发明领域Field of invention
本发明属于航天器任务仿真技术领域，具体涉及一种面向航天器在轨运行任务的多人协同推演仿真平台。The invention belongs to the technical field of spacecraft mission simulation, and specifically relates to a multi-person collaborative deduction simulation platform for spacecraft on-orbit missions.
背景技术Background technique
航天器在轨运行阶段需要执行多项任务与工况，在任务的设计、规划和执行阶段，通常需要多学科、多岗位人员共同配合完成，为了保证任务设计的合理性和任务执行的可靠性，需要构建多人协同数字化仿真推演平台，对任务进行预演和验证。目前，在任务设计与规划阶段，各系统、岗位人员主要针对自身系统和岗位进行设计，主要存在以下两方面问题：The spacecraft needs to perform multiple tasks and working conditions during the on-orbit operation stage. In the design, planning and execution stages of the mission, it usually requires the cooperation of personnel from multiple disciplines and positions. In order to ensure the rationality of the mission design and the reliability of the mission execution , it is necessary to build a multi-person collaborative digital simulation and deduction platform to preview and verify the mission. At present, in the task design and planning stage, personnel in each system and position mainly design their own systems and positions. There are mainly two problems:
一方面，当前航天器在轨任务多学科仿真大多采用机理模型进行计算与推导，输出结果多为数值与图表，缺少三维显示方式，不够直观。如设备间碰撞、天线信号遮挡、阳光阴影等部分关键信息不易直接获取，对设计人员的经验与计算提出了很高的要求，严重影响了模拟仿真的效率与效果。On the one hand, current multidisciplinary simulations of spacecraft on-orbit missions mostly use mechanism models for calculation and derivation, and the output results are mostly numerical values and charts, lacking three-dimensional display methods and not intuitive enough. Some key information, such as collisions between devices, antenna signal blocking, and sunlight shadows, are not easy to obtain directly, which places high demands on designers’ experience and calculations, seriously affecting the efficiency and effectiveness of simulations.
另一方面，当前航天器在轨任务的设计与规划过程缺少一个多分系统协同推演的平台，各系统设计人员除了对自己系统任务的设计外，还需要考虑个系统间的相互影响与关系，如各系统间的碰撞与遮挡、能源分配状况等。各系统设计人员对其他系统设计不充分了解，使得岗位间配合不够充分，导致航天器在轨任务设计效率不够高。On the other hand, the current design and planning process of spacecraft on-orbit missions lacks a platform for collaborative deduction of multiple subsystems. In addition to designing their own system missions, each system designer also needs to consider the mutual influence and relationship between systems, such as Collision and occlusion between systems, energy distribution status, etc. Each system designer does not fully understand the design of other systems, resulting in insufficient coordination between positions, resulting in insufficient efficiency in spacecraft on-orbit mission design.
所以，为了提高航天器在轨任务设计效率与效果，亟需一个可以直观的显示多学科仿真的结果，同时促进各系统间的高效合作的多人协同任务仿真推演平台。Therefore, in order to improve the efficiency and effect of spacecraft on-orbit mission design, there is an urgent need for a multi-person collaborative mission simulation and deduction platform that can intuitively display the results of multi-disciplinary simulations and promote efficient cooperation among various systems.
发明内容Contents of the invention
本发明的目的是提供一种航天器在轨运行任务的多人协同推演仿真平台的设计和实现方法，解决目前空间站在轨任务设计阶段仿真结果不直观的问题，使用户能够以更加直观的方式进行多学科联合协同仿真，从而发现仿真结果中的更多信息。The purpose of the present invention is to provide a design and implementation method for a multi-person collaborative deduction simulation platform for spacecraft on-orbit missions, to solve the current problem of unintuitive simulation results of the space station in the orbit mission design stage, and to enable users to perform the simulation in a more intuitive manner. Conduct multi-disciplinary joint collaborative simulation to discover more information in simulation results.
本发明的另一目的是提供基于多人协同推演仿真平台的多岗位协同推演方法，通过建立三维模型、多岗位设计数据、自然环境数据之间的关联，实现各系统之间的数据集成，从而实现联合推演。Another object of the present invention is to provide a multi-post collaborative deduction method based on a multi-person collaborative deduction simulation platform, by establishing correlations between three-dimensional models, multi-post design data, and natural environment data to achieve data integration between systems, thereby Achieve joint deduction.
本发明提供了一种航天器在轨任务多人协同推演仿真平台,其包括：任务协同推演模块，其由机械臂子模块、中继天线子模块、摄像机子模块、位姿子模块、能源子模块、航天员子模块组成，上述子模块通过协同推演模块输入对应数据，通过平台进行编排与修改，通过数据驱动模块控制三维模型运动，从而实现多岗位协同推演；数据驱动控制模块，其汇聚来自任务协同推演模块的多来源多格式数据，经过解析与处理，最终和三维模型挂接，实现通过仿真数据对三维模型进行驱动，可视化地展示仿真结果；三维仿真模块，接收其他模块上传的数据并进行运动与响应，从而提供直观的可视化展示，是多人推演仿真平台的最终展示效果；任务总结评价模块，用于将真实航天器数据与仿真数据进行比对与分析，从而修正仿真模型。The invention provides a multi-person collaborative deduction simulation platform for a spacecraft on-orbit mission, which includes: a mission collaborative deduction module, which consists of a robotic arm sub-module, a relay antenna sub-module, a camera sub-module, a pose sub-module, and an energy sub-module. module and astronaut sub-module. The above sub-modules input corresponding data through the collaborative deduction module, arrange and modify it through the platform, and control the movement of the three-dimensional model through the data-driven module to achieve multi-position collaborative deduction; the data-driven control module, which gathers data from The multi-source and multi-format data of the task collaborative deduction module are parsed and processed, and finally connected to the 3D model to drive the 3D model through simulation data and visually display the simulation results; the 3D simulation module receives data uploaded by other modules and Movement and response are provided to provide an intuitive visual display, which is the final display effect of the multi-person simulation platform; the mission summary and evaluation module is used to compare and analyze real spacecraft data and simulation data to correct the simulation model.
