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Lecture Notes in Electrical Engineering 677

Yue Wang
Lexi Xu
Yufeng Yan
Jiaqi Zou Editors

Signal and
Information
Processing,
Networking and
Computers
Proceedings of the 7th International
Conference on Signal and Information
Processing, Networking and Computers
(ICSINC)
Lecture Notes in Electrical Engineering

Volume 677

Series Editors
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Proceedings of the 7th International
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Editors
Yue Wang Lexi Xu
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Beijing University of Posts and Telecomm Beijing University of Posts and Telecomm
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Preface

It is our great honor to welcome you to the 7th International Conference on Signal
and Information Processing, Network and Computers (ICSINC 2020 Spring).
The ICSINC 2020 committee has been monitoring the evolving COVID-19 pan-
demic. We have decided to delay the 2020 edition of this conference from May to
September.
ICSINC 2020 Spring provides a forum for researchers, engineers and industry
experts to discuss recent development, new ideas and breakthrough in signal and
information processing schemes, computer theory, space technologies, big data and
so on.
ICSINC 2020 Spring received 280 papers submitted by authors, and 129 papers
were accepted and included in the final conference proceedings. The accepted
papers will be presented and discussed in 27 regular technical sessions and two
workshops.
On behalf of the ICSINC 2020 committee, we would like to express our sincere
appreciation to the TPC members and reviewers for their tremendous efforts.
Especially, we appreciate all the sponsors for their generous support and advice,
including Springer, China Unicom, HuaCeXinTong. Finally, we would also like to
thank all the authors for their excellent work and cooperation.

Yue Wang
Li Guo
ICSINC 2020 General Chairs

v
Committee Members

International Steering Committee

Songlin Sun Beijing University of Posts

and Telecommunications, China
Takeo Fujii The University of Electro-Communications,
Japan
Ju Liu ShanDong University, China
Chenwei Wang DOCOMO Innovations (DoCoMo USA
Laboratories), USA
Jiaxun Zhang China Academy of Space Technology, China

General Chairs
Yue Wang China Academy of Space Technology, China
Li Guo Beijing University of Posts
and Telecommunications, China

Technical Program Committee Chair

Songlin Sun Beijing University of Posts
and Telecommunications, China

Publication Chair
Lexi Xu China Unicom Research Institute, China

General Secretaries
Jiaqi Zou Beijing University of Posts
and Telecommunications, China
Yufeng Yan Beijing University of Posts
and Telecommunications, China
vii
viii Committee Members

Sponsors
Springer

China Unicom

HuaCeXinTong
Contents

Satellites and Remote Sensing

A Satellite-Ground Integration Test Scheme for Spacecraft Attitude
and Orbit Control System Based on 1553B Bus Architecture . . . . . . . . 3
Zhixiong Jiang, Yushuang Wang, Mingyu Xie, Han Qu, and Bin Gu
Test System Design of Satellite Antenna Pointing Performance
Based on Dynamic Orbit Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Qing Yin, Peng Yu, Lige Bai, Fan Hu, Kai Fang, and Zhendong Li
High Accuracy Orbit Control for Ocean Dynamics Operational
Environmental Satellite with Large Inclination . . . . . . . . . . . . . . . . . . . 21
Jianmin Zhou, Junling Zhang, Jun Yuan, and Tiange Shi
Monitoring Frequency Stability of GNSS Satellite Clock Utilizing
Modified Technique Based on the In-Orbit Data
of Phase Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Yanghe Shen
Design and Implementation of a Multi-channel System Level Test
Scheme for High Orbit High Power SAR Satellite . . . . . . . . . . . . . . . . . 37
Zhiya Hao, Liang An, Kui Peng, and Zhongjiang Yu
Rapid Response Mode for Data Relay Satellite System with Single
Access and Multiple Access Links Co-processing . . . . . . . . . . . . . . . . . . 43
Xiaoqun Chen, Peng Zhang, Hong zhao, Huixia Sun, Jingtao Li,
and Le Xu
Satellite Formation Strategy Based on Bat Flight . . . . . . . . . . . . . . . . . . 51
Rui Hou, Jun Miao, Chi Zhang, and Yumeng Ma
A Low-Complexity Autonomy Scheme for Data Transmission
Subsystem of Agile Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Qi Guo, Zhijia Liu, and Lin Yan

ix
x Contents

Energy Balance Analysis Simulated System for Remote Sensing

Agile Satellite Based on MATLAB Function . . . . . . . . . . . . . . . . . . . . . 66
Shuo Feng, He Gao, Jianbo Du, Zhongjiang Yu, and Kui Peng
Research on Oil Species Identification and Overall Design
of Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Zhi Yuan, Lina Wu, and Jian Xing
Research on Batch Test Process of Micro-satellites . . . . . . . . . . . . . . . . 83
Xun Rong, Yuanmei Jia, Qingzhong Zeng, and Kaijie Li
Sharing C-band Frequency Between Satellite and Terrestrial 5G
Communication Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Huipeng Han, Yaxing Cai, and Jinhui Zhang
Lunar Observation Research on Low-Orbit Remote
Sensing Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Yong-chang Li, Jing Wang, Meng-yu Qiu, and Lu Zhang
SoC Design and Implementation of CAN 2.0 Protocol Toward
Satellite Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Yalong Pang, Xinxin Wang, Shuai Jiang, Jiyang Yu, and YueHua Niu
Remote Sensing Satellite Rapid Response Technology Based
on Orbit Maneuver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Ran Zhang, Xiaojuan Li, Junhui Yu, and Yufei Huang
Research on Special Automatic Test Technology of Antenna
Subsystem SAR Antenna Secondary Power Supply Based on High
Resolution SAR/GMTI Satellite System . . . . . . . . . . . . . . . . . . . . . . . . . 124
Yan Li, Haibo Li, Chenlei Cao, Qing Chen, Lu Xiao, Wenting Hu,
Minghua Zhang, and Binbin Zhang
Angular Momentum Management Design and on Orbit Verification
of GEO Navigation Satellite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Chen Bin, Han Dong, Yan Rong, Liu Weijie, and Ju Meiqi
Capability Analysis of BeiDou Navigation Satellite System GSMC
Service for LEO Earth Observation Satellites . . . . . . . . . . . . . . . . . . . . 143
Shasha Zhang and Jingshuang Cheng
Predicting Satellite Power System Parameter Interval Based on
Optimized Kernel Extreme Learning Machine and Proportional
Coefficient Method with Differential Evolution . . . . . . . . . . . . . . . . . . . . 151
Lingqiang Xie, Qiang Zhang, and Dechang Pi
An Autonomous Mission Management Method for Agile Imaging
Satellite Based on Dynamic Adjustment of Action Sequences . . . . . . . . . 159
Xiaojuan Li, Junhui Yu, He Gao, Jinyuan Ma, and Ran Zhang
Contents xi

Research on Agile Satellite Imaging Simulation Technology Based

on STKX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Yuting Li, Jing Yu, Longjiang Yu, Lijia Fan, Yue Wang, and Hongtao Gao
Analysis of the Magnetic Field Data During the Vacuum Thermal Test
of the Satellite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Lili Ge, Zhenyu Tang, Hao Li, Zhong Peng, Qinghai Liu, Yuchuan Peng,
Tao Li, Liang Ding, Hua Zhao, Qiongying Ren, and Yi Zong
Design and Development of a Simulation System for GNSS Radio
Occultation Satellite Constellation Design . . . . . . . . . . . . . . . . . . . . . . . . 183
Jue-Yao Wang, Chao Gao, Feng Yan, Shi-Long Wei, Min He,
and Bibo Guo
Application of Electromagnetic Signal Shielding Processing
Technology in Microwave Remote Sensing Satellite . . . . . . . . . . . . . . . . 191
Zhang Lei, Wang Yuyang, Wu Tingting, and Cheng Lili
Research on Software Reuse for Satellite Control Software Based
on Product-Line Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Qian Wu, Xiaofeng Li, Xiaobing Xie, Weilin Jia, Yongqi Li, Tianyi Qi,
Ruoxi Xu, and Li Li
Motion Compensation for Data Transmission Dantenna Angle
During Satellite Attitude Maneuvering . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Ding Jianzhao, Mo Fan, Cheng Li, Zhang Tao, Wu Rina, Liu Jie,
Yao Xinyu, and Chen Chao
Generalized Nonparallel Proximal Support Vector Machine
with Applications on Ship Detection Using Satellite Images . . . . . . . . . . 216
Tingting Guo
Research on the Effect of Amplitude-Frequency Fluctuation
for Satellite Data Transmission Link . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Jian Ming
A Test Method for Satellite Autonomous Flight Based
on Mixed Propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Jiao Rong-hui and Duan Chuan-hui
Influence Analysis of Carrier Phase Noise on Modulation and
Demodulation Performance in Satellite Communication Downlink . . . . 238
Zhang Wei
Channel Coding Simulation Method of Satellite Communication
Data Link Based on Data Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Chen Chen, Ying Zhu, Xiaoni Wu, Ke Li, and Hao Zhang
xii Contents

