CN108390712B - Judgment method for spacecraft instruction execution result facing multi-path remote measurement - Google Patents
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Abstract
The invention discloses a method for judging a spacecraft instruction execution result facing multi-channel telemetering. The method for judging the execution result of the spacecraft instruction facing the multi-path telemetering comprises the following steps: creating a plurality of comparison queues and setting time delay characteristics of the comparison queues, wherein the comparison queues are used for judging the execution result of the spacecraft instruction; applying for judging the spacecraft instruction execution result for each comparison and judgment queue; sorting multi-path telemetering data, and judging the spacecraft instruction execution result of each comparison and judgment queue; and screening out a final spacecraft instruction execution result according to the priorities of the comparison queues. The judgment method for the spacecraft instruction execution result facing the multi-path telemetering improves the use efficiency of telemetering data and the accuracy of instruction execution effect judgment.
Description
Technical Field
The invention relates to the field of aerospace measurement and control, in particular to a method for judging a spacecraft instruction execution result for multi-path remote measurement.
Background
And the ground flight control center sends an instruction to the spacecraft to implement control, and receives an execution result of the downloaded telemetering data judgment instruction so as to judge the control effect of the ground. With the development of the aerospace technology, the measurement and control capability of the ground is continuously improved, the types of telemetering data downloaded by the spacecraft are increased, various devices are used to be transmitted to a ground flight control center through a plurality of measurement and control sites, and the ground flight control center receives the multichannel telemetering data of the same spacecraft. How to fully and effectively use the multi-channel telemetering data and realize accurate judgment of the execution result of the control instruction is a very important problem.
Currently, there are two main ways for judging the instruction execution result of a common spacecraft:
firstly, in part of satellite measurement and control tasks, after a command is sent on the ground, only one path of telemetering data is used for comparing and judging the execution result of the command, and other telemetering data are not selected. This method is simple, but if the selected telemetry data has error code or interruption, the judgment of the instruction execution result is wrong or invalid, and the waste of multi-path telemetry data is caused.
After the command is sent on the ground, the downloaded multi-channel telemetering data are not classified, different telemetering data are uniformly used for judging the execution result of the control command, the mode does not distinguish data sources, the transmission characteristics are simply combined for use, and the use efficiency of the data can be reduced.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a method for judging a spacecraft instruction execution result oriented to multi-channel telemetering, which can improve the utilization efficiency of telemetering data and the accuracy of instruction execution effect judgment.
In order to achieve the purpose, the invention provides a judgment method for a spacecraft instruction execution result facing multi-channel telemetering. The method for judging the execution result of the spacecraft instruction facing the multi-path telemetering comprises the following steps: creating a plurality of comparison queues and setting time delay characteristics of the comparison queues, wherein the comparison queues are used for judging the execution result of the spacecraft instruction; applying for judging the spacecraft instruction execution result for each comparison and judgment queue; sorting multi-path telemetering data, and judging the spacecraft instruction execution result of each comparison and judgment queue; and screening out a final spacecraft instruction execution result according to the priorities of the comparison queues.
Preferably, in the above technical solution, the plurality of comparison queues are classified according to transmission characteristics of telemetry data to be processed.
Preferably, in the foregoing technical solution, the time delay characteristic of the comparison queue includes an instruction issue time T0Time interval △ T to the expected reception time of the first frame telemetry after the instruction executionbeginAnd maximum duration △ T of instruction execution result determinationendThe time range of the spacecraft instruction execution result judgment of each comparison queue is from the first frame telemetering expected receiving time to comparison overtime time T2，T1And T2The calculation method is as follows:
T1＝T0+△Tbegin
T2＝T1+△Tend。
preferably, in the foregoing technical solution, the sorting the multiple paths of telemetry data and the determining the spacecraft instruction execution result of each comparison and judgment queue includes: receiving telemetering data downloaded by a spacecraft, and sorting the telemetering data into corresponding comparison queues; the comparison queue identifies the source of the telemetering data, if the telemetering data of the command station exists, the telemetering data buffer of the command station is updated, whether the telemetering parameter meets the command execution requirement is checked, if the telemetering data of the non-command station exists, the telemetering data buffer of the non-command station is updated, and whether the telemetering parameter meets the command execution requirement is checked; within the comparison time range, when the continuous multiframes meet the instruction execution requirement, judging that the instruction is successfully executed and outputting a comparison result, and otherwise, outputting an instruction comparison failure result after the comparison is overtime; and starting a priority mechanism of the command issuing station, and selecting the instruction execution result of each comparison queue.