进一步地，所述协同推演模块汇聚多角色、多岗位模拟数据，以统一时间轴为标准，在平台内自动编排生成仿真序列，供多岗位工作人员进行协同联合仿真。不同岗位角色使用平台录入对应设备控制指令和数据，在平台内以统一时间轴为标准对齐控制时间，使用平台进行三维仿真和预演，确保自己负责设备数据无误后，上传数据至任务管理员端。任务管理员汇总收集全部分系统设备上传的数据后进行保存与下发，将全部任务数据同步至各分系统人员，各分系统人员主要关注所负责设备与其他系统设备是否存在遮挡、碰撞、干扰等情况发生，任务管理员关注整个任务的执行情况。管理员控制整个任务的推演启动、暂停和停止，全分系统自动同步推演，各分系统操作人员观察本系统设备运行推演情况，发生异常后上报管理员，由管理员暂停后，发生异常设备的负责人上传对应时间新数据或者通过航天器动作状态模拟子模块对设备在三维界面内进行操作和摆放，自动更新设备位置和状态数据，确保无误后，设备负责人将更新的数据上传至管理员端。Furthermore, the collaborative deduction module gathers multi-role and multi-position simulation data, and uses a unified timeline as a standard to automatically arrange and generate simulation sequences in the platform for multi-position staff to conduct collaborative joint simulation. Different job roles use the platform to input corresponding equipment control instructions and data, align the control time based on a unified timeline within the platform, use the platform to conduct three-dimensional simulations and rehearsals, and upload the data to the task manager after ensuring that the data of the equipment they are responsible for is correct. The task administrator collects and collects the data uploaded by all system devices, saves and distributes it, and synchronizes all task data to the personnel of each sub-system. The personnel of each sub-system mainly focus on whether there is any obstruction, collision, or interference between the equipment in charge and other system equipment. When the situation occurs, the task administrator will pay attention to the execution of the entire task. The administrator controls the start, pause and stop of the entire task, and the entire sub-system automatically synchronizes the deduction. The operators of each sub-system observe the operation and deduction of the system equipment, and report to the administrator when an abnormality occurs. After the administrator pauses, the abnormal equipment will be The person in charge uploads new data at the corresponding time or operates and places the equipment in the three-dimensional interface through the spacecraft action state simulation sub-module, and automatically updates the equipment position and status data. After ensuring that it is correct, the person in charge of the equipment uploads the updated data to the management Member side.
进一步地，所述三维仿真模块包括环境天体模拟、航天器动作状态模拟和测控站模拟三个子模块。Further, the three-dimensional simulation module includes three sub-modules: environmental celestial body simulation, spacecraft action state simulation, and measurement and control station simulation.
进一步地，所述环境天体用于模拟子模块对日、月、地等自然天体进行三维仿真，真实展现各天体的运动状态，对日地距离、地月距离、地球自转与公转、月球自转与公转等天体运动状态进行真实仿真。Furthermore, the environmental celestial body simulation sub-module performs three-dimensional simulation of natural celestial bodies such as the sun, moon, and earth, truly showing the motion status of each celestial body, and measuring the distance between the sun and the earth, the distance between the earth and the moon, the rotation and revolution of the earth, and the rotation and revolution of the moon. Carry out realistic simulation of celestial body motion states such as revolution.
进一步地，所述航天器动作状态模拟子模块对航天器的组成结构、整体运行状态、设备运行状态进行了模拟展示。为满足对多种航天器在轨运行任务的通用性仿真，此模块采用舱段、设备拼接的方法对航天器组成结构进行管理和仿真，在一次任务推演开始时，首先进行编辑构型操作，选择参与任务的舱段与设备。此外，此子模块基于数据驱动模块，完成对航天器各舱段姿态、轨迹、经纬度的动作仿真和机械臂、天线等设备的位置、姿态的动作仿真。此外此子模块提供碰撞检测、信号遮挡、光线遮挡等辅助功能，辅助推演和仿真过程中对关键信息的观测和计算。Furthermore, the spacecraft action state simulation sub-module simulates and displays the spacecraft's composition structure, overall operating state, and equipment operating state. In order to meet the universal simulation of a variety of spacecraft on-orbit missions, this module uses the method of splicing cabins and equipment to manage and simulate the spacecraft structure. At the beginning of a mission deduction, the editing configuration operation is first performed. Select the cabins and equipment participating in the mission. In addition, this sub-module is based on the data-driven module to complete the motion simulation of the attitude, trajectory, longitude and latitude of each spacecraft section, and the motion simulation of the position and attitude of equipment such as robotic arms and antennas. In addition, this sub-module provides auxiliary functions such as collision detection, signal occlusion, and light occlusion to assist in the observation and calculation of key information during deduction and simulation.
进一步地，所述测站模拟子模块对地面测控站、中继星进行了仿真。按照真实地理位置布设地面基站，按照真实空间环境布设中继星，通过真实基站和中继星位置，结合天线信号，计算航天器所在测控区信息，进而确定航天器是否位于测控区、位于哪些测控区内，通过推演与仿真确定各天线追星或追基站状态，同时与航天器动作状态模拟子模块共同作用，计算通讯测控信号通断和遮挡情况。Further, the measurement station simulation sub-module simulates ground measurement and control stations and relay satellites. Ground base stations are laid out according to the real geographical location, and relay satellites are laid out according to the real space environment. Through the positions of the real base stations and relay satellites, combined with the antenna signals, the information of the measurement and control area where the spacecraft is located is calculated, and then it is determined whether and which measurement and control area the spacecraft is located in. In the area, the star-chasing or base-station status of each antenna is determined through deduction and simulation. At the same time, it works with the spacecraft action state simulation sub-module to calculate the on-off and obstruction of the communication measurement and control signal.
进一步地，所述任务协同推演模块用于统筹协调各系统设计方案，为各分系统提供统一操作平台。总负责人开启一次任务推演后，各分系统设计人员输入分系统设计数据，以时间和关键节点状态为主控因素进行联合推演。随着时间的推进和任务的进行，分系统设计人员可以根据三维显示结果和数值判断各系统间的工作状态，在推演结束后对分系统数据进行更新，从而实现分系统间的有效合作。Furthermore, the task collaborative deduction module is used to coordinate the design plans of each system and provide a unified operating platform for each subsystem. After the general person in charge starts a mission deduction, the designers of each subsystem input the subsystem design data and conduct a joint deduction with time and key node status as the main control factors. As time progresses and the task progresses, subsystem designers can judge the working status of each system based on the three-dimensional display results and numerical values, and update the subsystem data after the deduction, thereby achieving effective cooperation between subsystems.