Research on Navigation Satellite Predistortion Parameter

Reconstruction Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Qibing Xu, Yikai Wang, Zhimei Yang, and Lixin Zhang
Research and Improvement of Remote Sensing Image Restoration
Algorithm Based on Wiener Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Yunsen Wang, Xuejin Shen, Xianguang Cheng, and Jixia Liu
Design Method of Core Index of Remote Sensing Satellite for Power
Transmission and Transformation Equipment Patrol System . . . . . . . . 271
Yang Zhi, Fei Xiang-ze, Ma Xiao, Ou Wen-hao, Zhao Bin-bin, Liu Bin,
Li Chuang, and Wang Ji-ye
Study on Space-Borne Remote Sensing Imaging System
by MagicGrid Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Zhongqiu Xia and Ruimin Fu
Research of Intertidal Remote Sensing Image Fusion Method Based
on Logical Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Jian Xing, Lina Wu, and Shilin Dong
One Method and Application for Remote Real-Time Processing
& Analyzing of Payload Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Chuan Zhao, Wengao Lu, and Jianfeng Dai

Spacecraft Technology
Research on Quantitative Evaluation of Spacecraft Model Control
Subsystem Product Assurance Work . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Xu Jingyu, Yu Songbai, Ning Yu, and Cai Junliang
Electrical Power Sizing and Performance Simulation Tools
for Spacecraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Dongsheng Jiang
The Research on the Application of Design Pattern of Object-
Oriented Software Development Technology in Aerospace
Embedded Software Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Jian Guan, Jianwei Du, and Huiyan Cheng
Experimental Research on Direction Modulation of Plasma Flow
Generated in Helicon Plasma Thruster . . . . . . . . . . . . . . . . . . . . . . . . . 332
Liang Ding, Huiqi Zheng, Yuchuan Peng, Qiongying Ren, and Hua Zhao
Design of Fast Response High-Voltage Power Supply for the
Electrostatic Deflection System in a Low-Energy Particle
Spectrometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Hao Li, Yuchuan Peng, Lili Ge, Junfeng Wang, Zhong Peng,
Zhenyu Tang, Qinghai Liu, Wei Qin, Tao Li, Qiongying Ren, Hua Zhao,
and Yi Zong
Contents xiii

Design and Implementation of Spacecraft Telecommand Quickly

Generation System Based on LUA Script . . . . . . . . . . . . . . . . . . . . . . . . 348
He Gao, Shuo Feng, Hongjiang Song, Weiping Dong, Tianqing Zhang,
Jianbo Du, and Rongzheng Luo
The Research of Aerospace Software Product Line Engineering . . . . . . 357
Chengliang Guo, Junyuan Teng, Meng Gao, and Yunsong Jiang
An Improved In-Orbit Standardized Support Management Mode
for Multiple Spacecraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
Nan He
Development of Heterogeneous Computing and Virtualization
in Spaceborne IMA During 2010–2020 . . . . . . . . . . . . . . . . . . . . . . . . . 374
Yanjun Feng, Xiaodong Han, Nan Xu, Jianglei Gong, Lang Le,
Chuan Xing, Kaifei Yang, Yakun Wang, Xiao Chen, and Weiyu An
Observer-Based Finite-Time Stabilization Control of Spacecraft
with Reaction Flywheel Effectiveness . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Anliang Li, Shaoyu Zhang, Xu Yang, Jun Wei, Xiaobo Hui,
Haiguang Zheng, and Junchen Dai
A Ground Support System Design for the Lunar Rover . . . . . . . . . . . . 392
Shengyi Jin, Peng Song, Zhengrong Shen, and Yanhong Zheng
A Method to Suppress Radiated Noise of ARINC659 . . . . . . . . . . . . . . . 400
Chao Lan, ShengKun Shi, and JingQiong Wang
Design and Implementation of Simulation Verification System
for Spacecraft Autonomous Mission Planning . . . . . . . . . . . . . . . . . . . . 409
Tianqing Zhang, He Gao, Can Liu, Hongjiang Song, and Lantao Liu
A Micro-vibration Measurement Method of High-Resolution Space
Camera Based on Target Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Qipeng Cao, Min Huang, Jingyu Liu, and Zhao Ye
Design and Implementation of Health Management for Modular
Spacecraft Avionics System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
Pei Nan and Zhang Yi
Research on Brightness Temperature Reconstruction Methods
in the Imaging Experiment of ASMR . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
Xiaojiao Yang, Jian Dong, Yinan Li, Yuanchao Wu, Pengfei Li,
and Hao Li
Design of Air-Breathing Electrical Propulsion Based
on Cargo-Spacecraft for Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . 441
Yuchuan Peng, Huiqi Zheng, Hao Li, Zhong Peng, Hua Zhao,
Qiongying Ren, Tao Li, and Liang Ding
xiv Contents

Imaging Monitoring and Measurement of Moving Target in Orbit

Based on CMOS Image Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Lantao Liu, Xinuo Chang, Shaohui Li, Xiaoyang Zhao, Xi Chen,
Haihua Li, Fuqiang Liu, Tianqing Zhang, Yufei Huang, and Jian Ming
Test Design and Verification of a Model-Based Spacecraft Thermal
Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Ailing Han, Wei Zhang, Wei Lv, Da Li, and He Gao
Integrated Monitoring System of Plasma Environment
and Surface Charging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
Zhong Peng, Hao Li, Yuchuan Peng, Lili Ge, Yelan Liu, Junfeng Wang,
Qionyin Ren, Hua Zhao, Tao Li, and Yi Zong
Research on the Application of Augmented Reality Technology
in Spacecraft Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
Gang Sun, Huajun Chen, Lijian Zhang, and Changyu Chen
Study on the Equivalence of Design Method for Sine Test Condition
of Spacecraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483
Junfeng Wang, Zengyao Han, Yumei Zhang, and Jifeng Ding
Channel Coding Information Hiding Technology Based
on Spacecraft Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Rui Zhang, Nan Ye, Shuanglan Mao, Liang Peng, and Bo Zhang
Channel Coding Recognition Method Based
on Spacecraft Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Nan Ye, Rui Zhang, Yikai Wang, Yi Zhang, and Dayang Zhao
Comparison and Improvement of the Structure of the Space
Plasma Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Yuan Tian, Yanlin Xu, and Junfeng Wang
Analysis of the Influence of IQ Imbalance Demodulation on DEM
Measurement of Satellite Millimeter-Wave InSAR . . . . . . . . . . . . . . . . . 514
Zhen-xing Liu
Finite Time Fault-Tolerant Control of Spacecraft Rendezvous
and Docking Based on Linear Sliding Mode . . . . . . . . . . . . . . . . . . . . . 523
Junting Lv, Xiande Wu, Yong Hao, Wengao Lu, and Fei Han

Algorithms Optimization and Implementation

Optimal Parameter Estimation for High Dynamic Acquisition
of Non-coherent DSSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Hehe Guo, Changwan Min, Xiaohu Shen, and Ke Li
Contents xv

Restraining EMI of Displacement Sensors Based on Wavelet Fuzzy

Threshold Denoising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
Yuting Zhang, Huaian Zhou, Yakai Dong, and Luyuan Wang
Research and Design of Automatic Test Language for Control
System Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552
Li Li, Yuchen Cai, Dezhi Qiao, Xichao Zhang, Zhenhua Wang, Tianyi Qi,
and Hongxia Ji
An Improved Teaching-Learning-Based Optimization Algorithm
for Parameter Optimization Problems . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Hongjian Zhang, Jun Zhang, Jian Guan, Dakai Sun, and Ran Zheng
The Design of Lunar Rover Working Procedure Based
on Modulization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
Jianli Zhang, Song Peng, and Baichao Chen
Cubature Kalman Filter Based Multi-sensor Data Fusion Algorithm
for Maneuvering Target Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Zhi Guo, Chunyun Dong, Xu Yang, Hui Han, Qifeng Sun, and Jian Zhang
Research on the Contribution Evaluation Method of Spatial
Infrastructure Information Application System . . . . . . . . . . . . . . . . . . . 585
Lina Wu, Zhi Yuan, and Feng Fang
Improvement Study of DPA Method Based on Failure Cases
of Three-Dimensional Embedded Devices . . . . . . . . . . . . . . . . . . . . . . . . 594
Zhimin Ding, Chao Duan, Xu Wang, Xiaoqing Wang, Zhaoxi Wu,
and Meng Meng
Blind DBF Based on Complex-Valued Independent Component
Analysis Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
Zhiyu Zhou, Wenqiang Ma, Hua Tian, Jingfeng Gong, Baoxiang Song,
and Xiangan Shang
Research on Method of Image Quality Evaluation Based
on Structural Similarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
Hongjian Guo, Xu Yang, Yuhong Wang, Heng Wang, Yaruixi Gao,
and Chaoliang Cheng
Improved Progressive TIN Densification Filtering Algorithm Based
on the Seed Point Re-Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Ding Guo, Shanshan Li, and Jinjun Zheng
Research on Optimization Design Method of Reliability Validation
Test in the Case of Zero-Failure Data . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Ming Qi, Zekun Yang, Jinghui Liu, Xuefeng Li, and Dengyun Wu
The Minimum Scale of 4-Port Switch Redundancy Network . . . . . . . . . 635
Biru Wang and Peng Gao
xvi Contents