Preferably, the starting of the priority mechanism of the command issuing station selects a selection rule of the instruction execution result of each of the comparison queues, including: if the remote measuring data of the command station firstly judges the result, the comparison result is directly selected; if the result is judged first by the telemetering data of the non-signaling station and the telemetering data of the signaling station is interrupted, the comparison and judgment are finished and the judgment result of the telemetering data of the non-signaling station is sent out; and if the non-signaling station telemetering data is judged to be a result first and the signaling station telemetering data is not interrupted, continuing waiting for the judgment result of the signaling station telemetering data.
Preferably, in the above technical solution, the method for screening out a final instruction execution result according to the priorities of the plurality of comparison queues includes: when the priorities of the comparison queues are the same, selecting a queue of the instruction execution result judged in advance; when the priorities of the comparison queues are different, if the comparison queue with the lower priority determines the instruction execution result first, the instruction execution result with the higher priority is selected after the comparison queue with the higher priority completes comparison, and if the data of the comparison queue with the higher priority is interrupted, the instruction execution result of the comparison queue with the lower priority is selected.
Compared with the prior art, the invention has the following beneficial effects:
the utilization efficiency of the telemetering data and the accuracy rate of judging the instruction execution effect are improved.
Drawings
Fig. 1 is a process for implementing a method for determining an execution result of a spacecraft instruction for multi-path telemetry according to an embodiment of the invention.
Fig. 2 is a step diagram of a method for determining an execution result of a spacecraft instruction for multi-path telemetry according to an embodiment of the invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
In order to improve the utilization efficiency of telemetering data and the accuracy of judging the instruction execution effect, the invention provides a method for judging the spacecraft instruction execution result facing multi-channel telemetering.
Fig. 1 is a process for implementing a method for determining an execution result of a spacecraft instruction for multi-path telemetry according to an embodiment of the invention.
And setting different telemetry data processing queues, namely comparison queues, according to the types of the multi-channel telemetry data downloaded by the spacecraft. The telemetering data received and processed by each comparison queue has similar transmission characteristics, and the transmission characteristics consider factors such as a downlink frame period, transmission time delay and the like. Each comparison queue comprises a plurality of instructions to be compared, and the instructions to be compared are used for judging whether a plurality of telemetry parameters in the telemetry data meet instruction execution requirements or not.
And each time the ground control center sends a remote control command, a comparison application is provided for a plurality of different comparison queues, and the execution result of the command is judged. Different comparison queues respectively calculate the predicted receiving time (namely, the time for starting the judgment of the instruction execution result) of the first frame of telemetering after the instruction is executed and the maximum time length of comparison according to the transmission characteristics of the telemetering of the different comparison queues, and then receive and process the execution condition of the telemetering data judgment instruction between the time for starting the judgment and the time-out time.
The telemetering data transmitted by a plurality of ground stations are sorted to corresponding comparison queues, and are distinguished according to stations used by ground for sending remote control commands, and the telemetering data transmitted by a command station and telemetering data transmitted by other stations can be divided into the telemetering data transmitted by the command station and the telemetering data transmitted by other stations, wherein the former is called command station telemetering, and the latter is called non-command station telemetering. The remote control method has the advantages that remote control of the command station and remote control of the non-command station are separately used, execution conditions of remote control commands are independently judged, and comparison results of remote control data of the command station are preferentially used.