所述任务总结评价模块用于航天器在轨任务结束后，比对设计、仿真与实际情况的差距，对任务设计进行评价与修正，为未来任务设计规划提出修改和指导意见。任务设计仿真结果驱动的三维模型、图表与真实遥测数据驱动的三维模型、图表进行比对，直观、清晰地展现偏差与误差，并根据模型偏差距离、位姿错位状态、数值结果误差等偏差反推出现问题地设计数据，从而实现在轨任务设计的优化与修正，为后续在轨任务提供参考意见和注意事项。The mission summary and evaluation module is used to compare the gap between the design, simulation and actual situation after the spacecraft's on-orbit mission, evaluate and revise the mission design, and provide modifications and guidance for future mission design planning. Compare the 3D models and charts driven by mission design simulation results with the 3D models and charts driven by real telemetry data to intuitively and clearly display deviations and errors, and provide feedback based on deviations such as model deviation distance, posture dislocation status, and numerical result errors. The problem-solving design data is derived to optimize and correct the on-orbit mission design and provide reference opinions and precautions for subsequent on-orbit missions.
在一种实施方式中，本发明中航天器在轨任务推演仿真平台包括任务总导控平台以及多个岗位操控平台，其中：In one embodiment, the spacecraft on-orbit mission simulation simulation platform of the present invention includes a general mission guidance and control platform and multiple post control platforms, wherein:
所述总导控平台，用于创建航天器在轨仿真任务推演方案和管理推演参与人员工作和流程，接收每一个所述岗位操作平台发送的分系统数据，基于各所述分系统岗位操作平台的分系统数据，经过筛选、分析，确定出全流程协同仿真推演任务流程，并将最终确定的各分系统数据分发至所述岗位操作平台。The general guidance and control platform is used to create spacecraft on-orbit simulation mission deduction plans and manage the work and processes of participants in the deduction. It receives sub-system data sent by each of the post operation platforms, and based on each of the sub-system post operation platforms The sub-system data is screened and analyzed to determine the full-process collaborative simulation deduction task process, and the finalized sub-system data is distributed to the job operation platform.
所述多个岗位操作平台，在总导控平台创建仿真推演任务后，选择岗位申请加入推演任务，经总导控平台确认后上传对应岗位分系统数据。在仿真推演过程中关注对应分系统运行状态和相关系统间是否存在冲突，推演结束后接收总导控平台分发的分系统数据，进行修正与更改。所述多个岗位操作平台基于任务协同推演模块，分为机航天器位姿岗位、机械臂岗位、天线岗位、摄像机岗位、太阳帆板岗位、航天员岗位。For the multiple post operation platforms, after the general guidance and control platform creates a simulation deduction task, select a position to apply to join the deduction task, and upload the corresponding post sub-system data after confirmation by the general guidance and control platform. During the simulation and deduction process, pay attention to whether there are conflicts between the operating status of the corresponding subsystems and related systems. After the deduction, receive the subsystem data distributed by the general guidance and control platform and make corrections and changes. The multiple post operation platforms are based on the mission collaborative deduction module and are divided into spacecraft posture posts, robotic arm posts, antenna posts, camera posts, solar panel posts, and astronaut posts.
进一步地，所述航天器位姿岗位，用于上传和观测航天器位姿数据，包括航天器轨道六根数、俯仰角、横滚角、偏航角等，在推演过程中重点关注航天器经纬度、位置姿态、星下点轨迹是否正确，保证航天器舱体正确运动。Further, the spacecraft pose position is used to upload and observe spacecraft pose data, including the six elements of the spacecraft orbit, pitch angle, roll angle, yaw angle, etc. During the deduction process, the focus is on the longitude and latitude of the spacecraft. , position, attitude, and sub-satellite point trajectory are correct to ensure the correct movement of the spacecraft cabin.
进一步地，所述机械臂岗位，用于上传和观测航天器装配的机械臂数据，包括机械臂工作状态、机械臂着位点、机械臂各关节角度等，在推演过程中重点关注机械臂运动位置、状态、是否发生碰撞和遮挡，保证机械臂正确运动且不影响其他分系统。Furthermore, the robotic arm position is used to upload and observe the robotic arm data of the spacecraft assembly, including the working status of the robotic arm, the landing point of the robotic arm, the angles of each joint of the robotic arm, etc. During the deduction process, focus on the movement of the robotic arm The position, status, and whether collision and occlusion occur ensure that the robot arm moves correctly and does not affect other subsystems.
进一步地，所述天线岗位，用于上传和观测中继天线宽波束与窄波束对星、对基站状态，在推演过程中重点关注天线是否对星、对基站，航天器所在测控区和天线信号是否被遮挡，保证测控区状态无误和天线信号不受其他分系统影响。Furthermore, the antenna post is used to upload and observe the status of the relay antenna's wide beam and narrow beam facing the star and the base station. During the deduction process, focus is placed on whether the antenna is facing the star or the base station, the measurement and control area where the spacecraft is located, and the antenna signal. Whether it is blocked to ensure that the status of the measurement and control area is correct and the antenna signal is not affected by other subsystems.
进一步地，所述摄像机岗位，用于上传航天器所装配的摄像机相关数据，包括全景相机和定向相机的开关机状态、时常，全景相机的角度等。在推演过程中重点关注摄像机画面是否被遮挡，是否可以清晰观测作业设备，进行摄像机编排。Further, the camera post is used to upload data related to the cameras installed on the spacecraft, including the on/off status and timing of the panoramic camera and the directional camera, the angle of the panoramic camera, etc. During the deduction process, focus on whether the camera screen is blocked, whether the operating equipment can be clearly observed, and camera arrangement.
进一步地，所述太阳帆板岗位，用于上传和观测太阳帆板相关数据，包括各个帆板的旋转角度、对日情况、工作状态等。在推演过程中重点关注太阳帆板旋转角度是否正确，对日情况是否正确，通过模拟射线计算阳光入射角、遮挡率等计算发电率，保证太阳帆板工作正常，能源系统正常工作。Further, the solar panel post is used to upload and observe solar panel related data, including the rotation angle, sun alignment, working status, etc. of each sail panel. During the deduction process, the focus is on whether the rotation angle of the solar sail panel is correct and whether the alignment with the sun is correct. The power generation rate is calculated by simulating rays to calculate the sunlight incident angle, occlusion rate, etc., to ensure that the solar sail panel works normally and the energy system works normally.