Design of High-Efficiency Heterogeneous Processing System

for on-Board Mass Telemetry Data Analysis . . . . . . . . . . . . . . . . . . . . . 643
Yuehua Niu, Wenyan Zhao, Xin Li, Weiwei Liu, and Yalong Pang
Digital Pre-distortion Technology Based on the Nonlinear Distortion
of AltBOC Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
Liu Han, Ren Hongxuan, and Zhang Lixin
Performance Optimization Technology of Space-Borne SAR Signal
Processor Based on FPGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
Ren Hongxuan, Liu Han, Ma Xiaoqing, Jiang Tong, and Sun Baohua
Design of Sample-Hold Circuit with SFDR Over 90 dB for High
Speed ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671
Qinghai Liu, Zhenyu Tang, Hao Li, Huiqi Zheng, Junfeng Wang,
Yuchuan Peng, Liang Ding, Qiongying Ren, Tao Li, and Hua Zhao
Design of Artificial Intelligence Converged Media
Experimental System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678
Xiao Li, Dongfei Wang, Zheng Li, Xiao Hu, Wei Bai, and Bowen Liu
A Multi-level Attention Fusion Network for Weakly Supervised
Audio Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
Weibo Zhao, Yuan He, Junsheng Mu, and Xiaojun Jing
Overview of Rate Control Algorithms in Mainstream Video
Coding Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696
Tongtian Yue
Balancing Prediction of Space-Based Network System
in Antagonistic Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704
Hongtao Cui, Weidong Chen, Xiande Wu, Zejing Xing, Yong Hao,
Wengao Lu, and Fei Han

Communication System
Development of Cislunar Space Integrated
Communication Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Baobi Xu, Jionghui Li, Shi Liu, and Xiaoguang Li
A Novel Plume Radiation Model for Analyzing Thruster Plume
Impact on IRES Based on Numerical Simulation . . . . . . . . . . . . . . . . . . 723
Jinpeng Wang, Lizhen Wang, Mingyu Xie, and Zhijun Tu
Not All Branches Are Equal: An Improved QSYM Schema
for Binary Vulnerability Mining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732
Bo Wu, QinSi Yang, and YuFeng Ma
Contents xvii

Not All Comparisons Are Equal:An Improvement for Input-to-State

Correspondence Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741
Bo Wu, Tao Qi, and YuFeng Ma
Ground Calibration of Star Tracker Low Spatial Frequency Error . . . 749
Wang Miao-Miao, Wu Yan-Peng, Cheng Hui-Yan, Wang Yan-Bao,
Wang Li, Zheng Ran, Wang Long, and Meng Xiao-Di
A Real-Time Hierarchical Fault Diagnosis Strategy for SADA Based
on Information Fusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 758
Mingyu Xie, Jinpeng Wang, Chaoyong Guo, and Zhixiong Jiang
Implementation of Coordinated Control for Frozen Orbit by Ion
Electric Propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767
Li Zhiwu, Yu Linghui, Xie Song, Tan Tian, and Bai Zhaoguang
Research on Loss of Uplink Ranging Signal
of the TT&C Transponder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774
Jie Liang, Shilin Dong, and Pengcheng Hu
Radio Frequency Radiant Simulation Method of SAR Target Signal
Based on Multi-element Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783
Ruoxi Xu, Xiao He, Hongda Yao, and Qian Wu
Channel Coding and Modulation Technology in Satellite
Communication Based on Cloud Computing . . . . . . . . . . . . . . . . . . . . . 792
Yifeng He, Zhemin Duan, Nan Ye, Rui Zhang, and Xiaojun Lu
Overview of IPTV Development in China . . . . . . . . . . . . . . . . . . . . . . . 799
Zhe Chen, Yaguang Yin, Xiaoning Lu, Jie Yang, and Yu Wang
A Handover Management Strategy Using Residence Time
Prediction in 5G Ultra-Dense Networks . . . . . . . . . . . . . . . . . . . . . . . . . 808
Zhichao Qin, Wenchuan Feng, Zhaojuan Yue, and Hui Tian
Geocoding Accelerated Approach to Estimate the Sensor Coverage
Ratio of Internet of Things . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 817
Yebing Ren, Wenqi Li, Wei Liu, Jiangbo Dong, Yanlei Chen,
and Shengdong Xie
A Markov Process-Based Anomaly Detection of Time Series
Streaming Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827
Jinyi Chen, Xiaoxiang Wang, Qi Li, and Wanjiang Han
Radar Signal Sorting in Small Sample Environment . . . . . . . . . . . . . . . 835
Mengdi Chang, Songlin Sun, Lingfeng Fang, and Xinyue Wang
A User-Define Method of Coding Rule Checking Using HAL . . . . . . . . 844
Sun Yuming, Yao Chunyue, and You Jing
xviii Contents

Research on Radar Signal Sorting Algorithm Based

on Supervised Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851
Yuhao Liu, Xinyue Wang, Songlin Sun, Bo Li, Mengdi Chang,
and Chang Su
Research on Real Radar Pulse Signal Sorting Technology Based
on Machine Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 861
Bo Li, Songlin Sun, and Yuhao Liu
A Novel Microwave Radiometer Using Frequency
Scanning Antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870
Chao Gao, Hailiang Lu, Zhiqiang Wang, Rongchuan Lv, and Hao Li
Massive Semi-structured Data Platform Based on Elasticsearch
and MongoDB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 877
Yue Du
SINR Estimation in eMBMS Scenes with Subspace
Signal Enhancement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 885
Lin Li, Song Xu, Guoliang Nie, Yuyang Liu, and Songlin Sun

Big Data Workshop

The Analysis of Dual-Polarized Antenna in Polarized
Wireless Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895
Meng Zhang, Qiaoyu Zhang, and Xiaofei Zhang
Research on Classroom Attention Analysis Based on Multi-source
Data Correlation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903
Ya-Nan Zhang, Runsha Dong, Yang Wu, Xinzhou Cheng, Chen Cheng,
and Lexi Xu
Supervised Machine Learning in 5G NSA Networks for Coverage
and Performance Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 910
Li Xu, Saibin Yao, Ling Li, Weirong Fan, Jingwei Lin, and Qing Chen
An Improved Location Method Research for Mobile Terminal . . . . . . . 917
Yuan Fang, Yang Zhang, Ao Shen, Jinhu Shen, Pengcheng Liu, Zetao Xu,
Jimin Ling, and Jinglei Zuo
The Method of Accurate Coverage Optimization for 5G Massive
MIMO Based on Big Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 924
Pengcheng Liu, DeSheng Wu, Yang Zhang, Zetao Xu, Yuan Fang,
Ao Shen, Jinhu Shen, Jimin Ling, and Jinglei Zuo
The Interference Mitigation Method and Field Test in C-Band
Between 5G System and FSS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . 935
Yushan Pei, Fuchang Li, Yao Zhou, Yi Feng, and Yuande Tan
Contents xix

Energy Saving Technology Research and Effect Verification

of LTE Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 943
Yuan Fang, Jinglei Zuo, Zetao Xu, Ao Shen, Jinhu Shen, Pengcheng Liu,
Jimin Ling, and Yang Zhang
Analysis of LTE and NR Shared Spectrum Based on Traffic Load . . . . 951
Jinge Guo, Yang Zhang, Bao Guo, and Liang Zhao
The Introduction and Prospect of Extended Range Forecasting
in 11~30 Days at the National Meteorological Center in China . . . . . . . 959
Minquan Xiong and Kan Dai
Cross-Screen Tracking Method Based on User Behavior Data . . . . . . . . 965
Xin He, Lexi Xu, Jian Guan, Yunyun Wang, Kun Chao, and Xijuan Liu
A Virtual Optical Network Mapping Algorithm Based
on Machine Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972
Yunyun Wang, Yongsheng Chi, Jie Gao, Lexi Xu, Xin He, and Kun Chao
Big Data Ecological Platform Architecture Design and Construction
Practice in Telecommunication Operators . . . . . . . . . . . . . . . . . . . . . . . 982
Rui Yang, Zhijun Wang, Pan Xie, and Lexi Xu
An Evaluation Model of User Lifetime Value Based on Improved
RFM and AHP Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 991
Qingqing Zhang, Yongsheng Chi, Yuhui Han, Lexi Xu, Chen Cheng,
Heng Zhang, Tao Zhang, Yuxuan Wu, and Xinzhou Cheng
Architecture and Technology of Multi-Source Heterogeneous Data
System for Telecom Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1000
Lexi Xu, Gaofeng Cui, Xin Hu, Shuaijun Liu, Yuwei Jia, Tao Zhang,
Jie Gao, Runsha Dong, Yao Zhou, Xinzhou Cheng, and Xin He
Intelligent Detection of Network Coverage Problems Based
on the Clustering Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010
Ma Yu, Yang Jieyan, Zhu Jiajia, and Cheng Xinzhou
Exploration and Practice of China Unicom Multi-scene Capability
Construction and Open Platform for Large-Scale
Heterogeneous Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019
Yang Bai, Rui Yang, Ji Xiao, Zhijun Wang, Pan Xie, Xinzhou Cheng,
and Jie Gao
PoC Testing Analysis of Big Data Products . . . . . . . . . . . . . . . . . . . . . . 1027
Dong Runsha, Zhang Ya-Nan, Wu Yang, Cheng Xinzhou, and Xu Lexi
The Next Generation Identity Platform for Digital Era Based
on Blockchain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1035
Rui Yang, Na Liu, Zhenjiang Pang, Yu Wang, Qiang Jia, Wenda Lu,
Zhendong Li, Meng Li, and Lei Wu
xx Contents