The selection method of the comparison result in each comparison queue comprises the following steps: if the command execution result is judged first according to the remote measuring data of the starting station, the judgment result of comparing the judgment result and sending the remote measuring data of the starting station is finished; if the command execution result is judged firstly according to the telemetering of the non-command-issuing station and the telemetering data of the command-issuing station is interrupted, the comparison and judgment are completed and the judgment result of the telemetering data of the non-command-issuing station is sent out; if the command execution result is judged firstly according to the telemetering of the non-command-sending station and the telemetering data of the command-sending station is not interrupted, the comparison state of the telemetering data of the command-sending station is continuously waited, and the command-sending station still does not judge the execution result after the comparison state is overtime, and the judgment result of the telemetering data of the non-command-sending station is sent.
The method for screening the comparison results among the comparison queues comprises the following steps: the user sets priorities for a plurality of different comparison queues, and preferentially selects the result of the comparison queue with higher priority. When the priorities of the comparison queues are the same, selecting a queue of the instruction execution result judged in advance; when the priorities of the comparison queues are different, if the comparison queue with the lower priority determines the result of the instruction first, the comparison queue with the higher priority completes the comparison, and if the comparison queue with the higher priority still does not determine the result, the instruction execution result of the comparison queue with the lower priority is selected.
Fig. 2 is a step diagram of a method for determining an execution result of a spacecraft instruction for multi-path telemetry according to an embodiment of the invention.
s1, creating a comparison queue.
The telemetering of spacecraft downloading generally comprises engineering telemetering, source package telemetering, other spacecraft-generated engineering telemetering and other spacecraft-generated source package telemetering, wherein the telemetering parameters contained in the engineering telemetering and the source package telemetering are the same, the frame periods of the engineering telemetering and the source package telemetering are different, and the transmission delays of the other spacecraft-generated telemetering and the direct downloading telemetering are different, so 4 comparison queues are created, namely an engineering telemetering comparison queue, a source package telemetering comparison queue, a generation-transmission engineering telemetering comparison queue and a generation-transmission source package telemetering comparison queue, the comparison queue delay characteristic influences the judgment of instruction execution results, the comparison queue delay comprises 1, and the time interval △ T from the instruction sending time to the predicted receiving time of the first frame telemetering after the instruction execution is upbegin2, maximum duration △ T of instruction execution result determinationend。
First frame telemetering predicted receiving time and comparison overtime time T2The calculation method is as follows, wherein T0For the instruction issue time:
T1＝T0+△Tbegin
T2＝T1+△Tend。
the telemetry time ranges selected by the 4 comparison queues are different. The time delay characteristics corresponding to the 4 comparison queues are respectively set as:
the engineering telemetry comparison queue time delay characteristic is that the time interval from the command sending time to the first frame telemetry expected receiving time after the command is executed is △ Tbegin1Maximum duration △ T of instruction execution result judgmentend1。
The source packet telemetry comparison queue time delay characteristic is that the time interval from the command sending time to the first frame telemetry expected receiving time after the command is executed is △ Tbegin2Maximum duration △ T of instruction execution result judgmentend2。
The time interval △ T from the command sending time to the predicted receiving time of the first frame of remote measurement after the command execution is used as the time delay characteristic of the substitute transmission engineering remote measurement comparison queuebegin3Maximum duration △ T of instruction execution result judgmentend3。
The characteristic of the telemetry comparison queue time delay of the source packet generation is that the time interval from the command sending time to the predicted receiving time of the first frame telemetry after the command execution is △ Tbegin4Maximum duration △ T of instruction execution result judgmentend4。
s2, applying for instruction execution result judgment.
The ground control center sends out an instruction, and applies for the judgment of the instruction execution result. And according to the 4 comparison queue settings, applying to submit to the 4 comparison queues, constructing comparison nodes by different comparison queues according to self time delay characteristics, and judging instruction execution results. The comparing and judging node information mainly comprises: and the remote measuring parameters required by instruction comparison, the remote measuring time range for instruction comparison (from the predicted receiving time of the first frame remote measuring to the comparison overtime time after the instruction is executed), and the like, wherein the remote measuring parameters required by instruction comparison are related to each instruction.
And s3, sorting the multiple paths of telemetric data and judging the instruction execution result.