进一步地，航天员岗位，用于上传和观测航天员工作位置和动作信息，包括航天员运动路径、操作动作等，结合VR技术，模拟航天员在任务中的工作，可用于航天员工作路径规划和航天员培训。Furthermore, the astronaut position is used to upload and observe the astronaut's working position and action information, including the astronaut's movement path, operating actions, etc., combined with VR technology, to simulate the astronaut's work in the mission, which can be used for astronaut work path planning and astronaut training.
使用本发明的航天器在轨运行任务多人协同推演仿真平台进行任务推演的方法步骤如下：The steps of the method for performing mission deduction using the multi-person collaborative deduction simulation platform for spacecraft on-orbit missions of the present invention are as follows:
步骤1：使用总导控平台编辑航天器构型，创建仿真推演任务；Step 1: Use the general guidance and control platform to edit the spacecraft configuration and create a simulation mission;
步骤2：各分系统使用多岗位操平台加入步骤1创建的任务；Step 2: Each sub-system uses the multi-post operation platform to add the tasks created in step 1;
步骤3：各分系统上传对应数据，以统一时间轴为标准对齐设备控制数据；Step 3: Each sub-system uploads the corresponding data and aligns the equipment control data based on the unified timeline;
步骤4：各分系统运行仿真推演，确保控制信息无误；Step 4: Run simulation deductions for each subsystem to ensure that the control information is correct;
步骤5：出现错误，返回步骤3，仿真状态无误，进入步骤6；Step 5: If an error occurs, return to step 3. If the simulation status is correct, go to step 6;
步骤6：分系统将控制数据上传至管理员端；Step 6: The sub-system uploads the control data to the administrator;
步骤7：在管理员端确认各分系统上传的数据后，使用仿真推演平台对数据进行汇总，将全部数据推向各分系统；Step 7: After the administrator confirms the data uploaded by each sub-system, use the simulation platform to summarize the data and push all the data to each sub-system;
步骤8：控制仿真推演任务进行，各分系统同步进行仿真推演；Step 8: Control the simulation and deduction tasks to proceed, and all subsystems will perform simulation and deduction simultaneously;
步骤9：在仿真推演过程中各分系统观察相应数据、三维模型状态和预设协同计划，系统内置算法和物理引擎自动判别各设备组件是否发生碰撞、各信号是否发生遮挡、各天线是否追星正确、太阳帆板是否转向正常、所完成工序是否与协同计划保持一致，判断是否存在异常，若存在异常，提示异常并进入步骤10；若各分系统不存在异常，则进入步骤11；Step 9: During the simulation and deduction process, each sub-system observes the corresponding data, three-dimensional model status and preset collaboration plan. The system's built-in algorithm and physics engine automatically determine whether each equipment component collides, whether each signal is blocked, and whether each antenna is tracking stars correctly. , whether the solar panel turns normally, whether the completed process is consistent with the collaborative plan, and determine whether there is an abnormality. If there is an abnormality, it will prompt an abnormality and enter step 10; if there is no abnormality in each sub-system, then enter step 11;
步骤10：存在异常的分系统通过平台对数据进行编辑和修改，或上传新的数据，返回步骤4；Step 10: If there is an abnormality in the sub-system, edit and modify the data through the platform, or upload new data, return to step 4;
步骤11：各分系统和系统间均不存在异常，仿真推演结束。Step 11: There are no abnormalities in each sub-system or between systems, and the simulation is over.
本发明的航天器在轨运行任务多人协同推演仿真平台对环境空间和航天器运行工作进行模拟，接收控制数据进行仿真推演，平台的设计与实现方法按如下步骤进行：The multi-person collaborative deduction simulation platform for spacecraft on-orbit missions of the present invention simulates the environmental space and spacecraft operation work, receives control data and performs simulation deductions. The design and implementation method of the platform is carried out as follows:
步骤1：构建三维空间仿真环境，模拟日、月、地、星的运动，对航天器运行环境进行模拟；Step 1: Construct a three-dimensional space simulation environment, simulate the movement of the sun, moon, earth, and stars, and simulate the spacecraft operating environment;
步骤2：构建航天器三维结构组件库，实现航天器结构可配置，满足多种工况和任务，使得航天器在接收多源数据后可以根据数据进行对应运动；Step 2: Construct a spacecraft three-dimensional structural component library to make the spacecraft structure configurable to meet various working conditions and tasks, so that the spacecraft can perform corresponding movements according to the data after receiving multi-source data;
步骤3：汇聚航天器在轨任务所需要的多源数据，进行分析、汇总，实现多源数据的解析；Step 3: Gather the multi-source data required for the spacecraft’s on-orbit mission, analyze and summarize it, and achieve multi-source data analysis;
步骤4：将数据与航天器及其设备进行挂接，实现通过各分系统负责人上传的数据对航天器及其设备进行驱动，从而进行推演；Step 4: Connect the data with the spacecraft and its equipment to drive the spacecraft and its equipment through the data uploaded by the person in charge of each sub-system to perform deductions;
步骤5：模拟物理效应，根据数据、三维模型以及物理规律，进行碰撞、遮挡等计算，模拟真实的物理现象；Step 5: Simulate physical effects, perform calculations such as collision and occlusion based on data, three-dimensional models and physical laws, and simulate real physical phenomena;
步骤6：构建多岗位协作平台，实现多岗位、多终端对同一任务的驱动，分系统设备负责人仅有对自己设备的驱动权限，上传操作数据至管理员端进行统一汇总，再下发至各分系统进行统一协同推演。Step 6: Build a multi-position collaboration platform to realize the driving of the same task by multiple positions and multiple terminals. The person in charge of the sub-system equipment only has the driving authority for his own equipment and uploads the operation data to the administrator for unified summary and then sends it to Each subsystem conducts unified collaborative deduction.