Research on Rulebase Metamodel Construction and Management . . . . . 1045

Hong Zhu and Shuang Wang
Kubernetes Realizes the Cloud & Network Cooperation Based
on Hardware SDN Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1052
Nan Kang, Xin Xing, Benzhong Wang, Xuesong Zhang, and Hong Jiang
Data Visualization of 5G Speed Test Platform Using Tableau . . . . . . . . 1060
Wang Baoyou, Yao Saibin, Huang Jiucheng, Hang Xufeng,
and Qi Yongjia
Intelligent Mobile Communication Network Plan for 5G Based
on Insight Big Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1068
Cao Guang Shan, Zhang Jian Ming, Hao Xue Yi, Li Nan, and Li Lei
Research and Application of Precision Marketing Algorithms
for ETC Credit Card Based on Telecom Big Data . . . . . . . . . . . . . . . . . 1075
Xinyi Tang, Chen Cheng, and Lexi Xu

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1085

Satellites and Remote Sensing
 A Satellite-Ground Integration Test
Scheme for Spacecraft Attitude and Orbit
Control System Based on 1553B Bus
Architecture

Zhixiong Jiang(&), Yushuang Wang, Mingyu Xie, Han Qu,

and Bin Gu

Beijing Institute of Control Engineering,

Beijing 100190, People’s Republic of China
[email protected]

Abstract. The integration test of spacecraft attitude and orbit control system
(AOCS) is an important means to confirm whether the design of the system meets
the mission requirements throughout the whole process of system development.
The AOCS based on 1553B bus architecture is gradually applied to Chinese
spacecraft. In this paper, the status of AOCS integration test and the characteristics
of the AOCS based on 1553B bus architecture are analyzed and a satellite-ground
integration test scheme for AOCS based on 1553B bus architecture is proposed.
The scheme of testability and ground environment for four types of integration test
are introduced and the technical features of sensor closed-loop method, actuator
closed-loop method and component RT simulation method are emphasized. The
application of the test scheme for AOCS of the satellite is also given. The test
scheme has the advantages of universality, expansibility, convenience and relia-
bility, which can improve the test efficiency and quality of AOCS significantly.

Keywords: 1553B bus
Architecture
Attitude and orbit control system

Testability
Integration test

1 Introduction

The integration test of attitude and orbit control system (AOCS), which includes the
open-loop component test and the closed-loop simulated-flight test [1], can be divided
into system development test, the whole-satellite assembly integration test (AIT) and
shooting range test based on testing phase [2]. According to differences of test items
and test states in the different testing phases, four types of integration test are defined:
the system-level component test, the full-function closed-loop test, the status confir-
mation closed-loop test, and the simulator closed-loop test. The full-function closed-
loop test is a detailed test on functional indicators and/or performance of the system
when all products are assembled. The state confirmation closed-loop test is a simplified
functional test of the system. The simulator closed-loop test aims to perform functional
test on system when some products are not assembled. The integration test scheme of
the AOCS has to meet the requirements of four types of test mentioned above, while
having universality, expansibility, convenience and reliability [3].

© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
Y. Wang et al. (Eds.): Signal and Information Processing, Networking
and Computers, LNEE 677, pp. 3–11, 2021.
https://doi.org/10.1007/978-981-33-4102-9_1
4 Z. Jiang et al.

The AOCS of current spacecraft is limited by the serial-port based architecture and
customized grounding interface of components. The integration test scheme is mainly
based on the ground testing environment [4]. The testability design on the satellite is
deficient and mainly depends on the design of controller. Characteristics of current
integration test scheme of the AOCS is as follows: (1) Lack of a unified architecture of
test scheme, the test methods of each single unit are customized which leads to poor
universality; (2) The hardware board must be changed when many components are
assembled by the ground environment based on customized interface, which indicates a
deficient expansibility; (3) The test scheme is complicated, the ground environment is
large-sized and inconvenient, e.g. the test scheme of AOCS introduced in [5]. In order
to deal with the situation that the integration test has to be conducted when some
products are not involved, the signal adapter has to be designed with two modes.
Besides, the grounding serial ports, constant current sources, and grounding detection
signals like analog signal must be classified and adjusted; (4) Problems caused by cable
switching introduced by different test methods, long-distance signal crosstalk brought
by customized weak current signals and non-digital signals such as analog signals, and
re-calibration on signals when status of the test changes, present the potential quality
problems and poor reliability.
With the intelligent function expansion and performance improvement on the
AOCS of spacecraft, domestic AOCS in the fields of remote sensing, communication,
and space station has begun to apply the architecture based on the 1553B bus [6]. The
integration, digitization, and intelligentization of units of the AOCS have been greatly
improved, which provides the condition for developing on-board testability design. [7]
introduced the advantages of testability design of the control system based on the
1553B bus architecture. [8] provided design recommendations on system-level testa-
bility that decompose the target of testability design on each unit according to the test
requirements. [9] proposed a new universal 1553B test platform. The domestic research
mentioned above is still in the development stage of the testability design of the on-
board system and there is scarcely any research on the testability design of the system-
level integration test scheme related to the AOCS.
Based on the current test status of the AOCS and the characteristics of the 1553B
bus architecture, this paper conducts the research and design on the integration test
scheme of the AOCS, and proposes an integration test scheme based on satellite-
ground joint design. The technical features of the scheme are also introduced.

2 Characteristics of AOCS Based on 1553B Bus

Architechture

The bus topology of the AOCS based on the 1553B bus architecture is shown in Fig. 1.
The controller as the BC terminal of the architecture is the central control computer.
The sensor in RT terminal includes infrared earth sensor, star sensor and gyroscope.
The actuator in RT terminal comprises drive control device, control moment gyro
(CMG) and solar array drive assembly (SADA).
The advantages to the design of system integration test brought by applying the
1553B bus as the internal data transmission interface of the AOCS are as follows:
 A Satellite-Ground Integration Test Scheme 5

Fig. 1. The architecture of the AOCS satellite-ground joint integration test scheme

(1) The customized unit grounding interface for data collection can be canceled.
The real-time data of the single unit on the bus can be acquired by applying the MT
function of 1553B bus, which greatly reduces the types and number of satellite-ground
interface signals.
(2) The standard bus communication interface simplifies development of the sim-
ulator when the on-board AOCS is not completely assembled. By using the RT
function of the 1553B bus, multiple RT interface can be configured on the dynamics
computer to simulate various components of the AOCS.
(3) The capability of data transmission is strong. The transmission rate of the 1553
bus reaches 1Mbps, which can meet the data transmission requirement of the AOCS
while transmitting large-capacity data related to the integration test.

3 The Scheme of Satellite-Ground Joint Integeration Test

3.1 Architecture of Test Scheme
By implementing the joint design of the on-board system and the ground testing
environment, the architecture of the AOCS satellite-ground joint integration test
scheme is constructed as shown in Fig. 1 according to the characteristics of the AOCS
based on the 1553B bus architecture.
By analyzing the system test requirements, the system is divided into individual
components. The functional design and testability design of the individual components
are conducted simultaneously. Test modules are added based on the normal function
modules of each component. Meanwhile, the information flow and data monitoring
flow between each component are designed. The test module introduces the testability
mechanism that facilitates test processing into the products. The design requirements of
test module are as follows: (1) the function must be independent, and has no influence
on the performance of normal functions and timing sequence; (2) the interface have to
be standard (including protocols and electrical interfaces), which can simplify and
unify the design of ground environment. The test module of the controller implements
functions such as receiving and forwarding the test data. The test module of the sensor
6 Z. Jiang et al.

and the actuator are applied to provide various test data required for the open-loop
component test or the closed-loop simulated flight test.
The ground testing environment consists of test host computer, main control
computer, and data server. The test host computer aims to complete collection of
actuator signals, transmission of sensor signals, and calculation of attitude and orbit
kinematics and dynamics simulation. The main control computer is responsible for the
management and scheduling of test sequences. Data processing, storage and display are
implemented in the data server. Compared with the traditional test scheme, the test host
computer uses 1553B boards with the features of intelligentization, generalization, and
standardization instead of numerous component simulators, which simplifies the signal
adapter. The test host computer is connected to the 1553B bus as an RT terminal for
implementing data interaction with the products on the satellite. The bus monitor MT
monitors and records the information flow data of the 1553B bus in the system to
facilitate problem analysis. The multiple RT board simulates multiple RT components
based on the bus communication protocol.

3.2 Design of Test Scheme

Based on the above test scheme architecture, the test scheme shown in Table 1 are
designed for the four types of integration tests, which include the operating state of the
on-board system and the configuration state of the ground environment.
Besides, the digital signals are anti-interference.

Table 1. Design of satellite-ground joint integration test scheme

Test types System-level Full-function closed-loop Status confirmation Simulator closed-
component test closed-loop test loop test
test
Controller Normal Normal function module; Normal function
function Test module; module
module
Sensor Normal Normal function module; RT simulators
function Test module
module
Actuator Normal Normal function module; Normal function RT simulators
function Test module; module
module; Test
module1;
Ground Bus monitor Dynamics calculation; Dynamics calculation; Dynamics
Environment MT Ground equipment RT; Bus Ground equipment calculation; Bus
monitor MT; Signal adaptor; RT; Bus monitor MT; monitor MT; Multi-
RT simulators;
Note 1: instruction sequence of actuators complete component test autonomously.
The test scheme designed has the following advantages: (1) generalization: unified test schemes for sensors
and actuators; (2) expansibility: adding and deleting products are only related to software modification,
which means the schemes have expansibility on 1553B bus architecture; (3) convenience: by designing the
on-board testability, the size of the ground environment has been greatly reduced, which indicators that there
is no need for the large-scale signal adapters and simulators; (4) reliability: switching between four types of
test status only requires software switching.
 A Satellite-Ground Integration Test Scheme 7

4 Technical Features of the Test Scheme

4.1 Sensor Closed-Loop Method
In order to achieve the long-term power-on state on the sensor test and the consistency
in satellite-ground cable connection, a sensor closed-loop test method based on digital
signal excitation is designed. The information flow is shown in Fig. 2.