And receiving telemetry data downloaded by the spacecraft, and sorting the telemetry data into different comparison queues according to the types of the telemetry data (engineering, source package, generation engineering and generation source package). And (3) identifying a transmission station of the telemetering data by the comparison queue: if the remote measuring data transmission station is the same as the command transmitting station (for example, the command transmitting station is the S1 station, and the remote measuring data transmission station is also the S1 station), updating a remote measuring data buffer of the command transmitting station, and checking whether the remote measuring parameters meet the command execution requirement. If the telemetering data transmission station is different from the command station (for example, the command sending station is S1 station, and the telemetering data transmission station is S2 station), updating the telemetering data buffer of the non-command station, and checking whether the telemetering parameters meet the command execution requirement. When n continuous frames meet the instruction execution requirement, judging that the instruction is successfully executed and outputting a comparison result; and if not, continuing to receive the telemetering data for judgment until the time of T ratio judgment is reached, and outputting a command ratio judgment failure result. Starting a remote measuring priority mechanism of the command station, and selecting a command execution result in the comparison queue.
The telemetry data from the stations is typically sent more stable than from other stations. After the instruction execution result is output from the comparison queue, a command sending station telemetering priority mechanism is started, and whether the command sending station telemetering priority mechanism is a command sending station telemetering data judgment result is judged. If the remote measuring data of the command station firstly judges the result, the comparison result is directly selected. If the non-signaling station telemetering firstly judges the result and simultaneously the signaling station telemetering data is interrupted, completing comparison and judgment and sending a judgment result of the non-signaling station telemetering data; if the non-signaling station telemetering judges the result first and then the signaling station telemetering data is not interrupted, the comparison state of the signaling station telemetering data is continuously waited, the signaling station still does not judge the execution result after the comparison is overtime, and the judgment result of the non-signaling station telemetering data is sent. Therefore, the judgment result can be executed by the instruction in the first-in-first-out comparison queue.
And s4, screening the comparison results of the comparison queues according to the priorities of the comparison queues.
The user may manually specify the priority of the issue queue based on the telemetry characteristics of the issue queue. Suppose that: the engineering telemetering data is more stable than the source code data, and the transmission efficiency of the generation telemetering data is lower than that of the direct downloading telemetering data. The priorities of the 4 comparison queues are respectively:
and (3) comparing and judging the queue of engineering telemetering: the priority value is 4, highest.
Source packet telemetry comparison queue: the priority value is 3, next highest.
And (3) generation and transmission engineering telemetry comparison and judgment queue: the priority value is 2, next lowest.
And (3) generating a source packet telemetry comparison queue: the priority value is 1, lowest.
Therefore, when the comparison queue outputs the result, the instruction execution result can be screened by adopting a priority method. When the priorities of the comparison queues are the same, selecting a queue of the instruction execution result judged in advance; when the priorities of the comparison queues are different, if the comparison queue with the lower priority determines the result of the instruction first, the comparison queue with the higher priority completes the comparison, and if the data of the comparison queue with the higher priority is interrupted, the instruction execution result of the comparison queue with the lower priority is selected. And then issues the final instruction execution result.
The advantages of the invention are mainly shown in: the utilization rate of the telemetering data is high, various telemetering data downloaded by the spacecraft are fully utilized, and misjudgment of the instruction execution result caused by telemetering data error codes is effectively avoided; by adopting a mechanism of remote measuring data priority of the command station, the reliability of judging the command execution result is improved; by setting the self-defined comparison queue priority, the method is dynamically suitable for selecting the comparison results of various types of telemetering data of different spacecrafts, and has flexibility and universality.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (5)
1. A judging method for spacecraft instruction execution results facing multi-path remote measurement is characterized in that the judging method for spacecraft instruction execution results facing multi-path remote measurement comprises the following steps:
creating a plurality of comparison queues and setting time delay characteristics of the comparison queues, wherein the comparison queues are used for judging the execution result of the spacecraft instruction;
applying for judging the spacecraft instruction execution result for each comparison and judgment queue;
sorting multi-path telemetering data, and judging the spacecraft instruction execution result of each comparison and judgment queue; and
screening out the final spacecraft instruction execution result according to the priorities of the comparison queues,
wherein, the step of sorting the multipath telemetry data and judging the spacecraft instruction execution result of each comparison queue comprises the following steps:
receiving telemetering data downloaded by a spacecraft, and sorting the telemetering data into corresponding comparison queues;
the comparison queue identifies the source of the telemetering data, if the telemetering data of the command station exists, the telemetering data buffer of the command station is updated, whether the telemetering parameter meets the command execution requirement is checked, if the telemetering data of the non-command station exists, the telemetering data buffer of the non-command station is updated, and whether the telemetering parameter meets the command execution requirement is checked;
within the comparison time range, when the continuous multiframes meet the instruction execution requirement, judging that the instruction is successfully executed and outputting a comparison result, and otherwise, outputting an instruction comparison failure result after the comparison is overtime; and
starting a priority mechanism of the command issuing station, and selecting the instruction execution result of each comparison queue.