与现有技术和仿真平台相比，本申请技术方案的有益效果是：Compared with existing technologies and simulation platforms, the beneficial effects of the technical solution of this application are:
通过三维可视化的手段对原本的图表、数值形式的仿真结果进行了可视化分析，结合模拟真实的空间环境，可以更便捷地发现碰撞、遮挡等在轨任务中的关键问题，满足了提供直观的三维显示方式的需求；同时本申请的协同仿真推演平台支持多岗位、多终端进行协同操作和推演，便于不同分系统间的设计人员的协作，从而发现各分系统间存在的问题满足了提供多分系统协同推演的平台的需求。Through three-dimensional visualization, the original diagrams and numerical simulation results are visually analyzed. Combined with the simulation of the real space environment, key issues in on-orbit missions such as collisions and occlusions can be more easily discovered, which satisfies the need to provide intuitive three-dimensional display mode requirements; at the same time, the collaborative simulation and deduction platform of this application supports multi-position and multi-terminal collaborative operations and deductions, which facilitates the collaboration of designers between different sub-systems, thereby discovering problems existing between sub-systems and satisfying the need to provide multiple sub-systems. Requirements for collaborative deduction platforms.
附图说明Description of drawings
图1为多人协同推演仿真平台组成示意图Figure 1 is a schematic diagram of the multi-person collaborative deduction simulation platform.
图2为总导控平台以及多个岗位操控平台示意图Figure 2 is a schematic diagram of the general guidance and control platform and multiple position control platforms.
图3为多人协同推演仿真平台的实现方法流程图Figure 3 is a flow chart of the implementation method of the multi-person collaborative deduction simulation platform.
图4为任务推演流程图Figure 4 shows the task deduction flow chart.
具体实施方法Specific implementation methods
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图和具体实施方式对本发明的技术方案进行清楚、完整的描述。这些实施方式都是示例性的，并不旨在限制本发明的保护范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. These embodiments are exemplary and are not intended to limit the scope of the invention.
图1为航天器在轨运行任务的多人协同推演仿真平台组成示意图。该平台核心功能由三维仿真101、数据驱动控制102、任务协同推演103和任务总结评价104四大功能模块组成。Figure 1 is a schematic diagram of the multi-person collaborative deduction simulation platform for spacecraft on-orbit missions. The core functions of the platform consist of four functional modules: three-dimensional simulation 101, data-driven control 102, task collaborative deduction 103, and task summary evaluation 104.
其中三维仿真101又分为环境天体模拟105、航天器动作状态模拟106和测控站模拟107三个子模块，三维仿真模块101接收其他模块上传的数据并进行运动与响应，从而提供直观的可视化展示，是多人推演仿真平台的最终展示效果；数据驱动控制模块102是三维仿真模块101的数据来源，此模块分为数据汇聚子模块108、数据解析子模块109和数据挂接子模块110，通过对数据的汇聚、解析、挂接后，实现通过仿真数据对三维模型进行驱动，可视化地展示仿真结果；任务协同推演模块103是数据驱动模块102的数据来源，其核心由各分系统子模块111组成。不同岗位、不同系统的用户通过协同推演模块103输入对应数据，通过平台进行编排与修改，通过数据驱动模块102控制三维模型101运动，从而实现多岗位协同推演；任务总结评价模块104是航天器在轨任务执行结束后的验证模块，分为验证模块112和分析模块113，用于将真实航天器数据与仿真数据进行比对与分析，从而修正仿真模型，为后续任务提供参考意见和注意事项。Three-dimensional simulation 101 is divided into three sub-modules: environmental celestial body simulation 105, spacecraft action state simulation 106 and measurement and control station simulation 107. The three-dimensional simulation module 101 receives data uploaded by other modules and performs motion and response, thereby providing an intuitive visual display. is the final display effect of the multi-person deduction simulation platform; the data-driven control module 102 is the data source of the three-dimensional simulation module 101. This module is divided into a data aggregation sub-module 108, a data analysis sub-module 109 and a data hooking sub-module 110. Through the After the data is gathered, parsed, and connected, the three-dimensional model is driven by the simulation data and the simulation results are displayed visually; the task collaborative deduction module 103 is the data source of the data-driven module 102, and its core is composed of sub-system sub-modules 111. . Users in different positions and different systems input corresponding data through the collaborative deduction module 103, arrange and modify it through the platform, and control the movement of the three-dimensional model 101 through the data drive module 102, thereby realizing multi-position collaborative deduction; the mission summary and evaluation module 104 is the spacecraft in The verification module after the orbit mission is executed is divided into a verification module 112 and an analysis module 113, which are used to compare and analyze real spacecraft data and simulation data, thereby correcting the simulation model and providing reference opinions and precautions for subsequent missions.
环境天体模拟子模块105对太阳、月亮、地球的运行规律进行了仿真，真实的反映了日地距离、地月距离，模拟了地球的自转公转、月球的自转公转，以此确定了绝对时间，从而实现了对光照阴影和运行轨道的真实模拟，用于直观地计算与演示阳光阴影区和太阳帆板工作运行状态。例如，在空间站的运行过程中，通过时间和空间站轨道信息，可以确定空间站所处阳光阴影区，从而模拟太阳帆板对日工作，也可以确定空间站所处的星下点位置。The environmental celestial body simulation sub-module 105 simulates the movement patterns of the sun, moon, and earth, truly reflecting the distance between the sun and the earth and the distance between the earth and the moon, and simulating the rotation and revolution of the earth and the rotation and revolution of the moon, thereby determining the absolute time. This achieves a realistic simulation of light shadows and orbits, which is used to intuitively calculate and demonstrate the sun shadow area and the operating status of the solar panel. For example, during the operation of the space station, through time and space station orbit information, the sunlight shadow area where the space station is located can be determined, thereby simulating the work of the solar sail against the sun, and the subsatellite point position of the space station can also be determined.