Fig. 2. The information flow of sensor closed-loop test

(1) Protocol of Satellite-Ground Simulation Data Packet

The ground dynamics generates the sensor simulation data and the ground RT
equipment regularly updates the data. The simulation data packet uses the CCSDSS
data packet [10] standard as the same as that in satellite. The format consists of two
parts, head and data domain, which is uniformly defined with high standardization and
good expansibility.
(2) Test Module of Controller
The function design of test module aims to acquire the simulation data of sensors from
the ground testing RT-equipment, to complete data verification and judgment, to for-
ward the simulation data to the sensor, and thereby to implement the uplink of the
sensor’s digital excitation signal. The normal function module collects sensor data to
conduct calculations on closed-loop attitude and monitoring on telemetries.
(3) RT-Sensor test module
The communication between the sensor and the controller includes two parts: the
attitude information used for closed-loop calculation and the operating state data. The
test module receives the ground simulation data forwarded by the controller, and
generates the attitude data as the output of products based on the received simulation
data. The operating status data is still collected by the normal module. The final data
generated by the two data packets is sent to the controller to implement the closed-loop
test and the monitoring on its own status data.

4.2 Actuator Closed-Loop Method

In the closed-loop test, the ground system needs to collect information such as the
control pulse width of thruster, control voltage of magnetic torquer, low-speed frame
position of the CMG products, and the angular velocity of the SADA. The information
collection on the actuator conducted by the ground testing equipment can be divided
into two ways, as shown in Fig. 3.
8 Z. Jiang et al.

Fig. 3. Diagram of data collection from actuators to the ground dynamics

(1) Testing serial port collection mode

The actuator designs the test mode, and provides the actuator status information
required for the closed-loop test. The ground testing equipment is equipped with the
signal adapter, which collects the output information of the on-board products through
the grounding serial port. The rate of real-time sampling is fast, and it can satisfy the
requirement on 10 ms-level of dynamics simulation calculation and accurately reflect
the operating status of the on-board components. Therefore, the closed-loop test system
has high accuracy and good real-time performance.
(2) MT monitoring mode
In the AOCS based on the bus architecture, the bus monitor (MT) can monitor and
collect all the data on the 1553B bus, extract the data sent by the RT address and sub-
address corresponding to the actuator. By analyzing the actuator information from the
extracted data and forwarding them to the ground dynamics module, the the collection
of actuator information is implemented. This method greatly simplifies the scale of
testing equipment. A portable industrial computer can be employed to complete the
entire closed-loop simulated flight test, which reduces the connection of satellite-
ground testing cables and is suitable for rapid confirmation of the system’s closed-loop
function.

4.3 RT-Component Simulator Closed-Loop Method

The test host computer is equipped with the muti-RT 1553B board, which can
implement up to 31 real-time simulations of RT at the same time. The multi-RT
simulators aim to simulate each product of the AOCS, especially when products are not
assembled. The architecture based on the RT-component simulator is shown in Fig. 4.

Fig. 4. The closed-loop architecture of the system based on the RT-component simulator

The test host computer designs corresponding component simulators based on the
function of different components. The sensor simulator converts the satellite attitude
calculated by the dynamics into its own attitude information and simulates the operating
 A Satellite-Ground Integration Test Scheme 9

state of corresponding products. The actuator simulator receives the control instructions
and simulates the real kinematics features of the actuator. The RT address allocation and
communication protocol design of each component simulator is consistent with the on-
board real products. By applying 1553B bus interface, they provide sensor attitude data
required for the closed-loop test and receive control instructions from the actuator.
This method has no influence on the on-board controller. No extra function design
is added. The only operation is to perform the function of normal function modules.
When some products are not assembled, the ground equipment specifies the corre-
sponding RT simulator to work by using soft switches, which has no effort on the
communication of other on-board real products. In this state, only the controller is
necessary for conducting the closed-loop test. This method can implement the system
function test with the minimum component configuration, and complete the component
failure mode test by modifying the parameters of the related simulator online.

5 Application

The test scheme proposed has been applied in the AOCS of an agile maneuver satellite
based on 1553B bus architecture. The configuration of this satellite consists of a control
computer as BC and 25 RT-components, which include infrared sensors, gyroscopes,
star sensors, CMG, SADA and actuator control unit. According to the above test
scheme, the test module has been uniformly designed in the software of the on-board
products. The hardware configuration of the ground testing environment includes: the
test host computer, the main control computer and the data server. In the state con-
firmation closed-loop test, only a portable test host computer is required. Software
configuration is implemented in the test host computer based on the status of the
component. Compared with the traditional test host computer, dynamic signal adapter,
simulator signal adapter, and simulator configuration of a variety of customized
components, the scale of test equipment required is greatly reduced.Some typical test
curves include the attitude of AOCS, sensors and actuators are shown in Fig. 5.

Rolling Angle Pitch Angle Yaw Angle CMG1 CMG2 CMG3 CMG4 CMG5 CMG6
5 0.12
0.08 Low-speed Frame Rate of the CMG
3
0.04
1 0
-1 -0.04 1 2001 4001 6001 8001 10001
1 2001 4001 6001 8001 10001
-3 -0.08
-5 -0.12

Rolling Angle Pitch Angle Yaw Angle Gyro1 Gyro2 Gyro3

5 0.1
3 Gyro Angular Velocity
0.05
1
0
-1
1 2001 4001 6001 8001 10001 -0.05 1 2001 4001 6001 8001 10001
-3
-5 -0.1

Fig. 5. Typical test curves of AOCS

10 Z. Jiang et al.

The application results present that the scheme designed for the four types of tests is
suitable for various states and stages of the integration test. During the test, the
hardware status between components in the AOCS and ground equipment is consistent.
There is no operation on the status of satellite-ground cable connection during the
status switching, which greatly improves efficiency and reliability of the test compared
with the traditional test scheme. The compliance of functions and performance of the
whole system has been verified.

6 Conclusion

Favorable conditions for solving the deficiency of integration test scheme for the
AOCS of traditional spacecraft has been provided by the advantages of 1553B bus
architecture. A satellite-ground joint integration test scheme for the characteristics of
the AOCS based on the 1553B bus architecture has been proposed in this paper, which
satisfied the requirement of four types of test for the AOCS. The proposal of the scheme
has a great significance in improving the test technology, test quality and test efficiency
of the system. By configuring the signal adapter in the ground integration testing
environment while components of the AOCS can still employ the traditional test
approaches, the proposed test scheme has performed many advantages in various
aspects and a good compatibility. In the future, the further work on testability design of
on-board products based on the intelligent component, and simplification and stan-
dardization of the design on test methods, test cases, and test interpretations can be
conducted by jointly applying the proposed scheme and design approach on system-
level testability proposed in [8]. Finally, the international advanced level on the
capability of integration test in the AOCS can be achieved.

References
1. Peng, C., Yue, L., Jinfeng, H., Yi, G.: Design of universal satellite integrated test system
based on classification management. Modern Defence Technol. 266(04), 157–166 (2018)
2. Li, P., Wang, J.: Development and implementation technology of comprehensive satellite
testing technology[C]. In: The 3rd High-level Forum of National Defense Technology
Industry Test and Development Strategy of Test Technology, (2010)
3. Harry, J.: Integrated systems testing of spacecraft. In: The 37th International Conference on
Environmental Systems(ICES). Chicago: Aviation Industry Development Research (2007)
4. Xiaowei, F., Huamao, W., Yan Jindong, L., Chengzhi, W.Q.: Current situation overview of
spacecraft system level test. Spacecraft Eng. 26(1), 120–126 (2017)
5. Jufeng, D., Li, Y., Yue, W.: OSA-Based testing technology of spacecraft control system.
Aerospace Control Appl. 38(5), 34–37 (2012)
6. Ning, Y., Qi, Z., Rongxiang, C.: Internal bus-based AOCS configuration. Aerospace Control
Appl. 38(2), 30–34 (2012)
7. Haibo, W., Li, Y.: Frame design and verification of DFT Technique for control system of
spacecraft based on 1553B bus architecture. Aerospace Control Appl. 40(2), 26–30 (2014)
Exploring the Variety of Random
Documents with Different Content
 Chapter IV
Phaëthon

Clymene bore a son, named Phaëthon, who grew up a

handsome and stately youth. His father was Phœbus
(Apollo), the Sun-god. Once, when he boasted of his
heavenly descent, his companions laughed at him.
Shame and anger filled the youth’s heart and he
resolved, upon the advice of his mother, to ask the Sun-
god himself if he were not his father. After wandering
through Ethiopia and India, he at last reached Apollo’s
palace. Lofty columns, some made of solid gold, others
of fire-colored rubies, dazzled him. Their splendid
pediments were made of polished ivory and the folding
door of lustrous silver, the work of the artistic divinity,
Hephaestus. There too were to be seen upon the billows
of the sea the horn-blowing Triton, near him gray
Proteus, whose office it is to protect the sea god’s seals,
[7]
and Doris, with her daughters, the Nereids. Some of
these sea maidens were represented as sitting upon the
rocks and drying their green hair, others, riding upon
dolphins. Above them was the arching firmament.

