical arm data of spacecraft assembly, including mechanical arm working state, mechanical arm landing points, mechanical arm joint angles and the like, and the mechanical arm movement position, state, whether collision and shielding occur or not are focused in the deduction process, so that the mechanical arm is ensured to move correctly and other subsystems are not influenced. Taking a space station cabin-leaving task as an example, a designer uploads a landing point and each joint angle of the mechanical arm, controls the mechanical arm to move, and conveys the astronaut to work at a designated place of the space station.
And the antenna post 205 is used for uploading and observing the satellite-to-base station state of the wide beam and the narrow beam of the relay antenna, and paying attention to whether the antenna is opposite to the satellite and opposite to the base station in the deduction process, and whether the measurement and control area where the spacecraft is and the antenna signal are shielded or not, so that the state of the measurement and control area is not wrong and the antenna signal is not influenced by other subsystems. Taking space station transposition as an example, a designer uploads the satellite state of a relay antenna, and observes whether a space station is in a measurement and control area or not in the transposition process, and whether a relay signal is shielded or not.
Camera post 206 for uploading camera related data assembled by the spacecraft, including the on-off state of the panoramic camera and the directional camera, oftentimes, the angle of the panoramic camera, etc. In the deduction process, the important attention is paid to whether the camera picture is blocked or not, whether the operation equipment can be clearly observed, and the camera arrangement is carried out.
The solar sailboard post 207 is used for uploading and observing solar sailboard related data, including rotation angles, daily conditions, working states and the like of each sailboard. In the deduction process, the importance is attached to whether the rotation angle of the solar sailboard is correct or not, whether the solar situation is correct or not is judged, the solar incident angle, the shielding rate and the like are calculated through simulated rays, and the solar sailboard is ensured to work normally, and the energy system is ensured to work normally.
The astronaut post 208 is used for uploading and observing astronaut work position and action information, including astronaut movement path, operation action and the like, and is used for planning astronaut work path and training astronaut by combining VR technology and simulating work of astronaut in task.
The implementation method of the multi-person collaborative deduction simulation platform for the on-orbit operation task of the spacecraft is shown in fig. 3, and is carried out according to the following steps:
step 301: constructing a three-dimensional space simulation environment, and simulating the movement of the day, month, ground and star;
step 302: constructing a spacecraft three-dimensional structure component library, realizing the configurable spacecraft structure, and meeting various working conditions and tasks;
step 303: the multi-source data required by the on-orbit task of the spacecraft are gathered, analyzed and summarized, and analysis of the multi-source data is realized;
step 304: the data are connected with the spacecraft and the equipment thereof in a hanging mode, and the spacecraft and the equipment thereof are driven through the data;
step 305: simulating physical effects, performing calculation such as collision and shielding according to data, a three-dimensional model and physical laws, and simulating real physical phenomena;
step 306: and a multi-post collaboration platform is constructed, so that the driving of the same task by multiple posts and multiple terminals is realized.
The task deduction is carried out by using the on-orbit operation task multi-person collaborative deduction simulation platform of the spacecraft, which is shown in fig. 4, and the method comprises the following steps:
step 401: the on-orbit task master uses a master guiding and controlling platform to edit the configuration of the spacecraft and creates a simulation deduction task;
step 402: each subsystem designer uses a multi-post operation platform to add the task created in the step 1;
step 403: uploading corresponding data by each subsystem designer;
step 404: after the general responsible person confirms the data uploaded by each subsystem designer, the simulation deduction platform is used for summarizing the data, and all the data are pushed to each subsystem;
step 405: the master responsible person controls the simulation deduction task to be carried out, and all the subsystems synchronously carry out the simulation deduction;
step 406: in the process of simulation deduction, each subsystem designer observes corresponding data and the three-dimensional model state, judges whether an abnormality exists, and if the abnormality exists, the step 407 is entered; if there is no abnormality in each subsystem, go to step 408;
step 407: the abnormal subsystem edits and modifies the data through the platform or uploads new data, and returns to step 404;
step 408: no abnormality exists between each subsystem and the system, and the simulation deduction is finished.
Compared with the prior art and a simulation platform, the technical scheme of the application has the beneficial effects that:
the original simulation results in the form of charts and values are subjected to visual analysis by a three-dimensional visual means, and key problems in on-orbit tasks such as collision and shielding can be more conveniently found by combining with simulating a real space environment, so that the requirement of providing an intuitive three-dimensional display mode is met; meanwhile, the collaborative simulation deduction platform supports multi-post and multi-terminal collaborative operation and deduction, is convenient for the cooperation of designers among different subsystems, and therefore the problem among the subsystems is found to meet the requirement of the platform for providing multi-subsystem collaborative deduction.