2. The method for judging the execution result of the multi-path telemetry-oriented spacecraft instruction according to claim 1, wherein the plurality of comparison queues are classified according to the transmission characteristics of the telemetry data to be processed.
3. The method for judging the execution result of the multi-path telemetry-oriented spacecraft instruction according to claim 1, wherein the time delay characteristic of the comparison queue comprises an instruction sending time T0Time interval △ T to the expected reception time of the first frame telemetry after the instruction executionbeginAnd maximum duration △ T of instruction execution result determinationendThe time range of the spacecraft instruction execution result judgment of each comparison queue is the first frame telemetering estimated receiving time T1Arrival comparison time-out time T2，T1And T2The calculation method is as follows:
T1＝T0+△Tbegin
T2＝T1+△Tend。
4. the method for judging the instruction execution result of the multi-path telemetry-oriented spacecraft of claim 1, wherein the starting command station priority mechanism selects the selection principle of the instruction execution result of each comparison queue, and the selection principle comprises the following steps:
if the remote measuring data of the command station firstly judges the result, the comparison result is directly selected;
if the result is judged first by the telemetering data of the non-signaling station and the telemetering data of the signaling station is interrupted, the comparison and judgment are finished and the judgment result of the telemetering data of the non-signaling station is sent out; and is
And if the non-signaling station telemetering data is judged to be a result first and the signaling station telemetering data is not interrupted, continuing waiting for the judgment result of the signaling station telemetering data.
5. The method for judging the execution result of the multi-path telemetry-oriented spacecraft instruction according to claim 1, wherein the method for screening out the final instruction execution result according to the priorities of the plurality of comparison queues comprises the following steps:
when the priorities of the comparison queues are the same, selecting a queue of the instruction execution result judged in advance; and is
When the priorities of the comparison queues are different, if the comparison queue with the lower priority determines the instruction execution result first, the instruction execution result with the higher priority is selected after the comparison queue with the higher priority completes comparison, and if the data of the comparison queue with the higher priority is interrupted, the instruction execution result of the comparison queue with the lower priority is selected.
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| CN112441259B (en) * | 2020-12-02 | 2023-02-03 | 中国人民解放军63920部队 | Method and device for judging delay transmission control effect of multiple spacecrafts |
| CN114327625B (en) * | 2021-11-30 | 2025-05-27 | 中国人民解放军63920部队 | A method and system for determining spacecraft command sending status |
| CN114257292B (en) * | 2021-12-15 | 2024-04-05 | 北京航天飞行控制中心 | Spacecraft relay substituted transmission remote control instruction comparison judging method and device |
| CN114255581B (en) * | 2021-12-15 | 2022-09-23 | 北京航天飞行控制中心 | Method and device for comparing and judging remote control commands of spacecraft |
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| CN115140322A (en) * | 2022-05-13 | 2022-10-04 | 北京航天飞行控制中心 | Spacecraft execution state judgment method and system, storage medium and electronic equipment |
| CN115292117B (en) * | 2022-06-24 | 2025-07-15 | 中科九度(北京)空间信息技术有限责任公司 | A spacecraft monitoring integrated management method and system |
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