Phaëthon approached the palace, but for a spell 40

remained in the hall at a distance, for the brilliancy
which emanated from the sparkling crown of his
progenitor blinded him. Apollo, with a purple robe
flowing from his shoulders, sat upon a golden throne
gleaming with jewels. To the right and left of him stood
the year, the month, the day, and the hours. Golden-
tressed Spring was adorned with a wreath, and
Summer, with sheaves of corn. Autumn carried a red
basket with golden grape clusters on her head, and
Winter could be recognized by his icy beard and silver
hair.

Apollo, delighted with the sight of his blooming son,

said: “What is it, Phaëthon, that has brought you here?”

“Divine father,” replied the son, “they mock at me when 41

I call you father. Give me some proof that I am your
son.”

Thereupon Apollo took his sparkling crown from his

brow, called his son to him, and embracing him said:
“What your mother has told you is true. I am Apollo,
your father. That you may know it beyond all question,
ask anything of me. Whatever it may be, it shall be
granted. I promise you this by the Stygian Lake, the
dark waters of the underworld; and such a vow, as you
well know, is inviolate for us deities.”

Hardly had his father finished speaking before

Phaëthon, with sparkling eyes, replied: “I pray you let
me drive your sun-chariot and winged steeds for one
day.”

How Apollo regretted his vow! With mournful visage he 42

shook his head and spoke. “Woe is me that I must keep
my promise. Had I not made it, your wish would not
have been granted. But now I can do no more than
warn you. The fulfilment of your wish will result in
dreadful dangers. What you desire is so great a task
that your youth and strength are not equal to it. You, a
mortal, wish to be immortal. None of the Olympian gods
themselves would undertake such a task. It is known to
them as to mortals that I alone can drive the sun-
chariot. Zeus himself, mightiest of the gods, who holds
the thunderbolts in his hand and rules over heaven and
earth, would not dare to drive it. Learn now the dangers
which threaten you. Only with the greatest exertion can
the freshly harnessed steeds climb the upward morning-
path. It is a fearful sight to gaze down from the summit
of the sun-course. My own heart trembles when I reach
that spot. Then the path descends, growing more and
more steep. To accomplish it needs a sure hand. Thetis
herself, who awaits me in the waves, looks up anxiously,
fearing I may not be able to make the downward
plunge. And this is not all you must learn. The heavens
revolve around you constantly, and the high stars weave
in circles. The goal must be firmly kept in sight in spite
of the furious oscillation and you must not deviate from
the course. Oh son, ask yourself seriously if you can do
this. Think of this, too. Far otherwise will the sky appear
to you than it does from the earth. You will not journey
to cities nor to groves with lofty temples, but you will
encounter apparitions of wild animals, at sight of which
the blood of a mortal will turn to ice. How can you
manage these ungovernable fire steeds which I can
hardly bridle, so great is their strength? Therefore, oh
son, abandon your wish. There are so many things in
heaven and earth better worth the asking which I can
give you. The granting of your wish means your
destruction.”

The deity’s warnings were useless. Phaëthon repeated 43

his request. As Apollo was bound by his vow, he led the
youth to the sun-chariot, which was a gift from
Hephaestus. The axles were golden, as well as the
shafts and the rims of the wheels, but the spokes were
of solid silver. The shafts and the harness glittered with
chrysolite and other precious stones. While Phaëthon
was gazing at the chariot in astonishment, Eos opened
the purple door leading to the halls in which the flowers
of heaven at all times bloom. The stars disappeared, the
morning star, last of the gleaming choir, faded and
finally was lost to view. When Selene (Luna) had sunk
beneath the sea, Apollo summoned the blessing-giving
Hours whose duty it was to harness the steeds to the
sun-chariot. With light step the rosy divinities betook
themselves to the hall, loosed the white steeds from
their marble cribs, filled with ambrosia, led them to the
chariot, and placed their trappings on them while Apollo
besmeared his son’s face with a sacred ointment so that
he should not be blinded. Then he placed the sparkling
crown upon his beautiful tresses and said with a sigh:
“Since I cannot dissuade you, at least take this advice to
heart. Do not urge the horses with the goad, for they go
swiftly enough, but hold the reins securely, try to
restrain their fiery snorting and govern them safely.
Avoid the South as well as the North Pole and keep to
the course indicated by the ruts of the wheels. Observe
further that it is necessary sky and earth should be
equally warm. Go neither too high nor too low, lest you
burn either the heavenly mansions or the dwellings on
earth. May Fortune help you in all other things, so now
take the reins and think of my advice. It would be vastly
better for you to desist from your ruinous folly that I to-
day, as usual, may furnish light for men and gods.”

During these last words the headstrong youth mounted 45

the chariot and took the reins from the hands of his
sorrowful father. The neighing of the steeds filled the
atmosphere. They champed their bits and stamped.
When Phaëthon pulled the reins they flew with the
chariot. They soon outran the swift winds, clove
asunder the morning clouds, and the vast,
immeasurable universe lay before Phaëthon’s gaze. The
chariot swung from side to side as the load was too
light. When the steeds noticed this, they took to wild
flight and left the usual course. The youth was
overcome by fear. How could he find the course again?
Not once but many times he sought to free the tangled
reins. Upward went the chariot. When Phaëthon looked
upon the height of the sky, a panic seized him, his
knees trembled, and all grew dark before his eye. Now
he repented that he had not heeded his father’s
warnings, but it was too late. He was hurled about like a
dismasted vessel in raging waters. He knew not what to
do. He had already traversed a great part of the sky, but
endless was the expanse which still lay before him. In
despair he looked ahead and behind. He still held the
reins, but he no longer made any effort to direct the
steeds. A great terror awaited him as he suddenly
beheld frightful apparitions above him. Terrified by
them, the steeds ran still farther from the course,
dragging the swaying, cracking chariot after them. The
elevated plains of earth took fire. Broad fissures
appeared in the ground, the forest disappeared in a
furious sea of flame, and a luminous dust arose from
the meadows and harvest fields. Cities and their people
were destroyed. Fiery clouds swept over places teeming
with life shortly before. The mountains were masses of
seething fire. Phaëthon, gazing about, saw nothing but
flames. Higher and higher they rose, and at last the
sun-chariot was surrounded by clouds of hot moisture.
Phaëthon no longer knew where he was. Then, so says
the myth, the terrified nymphs fled, mourning over their
fountains and waters destroyed by fire. The earth
became such a vast chasm that the glare of the fire was
reflected in Tartarus and the gods of the underworld
were terrified. The sea itself retreated from its shores,
its bed rose, islands appeared where there had been
none, fishes and seals lay dead upon the banks. The
sea nymphs fled with Doris and Nereus to a cool grotto,
where the air was so glowing that Poseidon had to
plunge in water the arm with which he raised his trident
to try and hurl Phaëthon down.

When Zeus beheld what was happening he pitied the 47

dying world. With a thunderbolt he killed the audacious
charioteer. A lock of his hair, taking fire, floated down
like a falling star. The terrible bolt frightened the steeds.
The chariot broke and axles, spokes, and fragments of
the wheels flew in all directions.

Phaëthon fell into the river Eridanus and the naiads of

the stream came to bury his body. Apollo, who had seen
all that happened to his son, sorrowfully veiled his face.
[8]

49
 Chapter V
Orpheus

Orpheus was the hero-singer of the Thracians, who in

the ancient times dwelt at the foot of the mountains
Olympus, Parnassus, and Helicon. He was the son of
[9] [10]
Apollo and the muse Calliope and the husband of
Eurydice. His name became so celebrated among later
poets that his power of song was said to have produced
most marvellous effects. When he struck his lute, the
fable says, the lions of the forest fawned upon him like
dogs, rivers halted in their course, and the trees and
rocks listened to him. He accompanied the Argonauts on
their expedition and accomplished by his music many
marvellous escapes for them. When he returned from
the expedition his young wife, Eurydice, and her
companions danced upon a beautiful grass plat one day.
While engaged in their sports a snake stung her in the
[11]
foot and she died in the very bloom of her youth.
The inconsolable husband poured out his grief in tones
that filled all hearts with sorrow. Taking his lute, he
ventured to the entrance of the underworld, Tartarus,
and entreated Persephone, spouse of Hades, god of the
underworld, to give him back Eurydice. The bars of the
gate flew back as he sang. With ever tenderer tones he
approached the place where departed spirits wander.
Cerberus, the three-headed dog who guards the
entrance, quietly wagged his tail as he passed, Ixion’s
[12]
wheel stood still, and Sisyphus stopped his fruitless
[13]
task to listen to him.

Persephone graciously heard Orpheus’ entreaty and 51

said: “Go back whence you came. Eurydice shall silently
follow. But have a care that you do not look at her until
you have reached the upper world. If you gaze at her
but an instant she will be lost to you forever.”

Orpheus turned back. He had not yet seen her. Would

she follow him or not? A goddess surely would not
deceive him. But he heard no step behind him. Singing,
he went his way for a time, and when in the distance he
saw the gleam of the upper world, he cried “Eurydice”
in tender, eager tones. No answer was made. Overcome
by grief and anxiety, he forgot the warning of the
goddess. An irresistible desire to see her caused him to
turn his head, and behold his wife was quietly and
lightly following him. He stretched out his arms to her
and in an instant the goddess’s warning was realized.
Eurydice suddenly went back and was never again seen
by him.