航天器动作状态模拟子模块106对航天器的组成结构、整体运行状态、设备运行状态进行了模拟展示。为满足对多种航天器在轨运行任务的通用性仿真，此模块采用舱段、设备拼接的方法对航天器组成结构进行管理和仿真。此外，此子模块基于数据驱动模块103，完成对航天器各舱段姿态、轨迹、经纬度的动作仿真和机械臂、天线等设备的位置、姿态的动作仿真。此外此子模块提供碰撞检测、信号遮挡、光线遮挡等辅助功能，辅助推演和仿真过程中对关键信息的观测和计算。例如，在某次空间站在轨运行任务中，首先根据空间站构型选择舱段和机械臂着位点，开始任务后，根据数据驱动模块103的控制进行三维仿真，任务中观察空间站各舱段位置是否正确，机械臂动作是否正确。The spacecraft action state simulation sub-module 106 simulates and displays the spacecraft's composition, overall operating state, and equipment operating state. In order to meet the universal simulation of a variety of spacecraft on-orbit missions, this module uses the method of splicing cabin sections and equipment to manage and simulate the spacecraft structure. In addition, this sub-module is based on the data drive module 103 to complete the motion simulation of the attitude, trajectory, longitude and latitude of each spacecraft section, and the motion simulation of the position and attitude of equipment such as robotic arms and antennas. In addition, this sub-module provides auxiliary functions such as collision detection, signal occlusion, and light occlusion to assist in the observation and calculation of key information during deduction and simulation. For example, in a certain space station orbital operation mission, first select the cabin segment and the robotic arm landing point according to the space station configuration. After starting the mission, a three-dimensional simulation is performed according to the control of the data drive module 103. During the mission, the positions of each space station cabin segment are observed. Is it correct? Is the action of the robotic arm correct?
测站模拟子模块107对地面测控站、中继星进行了仿真。按照真实地理位置布设地面基站，按照真实空间环境布设中继星，通过真实基站和中继星位置，结合天线信号，计算航天器所在测控区信息，进而确定航天器是否位于测控区、位于哪些测控区内，通过推演与仿真确定各天线追星或追基站状态，同时与航天器动作状态模拟子模块共同作用，计算通讯测控信号通断和遮挡情况。以空间站在轨任务为例，在任务过程中中继天线根据数据驱动模块103的控制进行追星动作，中继天线发射射线，观测射线是否与其他设备(如机械臂)发生遮挡，同时观测中继天线追星是否正常。The measurement station simulation sub-module 107 simulates ground measurement and control stations and relay satellites. Ground base stations are laid out according to the real geographical location, and relay satellites are laid out according to the real space environment. Through the positions of the real base stations and relay satellites, combined with the antenna signals, the information of the measurement and control area where the spacecraft is located is calculated, and then it is determined whether and which measurement and control area the spacecraft is located in. In the area, the star-chasing or base-station status of each antenna is determined through deduction and simulation. At the same time, it works with the spacecraft action state simulation sub-module to calculate the on-off and obstruction of the communication measurement and control signal. Taking the space station orbiting mission as an example, during the mission, the relay antenna performs star-chasing actions according to the control of the data drive module 103. The relay antenna emits rays and observes whether the rays are blocked by other equipment (such as robotic arms). At the same time, the relay antenna is observed. Is the antenna tracking normal?
数据驱动模块102中，数据汇聚模块108汇聚多来源、多格式数据，包括各分系统各岗位工作人员计算和设计的数据、其他仿真系统的输出数据、航天器在轨任务协同计划文件、在轨遥测数据等。数据解析模块109将数据解析、处理后，基于Unity 3d，通过数据挂接模块110将数据与航天器及其可控设备进行挂接，通过数据驱动三维模型和虚拟环境，对仿真数据进行直观的可视化显示。In the data driver module 102, the data aggregation module 108 collects multi-source and multi-format data, including data calculated and designed by staff in various sub-systems and positions, output data from other simulation systems, spacecraft on-orbit mission collaborative plan files, on-orbit Telemetry data, etc. After the data is analyzed and processed by the data analysis module 109, based on Unity 3d, the data is connected to the spacecraft and its controllable equipment through the data hooking module 110, and the simulation data is intuitively analyzed through the data-driven three-dimensional model and virtual environment. Visual display.
任务协同推演模块103用于统筹协调各系统设计方案，为各分系统111提供统一操作平台。总负责人开启一次任务推演后，各分系统设计人员输入分系统设计数据，以时间和关键节点状态为主控因素进行联合推演。随着时间的推进和任务的进行，分系统设计人员可以根据三维显示结果和数值判断各系统间的工作状态，在推演结束后对分系统数据进行更新，从而实现分系统间的有效合作。以空间站某次出舱任务为例，总负责人编辑构型、导入协同程序后开启任务，机械臂控制系统设计人员导入机械臂数据，太阳帆板系统设计人员导入太阳帆板数据，卫星信号系统设计人员导入中继天线数据，摄像机控制系统设计人员导入摄像机数据，航天员管理系统导入航天员动作数据，然后开启任务推演，在协同推演过程中各分系统人员关注本系统设备及人员工作状态是否正常。The task collaborative deduction module 103 is used to coordinate the design plans of various systems and provide a unified operating platform for each subsystem 111. After the general person in charge starts a mission deduction, the designers of each subsystem input the subsystem design data and conduct a joint deduction with time and key node status as the main control factors. As time progresses and the task progresses, subsystem designers can judge the working status of each system based on the three-dimensional display results and numerical values, and update the subsystem data after the deduction, thereby achieving effective cooperation between subsystems. Taking a certain space station extravehicular mission as an example, the general manager edits the configuration, imports the collaborative program and starts the mission, the robotic arm control system designer imports the robotic arm data, the solar panel system designer imports the solar panel data, and the satellite signal system The designers import the relay antenna data, the camera control system designers import the camera data, the astronaut management system imports the astronaut action data, and then start the mission deduction. During the collaborative deduction process, the personnel of each subsystem pay attention to the working status of the system equipment and personnel. normal.
任务总结评价模块104用于航天器在轨任务结束后，比对设计、仿真与实际情况的差距，对任务设计进行评价与修正，为未来任务设计规划提出修改和指导意见。任务设计仿真结果驱动的三维模型、图表与真实遥测数据驱动的三维模型、图表进行比对，直观、清晰地展现偏差与误差，并根据模型偏差距离、位姿错位状态、数值结果误差等偏差反推出现问题地设计数据，从而实现在轨任务设计的优化与修正，为后续在轨任务提供参考意见和注意事项。The mission summary evaluation module 104 is used to compare the gap between the design, simulation and actual situation after the spacecraft's on-orbit mission, evaluate and revise the mission design, and provide modifications and guidance for future mission design planning. Compare the 3D models and charts driven by mission design simulation results with the 3D models and charts driven by real telemetry data to intuitively and clearly display deviations and errors, and provide feedback based on deviations such as model deviation distance, posture dislocation status, and numerical result errors. The problem-solving design data is derived to optimize and correct the on-orbit mission design and provide reference opinions and precautions for subsequent on-orbit missions.