While particular embodiments of the present application have been illustrated and described in detail, it should be noted that various changes and modifications could be made to the above-described embodiments without departing from the spirit of the application and the scope of the appended claims.
Claims (9)
1. An on-orbit task multi-person collaborative deduction simulation platform of a spacecraft, comprising: the task collaborative deduction module consists of a mechanical arm sub-module, a relay antenna sub-module, a camera sub-module, a pose sub-module, an energy sub-module and an astronaut sub-module, wherein the sub-modules input corresponding data through the collaborative deduction module, are arranged and modified through a platform, and control the movement of a three-dimensional model through a data driving module, so that multi-post collaborative deduction is realized;
the data driving control module gathers multi-source multi-format data from the task collaborative deduction module, analyzes and processes the multi-source multi-format data, and finally is connected with the three-dimensional model in a hanging mode, so that the three-dimensional model is driven through simulation data, and a simulation result is visually displayed;
the three-dimensional simulation module receives the data uploaded by other modules and performs movement and response, so that visual display is provided, and the three-dimensional simulation module is a final display effect of a multi-person deduction simulation platform;
and the task summary evaluation module is used for comparing and analyzing the real spacecraft data with the simulation data so as to correct the simulation model.
2. The simulation platform for the on-orbit task multi-person collaborative deduction of the spacecraft according to claim 1, wherein the collaborative deduction module gathers a plurality of subsystem simulation data, takes a unified time axis as a standard, automatically composes and generates a simulation sequence in the platform, and allows a plurality of subsystems to perform collaborative joint simulation.
3. The spacecraft on-orbit task multi-person collaborative deduction simulation platform according to claim 1, wherein the three-dimensional simulation module comprises three sub-modules, namely an environment celestial body simulation, a spacecraft action state simulation and a measurement and control station simulation.
4. The spacecraft on-orbit task multi-person collaborative deduction simulation platform according to claim 3, wherein the environment celestial body is used for simulating the sun, the moon and the earth in three dimensions by the simulation submodule, so that the motion state of each celestial body is truly displayed, and the real simulation is performed on the sun-earth distance, the earth-moon distance, the earth rotation and revolution, and the moon rotation and revolution.
5. The spacecraft on-orbit task multi-person collaborative deduction simulation platform according to claim 3, wherein the spacecraft action state simulation sub-module performs simulation display on the composition structure, the whole running state and the equipment running state of the spacecraft.
6. The simulation platform for the on-orbit task multi-person collaborative deduction of the spacecraft according to claim 3, wherein the simulation sub-module of the measurement and control station simulates a ground measurement and control station and a relay satellite.
7. The spacecraft on-orbit task multi-person collaborative deduction simulation platform according to claim 1, wherein the task collaborative deduction module is used for comprehensively coordinating design schemes of all systems and providing a unified operation platform for all subsystems.
8. The multi-person collaborative deduction simulation platform for the on-orbit task of the spacecraft according to claim 1, wherein the task summary evaluation module is used for comparing the differences between the design, the simulation and the actual situation after the on-orbit task of the spacecraft is finished, evaluating and correcting the task design, and providing modification and guidance comments for future task design planning.
9. The method for performing task deduction by the multi-person collaborative deduction simulation platform for on-orbit operation tasks of the spacecraft according to any one of claims 1-8, comprising the following steps:
step 1: editing a spacecraft configuration by using a master pilot platform, and creating a simulation deduction task;
step 2: each subsystem uses a multi-post operation platform to add the task created in the step 1;
step 3: uploading corresponding data by each subsystem, and aligning equipment control data by taking a unified time axis as a standard;
step 4: each subsystem runs simulation deduction, so that control information is ensured to be free of errors;
step 5: returning to the step 3, wherein the simulation state is correct, and entering the step 6;
step 6: the subsystem uploads the control data to an administrator terminal;
step 7: after the manager confirms the data uploaded by each subsystem, the data are summarized by using a simulation deduction platform, and all the data are pushed to each subsystem;
step 8: controlling the simulation deduction task to be carried out, and synchronously carrying out simulation deduction by each subsystem;
step 9: in the simulation deduction process, each subsystem observes corresponding data, a three-dimensional model state and a preset collaborative plan, a built-in algorithm and a physical engine of the system automatically judge whether each equipment component collides, whether each signal is shielded, whether each antenna is correct in star tracking, whether a solar sailboard is normal in steering, whether a finished procedure is consistent with the collaborative plan, judge whether abnormality exists, prompt abnormality and enter step 10 if abnormality exists; if the subsystems are not abnormal, the step 11 is carried out;
step 10: the abnormal subsystem edits and modifies the data through the platform or uploads new data, and returns to the step 4;
step 11: no abnormality exists between each subsystem and the system, and the simulation deduction is finished.
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