His soul was rent with anguish. He wandered 52

despairingly with his lute in the Thracian forest, where
he found among the rocks a swarm of Mænades, those
creatures who foregather at the festivals of Bacchus
and, excited with wine and wild debauches, go through
the woods inciting everyone to attend the revels which
are given in honor of that divinity. They made a loud
clamor by clashing their cymbals together and blowing
trumpets and horns and swung their wands, wound with
vine leaves and ivy, called the thyrsus, crying, “Evoe,
Evoe, Bacchus.”
These Mænades who found Orpheus lamenting for
Eurydice, snatched his lute away and ordered him to
entertain them. With horror he turned from them and
rejected their importunities. That was too much for a
horde of mad women. They stoned him, tore him to
pieces, and threw his bleeding limbs into the forest.

53
 Chapter VI
Atalanta

Schœneus married in Arcadia and entreated the gods to

send him a son. When his spouse bore him a daughter,
he became so enraged that he took the child from her
mother, carried her into the wilderness, and left her
there. The child was nourished by a bear until she was
found by some hunters, who took her away, brought her
up, and named her Atalanta.

Atalanta grew in beauty and strength and became a

vigorous huntress, surpassing all men and youths in
daring, swiftness, and skill. Like Artemis, she chose to
live unmarried and paid no attention to the youths who
solicited her hand. When hard pressed she at last made
this condition. He only should have her as wife who
surpassed her in running; but those who were defeated
should die.

Hard as the condition was, the beauty of the maiden 54

attracted a crowd of suitors. Among them was
Hippomenes, who came not to take part in the race, but
to deride the youths who would risk their lives by such
folly. But when the race began and he saw the beautiful
huntress, he himself was smitten with love and hoped
that none of the youths would win the prize, so that he
might take Atalanta home as his wife. The race was
finished. The maiden returned with the wreath of victory
on her head, but the youths were taken away to suffer
death.

Then Hippomenes stepped forward and said: “It was

not much glory, O Atalanta, to surpass those. Now I
wish to race with you. Should fortune favor me, it will
be no shame for you to be beaten by one who is great
grandson of Poseidon, god of the waters, and whose
courage is not inferior to his skill. But should you win,
your name will be honored in future days.”

Atalanta looked upon the bold youth, and as he was 55

pleasing in her sight she was uncertain whether she
wished his victory or his defeat. Then she said: “What
divinity, O youth, seeks your destruction by giving you
the desire to race with me? Those foolish ones, they
tried and now must die. At least let me warn you to
seek some other maiden. If you reject my advice, I
bespeak for you the help of the gods that you may be
the winner.”

While the beautiful huntress thus spoke, Hippomenes

called to Venus, who suddenly stood by his side, unseen
by Atalanta. She gave him three golden apples gathered
in the gardens of the Hesperides, and told him how to
use them. The trumpet sounded and both started
swiftly over the course. What a sight it was to watch the
beautiful creature whose feet scarcely touched the
ground! “Look,” said one, “she could skim over the
waving wheat without bending it, or fly over the sea
without wetting the soles of her feet.” The encouraging
shouts of his friends greeted the youth.

Hippomenes was overjoyed at the greetings, and 56

Atalanta noticed it with pleasure. It seemed
unendurable to her to be beaten, but it was even more
painful to beat and thereby sacrifice Hippomenes’ life.
For a long time they ran side by side. At last
Hippomenes threw an apple to the ground. The maiden
saw the rolling gold and stooped to pick it up. The delay
threw her back in the race, but she soon caught up with
the youth. He threw the second apple. Running out of
her course she seized it and Hippomenes gained further
advantage. He was nearing the goal when he heard the
distant applause of his friends. The maiden put forth all
her power and soon flew past Hippomenes with burning
cheeks, so that his death seemed inevitable. Then he
supplicated the goddess and threw the third apple,
which rolled far out of the course. The maiden would
have left it, but Aphrodite (Venus) induced her to get it.
The goddess made the task so difficult that Hippomenes
reached the goal first. The judges crowned him and
Atalanta, as she had promised, gave him her hand.

The day of their marriage was the day of ruin for both,
for they wholly forgot the goddess and neither made
thank-offerings nor remembered her kind assistance.
Aphrodite therefore decreed a severe penalty. The angry
goddess changed them into a pair of lions and
harnessed them to her golden chariot.

57
 Chapter VII
Tantalus

Tantalus, a rich and powerful king, was deemed worthy

by Zeus to visit the gold-gleaming mansions of the gods
on high Olympus and to partake of nectar and ambrosia
at their tables. Zeus and the other immortals even
deigned to appear under Tantalus’ roof, to sit at his
table, and converse in his own speech. Such an honor
was too great for a mortal to bear. Inflated with pride,
he made himself hated by gods and men. He not only
made sport of the names of the immortals and uttered
falsehoods, but he would reveal their decrees to mortals
and steal nectar and ambrosia for his friends. He at last
grew so audacious that he was warned and threatened
by the gods. Finally his penalty overtook him. Upon one
occasion when the gods were visiting him and partaking
of a banquet, he decided to test just how far they were
omniscient. He killed his son Pelops, prepared his flesh
as a test, and set the disgusting food before them. All
recognized the unnatural deed of the father except
Ceres, whose heart was full of sorrow over the loss of
[14]
her daughter. So it happened that she partook of the
food, and ate of the shoulder of Pelops. Zeus collected
the parts of the body, substituted an ivory shoulder,
recalled Pelops’ soul from Tartarus, restored him to life,
and then plunged Tantalus into Hades to suffer endless
torment.
When Tantalus regained consciousness, he found 59
himself standing up to his chin in water. Overcome with
burning thirst, he bent his head to drink. But the more
he bent his head the lower the water receded, and at
last sunk into the ground, leaving nothing at his feet but
dry, black dust. As he raised his head the water raised,
only to disappear whenever he tried to drink. Over his
head hung branches loaded with fruit. Between the
green leaves were pomegranates, balsamic pears,
olives, figs, and spicy apples, but whenever the victim
raised his hands to pluck them, a wind drove the
branches away from him. His torment was endless. A
restless longing never to be satisfied was the
punishment inflicted upon him by the revengeful
divinity.

61
 Chapter VIII
Salmoneus, Sisyphus, Ixion, and Phlegyas

Salmoneus was a brother of Tantalus, whom Zeus

punished so severely for his audacity. A similar fate
overtook him also, for he had a spite against the gods
and strove to be equal to them. He snatched the
offerings intended for Zeus from his altars and
commanded that they should be offered to himself. He
imitated Zeus’ thunderbolts with lighted torches, which
he threw down upon the people, and represented
thunder by the clashing of iron vessels. In fact he
imitated the ruler of the universe in every way.

When he had reached the summit of his insolence his

ruin overtook him. Zeus struck him with one of his bolts
and hurled him down to Tartarus.

Sisyphus was in the same dreadful place. In the upper 62

world he had been guilty of thefts both among men and
the gods. In the very hour of his death he perpetrated
an evil deed. He seized and bound Thanatos, the god of
death, with brazen bands, and for a long time no one
died on earth. The gods of the underworld sent to Zeus
this message: “Behold Thanatos, who went to the upper
world to bring Sisyphus here, has not returned. For
several days no shade has entered our dark kingdom.”
[15]
Thereupon Zeus sent for the powerful war god, Ares,
and ordered him to find the god of death. He soon
found and released him from his fetters, and Sisyphus
was taken to the underworld by Thanatos. Even then he
continued his deceitful deeds. He said to his wife: “Do
not bury my body and make the customary death
offering to the gods of the underworld.” Then he
appeared before Hades and Persephone and said: “My
wife has not buried my body and has neglected to make
the death offering. Let me go to her and remind the
faithless one of her duty. Then I surely will return.”

His wish was granted and he returned to the upper 63

world. As he did not come back, word was again sent to
Zeus, who despatched the swift-flying Hermes to take
the deceiver back. When Sisyphus saw the divine
messenger, his courage gave way, for he knew that no
mortal could outdo him in cunning. Hermes took him
back to the dark kingdom, where a fearful penalty
awaited him. He had to roll a huge block of marble up a
high mountain which no sooner reached the top than it
went thundering down. He had to begin his task over
again with sweat of toil and anguish dropping from his
brow to the earth.
[16]
Ixion, who had offered violence to the goddess Hera,
suffered another penalty. He was tied to a wheel which
[17]
never ceased revolving. Phlegyas, who burned the
temple of Apollo, was also there. He was continually
threatened by a rock hanging over his head, which
exposed him to constant apprehension and unspeakable
torture.

65
 Chapter IX
Niobe

Amphion, who married a godlike maiden named Niobe,

ruled over Thebes. She became the mother of seven
stately sons and seven blooming daughters.

She would have been esteemed the most blessed of

mothers if she could have borne her happiness with
moderation. Her husband Amphion was well-nigh equal
to the divine singer Orpheus in song and lute playing,
while in possessions and power she surpassed most
princesses of her time. But more than all else she prided
herself upon her children.

The prophetess Manto went through the streets and

ordered the Theban women to the altars of Latona.
“Arise, you women,” she cried; “twine your tresses with
fresh laurel and bring fragrant incense for the mother of
Apollo and Diane.”