本发明中航天器在轨任务推演仿真平台包括任务总导控平台以及多个岗位操控平台，如图2所示，其中：In the present invention, the spacecraft on-orbit mission deduction simulation platform includes a general mission guidance and control platform and multiple post control platforms, as shown in Figure 2, in which:
总导控平台201，用于创建航天器在轨仿真任务推演方案和管理推演参与人员工作和流程，接收每一个所述岗位操作平台发送的分系统数据，基于各所述分系统岗位操作平台的分系统数据，经过筛选、分析，确定出全流程协同仿真推演任务流程，并将最终确定的各分系统数据分发至所述岗位操作平台。The general guidance and control platform 201 is used to create spacecraft on-orbit simulation mission deduction plans and manage the work and processes of participants in the deduction. It receives sub-system data sent by each of the above-mentioned post operation platforms, and based on the information of each of the above-mentioned sub-system post operation platforms The sub-system data will be screened and analyzed to determine the full-process collaborative simulation deduction task process, and the finalized sub-system data will be distributed to the job operation platform.
多个岗位操作平台202，在总导控平台创建仿真推演任务后，选择岗位申请加入推演任务，经总导控平台确认后上传对应岗位分系统数据。在仿真推演过程中关注对应分系统运行状态和相关系统间是否存在冲突，推演结束后接收总导控平台201分发的分系统数据，进行修正与更改。多个岗位操作平台202基于任务协同推演模块103，分为机航天器位姿岗位203、机械臂岗位204、天线岗位205、摄像机岗位206、太阳帆板岗位207、航天员岗位208。Multiple position operation platform 202, after creating a simulation deduction task on the general guidance and control platform, select a position to apply to join the deduction task, and upload the corresponding position sub-system data after confirmation by the general guidance and control platform. During the simulation deduction process, pay attention to whether there is a conflict between the operating status of the corresponding subsystem and related systems. After the deduction, receive the subsystem data distributed by the general guidance and control platform 201 and make corrections and changes. The multiple post operation platform 202 is based on the mission collaborative deduction module 103 and is divided into spacecraft posture posts 203, robotic arm posts 204, antenna posts 205, camera posts 206, solar panel posts 207, and astronaut posts 208.
航天器位姿岗位203，用于上传和观测航天器位姿数据，包括航天器轨道六根数、俯仰角、横滚角、偏航角等，在推演过程中重点关注航天器经纬度、位置姿态、星下点轨迹是否正确，保证航天器舱体正确运动。以空间站在轨任务为例，设计人员上传核心舱、实验舱、货船、飞船的轨道六根数和姿态角，平台根据这些数据计算各舱段的经纬度，驱动空间站的飞行状态和各舱段姿态。Spacecraft pose position 203 is used to upload and observe spacecraft pose data, including the six elements of the spacecraft orbit, pitch angle, roll angle, yaw angle, etc. During the deduction process, the focus is on the spacecraft's longitude and latitude, position and attitude, Whether the subsatellite point trajectory is correct ensures the correct movement of the spacecraft cabin. Taking the space station's orbital mission as an example, designers upload the orbital six elements and attitude angles of the core module, experimental module, cargo ship, and spacecraft. The platform calculates the longitude and latitude of each module based on these data, and drives the flight status and attitude of each module of the space station.
机械臂岗位204，用于上传和观测航天器装配的机械臂数据，包括机械臂工作状态、机械臂着位点、机械臂各关节角度等，在推演过程中重点关注机械臂运动位置、状态、是否发生碰撞和遮挡，保证机械臂正确运动且不影响其他分系统。以空间站出舱任务为例，设计人员上传机械臂着位点和各关节角度，控制机械臂移动，运送航天员前往空间站指定地点工作。Robotic arm position 204 is used to upload and observe the robotic arm data of spacecraft assembly, including the working status of the robotic arm, the landing point of the robotic arm, the angles of each joint of the robotic arm, etc. During the deduction process, focus on the movement position, status, and Check whether collisions and occlusions occur to ensure that the robotic arm moves correctly without affecting other subsystems. Taking the space station exit mission as an example, designers upload the robotic arm's landing point and joint angles, control the movement of the robotic arm, and transport astronauts to designated locations on the space station for work.
天线岗位205，用于上传和观测中继天线宽波束与窄波束对星、对基站状态，在推演过程中重点关注天线是否对星、对基站，航天器所在测控区和天线信号是否被遮挡，保证测控区状态无误和天线信号不受其他分系统影响。以空间站转位为例，设计人员上传中继天线对星状态，观测转位过程中空间站是否在测控区内，中继信号是否发生遮挡。Antenna post 205 is used to upload and observe the status of the relay antenna's wide beam and narrow beam facing the star and the base station. During the deduction process, focus on whether the antenna is facing the star and the base station, and whether the measurement and control area where the spacecraft is located and whether the antenna signal is blocked. Ensure that the status of the measurement and control area is correct and that the antenna signal is not affected by other subsystems. Taking the translocation of the space station as an example, designers upload the relay antenna alignment status to observe whether the space station is within the measurement and control area during the transposition process and whether the relay signal is blocked.
摄像机岗位206，用于上传航天器所装配的摄像机相关数据，包括全景相机和定向相机的开关机状态、时常，全景相机的角度等。在推演过程中重点关注摄像机画面是否被遮挡，是否可以清晰观测作业设备，进行摄像机编排。Camera post 206 is used to upload data related to the cameras installed on the spacecraft, including the on/off status and timing of the panoramic camera and the directional camera, the angle of the panoramic camera, etc. During the deduction process, focus on whether the camera screen is blocked, whether the operating equipment can be clearly observed, and camera arrangement.
太阳帆板岗位207，用于上传和观测太阳帆板相关数据，包括各个帆板的旋转角度、对日情况、工作状态等。在推演过程中重点关注太阳帆板旋转角度是否正确，对日情况是否正确，通过模拟射线计算阳光入射角、遮挡率等计算发电率，保证太阳帆板工作正常，能源系统正常工作。Solar panel position 207 is used to upload and observe solar panel-related data, including the rotation angle of each sail panel, sun alignment, working status, etc. During the deduction process, the focus is on whether the rotation angle of the solar sail panel is correct and whether the alignment with the sun is correct. The power generation rate is calculated by simulating rays to calculate the sunlight incident angle, occlusion rate, etc., to ensure that the solar sail panel works normally and the energy system works normally.