The women immediately assembled at the altar of the 66

goddess and supplicatingly scattered incense in the
sacred flames. Hardly had they begun the offering song
when Niobe appeared, proudly advancing. She wore a
gold-embroidered cloak and on her brow gleamed a
diadem. Standing before the altar, she raised her head
proudly and said: “Foolish ones, would you honor
Latona and refuse incense at my altar? Was not my
father, Tantalus, a guest at the tables of the gods? Atlas,
who carries the world’s axle on his shoulders, is my
ancestor. Zeus is another. My power extends even in far-
off Phrygia. The stones with which Cadmus built this city
and its castle dance to the music of my husband’s lute.
Wherever you look in my palace you find inexhaustible
treasures. But it is my richest fortune to be the mother
of seven stately sons and as many blooming daughters.
And yet you offer to Latona, who has borne but two,
Apollo and Artemis (Diane)! Do you not know, foolish
ones, how she was persecuted by Juno when the hour
of her delivery approached? She could find refuge
neither in heaven nor on earth, so contemptuously was
she regarded! At last the island of Delos pitied the
fugitive and said to her: ‘Thou wanderest about restless,
like myself, and so I have compassion for thee and offer
thee refuge.’ She remained at Delos and bore the Twins
who are so highly esteemed by mortals—Apollo and
Diane. But am not I with my fourteen children more
blest than she with two? She is almost childless, but I
am rich in children. So take the laurels from your brows
and leave the altar of the goddess who is far less
fortunate than I.”

The Theban women reluctantly acceded to her request. 67

Holding their wreaths in their hands, they stole away,
but did not forget to supplicate their goddess in light
murmurs.

Latona was angry at the insult which Niobe offered her.

She called her children, Apollo and Artemis, and said to
them: “Behold, my children, how that woman has
dishonored me and how the Theban women have
forsaken my altar!”
While the goddess was requesting them to avenge her 68
shameful treatment, Apollo interposed and said: “Say no
more, divine mother, your wrongs shall be speedily
righted.” Artemis said the same. Thereupon they betook
themselves to the castle built by Cadmus. Nearby they
found the fields covered with the tracks of horses which
Niobe’s sons were driving about. Suddenly Ismenos, the
eldest, cried out in agony. Behold, his heart was pierced
with a silver arrow shot by Apollo from a cloud with his
unerring bow. The youth paled at the sight and his gold-
mounted bridle dropped from his hands. He raised his
head again and fell, dying, from his horse.

When Sipylus saw this, terror seized him and he sought

to escape. But his fate overtook him. The arrow was
shot at him with such skill that it pierced his throat.
Plunging forward, his blood ran down his steed’s white
neck and a moment after he fell lifeless to the earth.

Two sons skilled in the ring stood breast to breast and 69

the same fatal arrow pierced both. Alphenor, seeing
them fall, threw himself upon them with loud
lamentation. His death came quickly, for his body was
also pierced by an arrow. His moans had hardly ceased
when Damasichthos fell wounded in the knee. While
trying to stanch the wound, a second arrow pierced him
and he sank dead to the earth. The youngest of the
sons, Ilioneus, alone remained. The beautiful boy fell
upon his knees and thus implored: “All ye gods, spare
me!” Apollo was touched, but it was too late, for the
fatal arrow was already on its way and reached its mark
—the heart of the supplicating one.

A cry of anguish ran through the city. When the king

learned what had happened, despair seized him and he
ran his sword through his body. Niobe also heard of the
horror, but could not believe it. She hurried to the field
and found the bleeding bodies. How everything had
changed for her who but a short time before had been
so boastful! Her face was pitiful to look upon. Even her
enemies felt compassion.

She threw herself down, now upon this body, now upon 70
that, and covered them with kisses and tears. Her hair
hung down and the blood of her sons stained it and her
garments. She raised her arms and wildly cried:
“Revengeful Latona, now satisfy your delight in my
sufferings. My sons’ death is my death. Triumph,
dreadful one, for thou hast overcome me. But no, for I
am still richer than thou.”

Hardly had these words escaped her lips before the

dismal twang of the bow was heard anew. Horror seized
upon the people and the seven daughters who were
rushing to the spot. Niobe did not quail. Misfortune had
stupefied her. One of the daughters, while seeking to
draw the arrow from the heart of Ilioneus, was pierced
and fell upon his body. Another, while consoling her
mother, fell dead. Thus one after the other was killed
until only the youngest was left. She fled to the lap of
her mother, who covered her with her cloak. “Only this
one is left to me, Implacable One, only this one,”
exclaimed Niobe in despair. The death cry was heard,
and she held in her arms a bleeding body.

The mother sat amidst her murdered children, rigid with 71

sorrow. Her face was like white marble. Her tongue
clove to the roof of her mouth. The blood stood still in
her veins. Her whole body turned to stone. A storm
swept past with a frightful roar. Lo, tears of stone fell
from her eyes. Suddenly the hurricane carried her upon
its wings and left her among the rocky crags of Sipylus.
[18]

A marble block is there to-day and every morning the

cold marble weeps.

73
 Chapter X
Bellerophon

Bellerophon, grandson of Sisyphus, received from the

gods both beauty and manliness, but the heavenly gifts
wrought his ruin. Hardly had Queen Antia looked upon
him before she forgot her duty to the king and tried to
win him for a husband. When Bellerophon learned her
purpose, he turned from her with abhorrence.
Thereupon she determined to destroy him, and said to
her husband: “Kill that profligate who has tried to make
me faithless to thee.”

The king’s heart was filled with anger when he learned 74

this, and yet he was reluctant to kill the youth himself.
So he wrote a letter and sent Bellerophon with it to his
father-in-law, the prince of the rich country of Lycia,
who extended hospitalities to him and gave a feast in
his honor, which lasted several days. Bellerophon then
took the letter, whose contents he did not understand,
and gave it to the prince. He was amazed when he read
that Bellerophon must die, and disliked to deprive so
handsome a youth of his life.

Finally he ordered him to fight with the dreadful

Chimæra, a monster having the fore part that of a lion,
the middle that of a goat, and the hind part that of a
dragon, which continually emitted fire from its jaws. The
gods, compassionating the innocent one, sent Pegasus,
the winged horse, to him, so that he could raise himself
in the air. But he could not catch the horse. Wearied
with his exertions, he slept by the edge of a spring.
Athene appeared to him there, gave him a golden
bridle, and said: “Make an offering to Poseidon, the sea
god, and he will aid thee.” When the youth awoke he
was holding the bridle in his hand. He at once made the
offering and erected an altar to Athene. Then he started
to catch the horse, which came to him of its own
accord. He placed the golden bridle on it and in his
brazen armor vaulted upon the back of the divine steed.
It extended its wings at once and took him to the lair of
the Chimæra.

Now the battle began. His steed sinking towards the 75

earth, Bellerophon hurled a lance at the animal which
penetrated deep into its back. Roaring with rage and
pain, the monster reared its dragon body and emitted
flames. But its exertions were useless, for Pegasus flew
still farther upwards with the youth. It writhed upon the
ground and sought to pull out the bronze spear with its
jaws. Then it crawled over the fields, streaking them
with blood. Bellerophon followed it, when suddenly it
coiled itself up as if dead. But it did not deceive him.
From on high he shot down a deadly arrow which
pierced through its mane into its neck. It sprang up
again, but could not reach the youth. Hardly had it sunk
down to the ground before another arrow was driven
through its eyes. Fearful was its roar. Men and beasts
fled far away in terror, but Bellerophon was not afraid.
Unerringly he shot the third arrow, which struck the
monster between the vertebræ and pierced the marrow.
Spouting fire and blood, it died.
When Bellerophon returned from his battle, still harder 76
tasks awaited him. He had first to encounter the famous
Solymi and then the bold Amazons. With the aid of the
gods he was victorious, but on his homeward way new
danger awaited him. The king sent out a troop of his
most valiant men against him and they approached the
unsuspecting Bellerophon from an ambush. But it was
of no avail, for after a short battle he overcame them.
When he appeared before the prince, the latter said:
“Surely thou art innocent and a favorite of the gods,
else thou couldst not have escaped all these dangers.”
He loved him from that moment and gave him his
daughter to wife.

Rich in possessions and honors, Bellerophon lived in

Lycia. But his good fortune did not last long. He
attempted to fly to heaven with Pegasus to participate
in the assemblies of the gods. His efforts were useless
and he lost their favor. Pegasus was frightened and
threw his rider to the earth, who fell into a field called
Aleius because he wandered in it blind the rest of his
life. Joyless were his days and at last he died, his heart
broken by sorrow. But Pegasus was placed among the
stars.

77
 Chapter XI
Perseus

Acrisius was king in Argos. It was once foretold that he

would be killed by the son of his daughter, Danaë.
Thereupon he shut up his daughter and her son,
Perseus by name, in a chest and threw it into a raging
flood. The gods pitied the innocent ones and directed it
to the island of Seriphus.

The kings of the island, Dictys and Polydectes, were one

day drawing a net from the sea. Great was their
astonishment when they found a chest in the net and
heard sorrowful moanings in its interior. They opened it
and the noble Danaë stepped out with her beautiful son.
Dictys took them home with him and cared for them as
if they had been his own brother and sister.

When Perseus reached his young manhood, he 78

surpassed everyone in skill and dexterity in martial
sports. Polydectes conceived evil designs against the
innocent Danaë, and as he feared Perseus he decided to
send him out of the country. He soon found the
opportunity. He gave a banquet to the leading men of
the island, at which he announced that he was going to
take a wife. He also required each one of them to
procure a beautiful horse for a wedding gift. In his
youthful presumptuousness Perseus said: “Whatever
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