航天员岗位208，用于上传和观测航天员工作位置和动作信息，包括航天员运动路径、操作动作等，结合VR技术，模拟航天员在任务中的工作，可用于航天员工作路径规划和航天员培训。Astronaut post 208 is used to upload and observe astronaut working position and action information, including astronaut movement paths, operating actions, etc., combined with VR technology, to simulate the work of astronauts in missions, and can be used for astronaut work path planning and aerospace staff training.
本发明的航天器在轨运行任务多人协同推演仿真平台的实现方法如图3所示，按如下步骤进行：The implementation method of the multi-person collaborative deduction simulation platform for spacecraft on-orbit missions of the present invention is shown in Figure 3, and is carried out as follows:
步骤301：构建三维空间仿真环境，模拟日、月、地、星的运动；Step 301: Construct a three-dimensional space simulation environment to simulate the movement of the sun, moon, earth, and stars;
步骤302：构建航天器三维结构组件库，实现航天器结构可配置，满足多种工况和任务；Step 302: Construct a spacecraft three-dimensional structural component library to realize the configurable spacecraft structure to meet various working conditions and tasks;
步骤303：汇聚航天器在轨任务所需要的多源数据，进行分析、汇总，实现多源数据的解析；Step 303: Gather the multi-source data required for the spacecraft’s on-orbit mission, analyze and summarize it, and realize the analysis of multi-source data;
步骤304：将数据与航天器及其设备进行挂接，实现通过数据对航天器及其设备进行驱动；Step 304: Connect the data with the spacecraft and its equipment to drive the spacecraft and its equipment through the data;
步骤305：模拟物理效应，根据数据、三维模型以及物理规律，进行碰撞、遮挡等计算，模拟真实的物理现象；Step 305: Simulate physical effects, perform calculations such as collision and occlusion based on data, three-dimensional models and physical laws, and simulate real physical phenomena;
步骤306：构建多岗位协作平台，实现多岗位、多终端对同一任务的驱动。Step 306: Build a multi-position collaboration platform to enable multiple positions and multiple terminals to drive the same task.
使用本发明的航天器在轨运行任务多人协同推演仿真平台进行任务推演如图4所示，方法步骤如下：Using the spacecraft on-orbit mission multi-person collaborative deduction simulation platform of the present invention to perform mission deduction is shown in Figure 4. The method steps are as follows:
步骤401：在轨任务总负责人使用总导控平台编辑航天器构型，创建仿真推演任务；Step 401: The overall person in charge of the on-orbit mission uses the overall guidance and control platform to edit the spacecraft configuration and create a simulation mission;
步骤402：各分系统设计人员使用多岗位操平台加入步骤1创建的任务；Step 402: Designers of each subsystem use the multi-position operating platform to join the tasks created in step 1;
步骤403：各分系统设计人员上传对应数据；Step 403: Designers of each subsystem upload corresponding data;
步骤404：总负责人确认各分系统设计人员上传的数据后，使用仿真推演平台对数据进行汇总，将全部数据推向各分系统；Step 404: After the general person in charge confirms the data uploaded by the designers of each sub-system, he uses the simulation platform to summarize the data and pushes all the data to each sub-system;
步骤405：总负责人控制仿真推演任务进行，各分系统同步进行仿真推演；Step 405: The general person in charge controls the simulation and deduction tasks, and each sub-system performs simulation and deduction simultaneously;
步骤406：在仿真推演过程中各分系统设计人员观察相应数据和三维模型状态，判断是否存在异常，若存在异常，进入步骤407；若各分系统不存在异常，则进入步骤408；Step 406: During the simulation process, designers of each subsystem observe the corresponding data and three-dimensional model status to determine whether there is an abnormality. If there is an abnormality, proceed to step 407; if there is no abnormality in each subsystem, proceed to step 408;
步骤407：存在异常的分系统通过平台对数据进行编辑和修改，或上传新的数据，返回步骤404；Step 407: The abnormal subsystem edits and modifies the data through the platform, or uploads new data, and returns to step 404;
步骤408：各分系统和系统间均不存在异常，仿真推演结束。Step 408: There are no abnormalities in each sub-system or between systems, and the simulation deduction ends.
与现有技术和仿真平台相比，本申请技术方案的有益效果是：Compared with existing technologies and simulation platforms, the beneficial effects of the technical solution of this application are:
通过三维可视化的手段对原本的图表、数值形式的仿真结果进行了可视化分析，结合模拟真实的空间环境，可以更便捷地发现碰撞、遮挡等在轨任务中的关键问题，满足了提供直观的三维显示方式的需求；同时本申请的协同仿真推演平台支持多岗位、多终端进行协同操作和推演，便于不同分系统间的设计人员的协作，从而发现各分系统间存在的问题满足了提供多分系统协同推演的平台的需求。Through three-dimensional visualization, the original diagrams and numerical simulation results are visually analyzed. Combined with the simulation of the real space environment, key issues in on-orbit missions such as collisions and occlusions can be more easily discovered, which satisfies the need to provide intuitive three-dimensional display mode requirements; at the same time, the collaborative simulation and deduction platform of this application supports multi-position and multi-terminal collaborative operations and deductions, which facilitates the collaboration of designers between different sub-systems, thereby discovering problems existing between sub-systems and satisfying the need to provide multiple sub-systems. Requirements for collaborative deduction platforms.
尽管上文对本发明的具体实施方法进行了详细描述和说明，但应该指明的是，我们可以对上述实施方案进行各种改变和修改，但这些都不脱离本发明的精神和所附的权利要求所记载的范围。Although the specific implementation methods of the present invention have been described and illustrated in detail above, it should be noted that we can make various changes and modifications to the above embodiments without departing from the spirit of the present invention and the appended claims. the recorded range.
| Application Number | Priority Date | Filing Date | Title |
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| CN202211671736.2ACN116300517B (en) | 2022-12-26 | 2022-12-26 | Multi-person collaborative deduction simulation platform and method for spacecraft on-orbit missions |
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| CN202211671736.2ACN116300517B (en) | 2022-12-26 | 2022-12-26 | Multi-person collaborative deduction simulation platform and method for spacecraft on-orbit missions |
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| CN202211671736.2AActiveCN116300517B (en) | 2022-12-26 | 2022-12-26 | Multi-person collaborative deduction simulation platform and method for spacecraft on-orbit missions |
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