CN111355524A - Multi-source heterogeneous telemetry data comprehensive processing method for Beidou third satellite - Google Patents
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Abstract
The invention discloses a comprehensive processing method of multi-source heterogeneous telemetry data of a Beidou third satellite, which specifically comprises the following steps: step 1, receiving multi-source telemetering data; step 2, preprocessing a telemetering data source code; step 3, analyzing and processing single-satellite remote measurement parameters; step 4, comprehensively optimizing the single satellite remote measurement processing result; the method for comprehensively processing the multisource heterogeneous telemetry data of the Beidou third satellite can realize receiving, preprocessing, parameter analysis and comprehensive optimization of the telemetry data and overcome the defects of the conventional telemetry processing method in the aspects of multisource heterogeneous telemetry processing and inter-satellite telemetry processing.
Description
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and particularly relates to a multi-source heterogeneous telemetry data comprehensive processing method for a Beidou third satellite.
Background
The Beidou third satellite operates on orbit in a constellation mode, and provides accurate time service and navigation service for the whole world. The satellite needs to be closely monitored for its operating state by telemetry from transmission to in-orbit operation. Under different working modes, different measurement and control systems are used between the in-orbit satellite and between the in-orbit satellite and the ground measurement and control station, and the telemetering data source code is transmitted to the ground data processing system through radio communication. For example, during launching and orbit entering, the satellite and rocket upper-stage assembly fly, and the upper-stage integrated telemetering data is downloaded; during the in-orbit operation, the satellite uses different measurement and control systems to download S-band incoherent telemetering data, measurement and control data transmission integrated telemetering data and the like; when the satellite establishes an inter-satellite link working state, the telemetry data downloaded by a single satellite not only comprises self telemetry data, but also comprises other satellite telemetry data. The Beidou third satellite telemetry downloading process is shown in FIG. 1.
Generally, domestic scholars conduct extensive research on telemetry data processing methods of single satellites or single measurement and control systems. Literature reference[1]The single satellite high-speed telemetering data processing technology is researched, and system software is designed and realized. Literature reference[2]A single satellite telemetry data structure description and a general purpose software design were studied. Literature reference[3]A full-classification extraction method for telemetry frames of a PCM system satellite is described, and multi-source PCM system telemetry data processing can be realized. The existing telemetry processing method has a plurality of defects in the aspect of processing telemetry data of the Beidou No. three satellite.
In the Beidou third satellite system, different measurement and control systems exist in telemetering downloading, and the frame structures of telemetering data source codes are different; the plurality of ground measurement and control stations track the Beidou third constellation, and a plurality of data sources exist; when the working state of the inter-satellite link is established between the satellites, the download telemetry comprises the telemetry data of other satellites in the constellation. Aiming at the requirement of the Beidou No. three satellite telemetry processing, a multi-source heterogeneous telemetry data comprehensive processing method is provided.
Reference to the literature
[1] Li 29343, li fore design scheme of high speed satellite telemetry data processing system [ J ] computer engineering and design, 2012,33 (1): 198-203.
[2] Liuyang, Lizond, Dingxue, girl of lady, and Weak. XTCE-based satellite telemetry data processing method [ J ] telemetry remote control, 2017,38 (2): 27-31
[3] Yan bud, Dongfang, PCM system satellite telemetry frame full classification extraction method [ J ] information technology and network security, 2019,38 (3): 35-39.
Disclosure of Invention
The invention aims to provide a comprehensive processing method for multisource heterogeneous telemetry data of a Beidou third satellite, which can realize receiving, preprocessing, parameter analysis and comprehensive optimization of the telemetry data and overcome the defects of the conventional telemetry processing method in multisource heterogeneous telemetry processing and inter-satellite telemetry processing.
The technical scheme adopted by the invention is that the multi-source heterogeneous telemetry data comprehensive processing method of the Beidou third satellite specifically comprises the following steps:
According to the data source configuration, a receiving buffer area matched with the data source configuration is established, and satellite telemetering data source codes transmitted by each ground measurement and control station are received in real time;
step 2, telemetering data source code preprocessing
Extracting telemetering data source codes from a receiving buffer area, and preprocessing the telemetering data source codes according to different telemetering data structures and requirements, wherein the preprocessing comprises frame sequencing preprocessing, bit stream synchronization preprocessing, inter-satellite telemetering splitting preprocessing and single-satellite telemetering frame format normalization preprocessing;
step 3, single-star telemetering parameter analysis processing
The preprocessed telemetering data source codes are classified according to satellites, and telemetering parameter analysis is achieved; extracting a telemetry packet from a telemetry frame according to the structural description of the single-satellite telemetry data source code, and analyzing the telemetry packet into telemetry parameters of a satellite state;
step 4, comprehensive optimization of single-satellite remote measurement processing results
Because the satellite telemetering is from different data sources, the telemetering parameter processing result is comprehensively optimized according to the tracking quality and the tracking starting time of different measuring and controlling stations.
The present invention is also characterized in that,
in step 2, the frame ordering preprocessing is as follows: caching the telemetering data source codes received by the data processing system according to a frame mode, sequentially judging the telemetering frame count and the time stamp in a buffer area, and sequencing and outputting the received telemetering frames in real time;
the specific process is as follows:
(1) calculating current frame count, timestamp
The current frame count is determined by adding 1 to the previous frame count, and the current frame time is determined by adding the previous frame time to the telemetry frame period; the telemetering frame period is obtained by calculating the frame code rate and the frame length; if the calculation is the first calculation, using the frame count and the timestamp of the first frame data in the frame buffer area as the current frame count and the timestamp;
(2) judging whether a data frame with a frame count coincidence exists
Circularly traversing the data frames in the frame buffer area, and checking whether the data frames which are consistent with the current frame count exist; if yes, outputting the data frame and then turning to the step (1); if not, entering the step (3);
(3) determining whether a frame timestamp is expired
Taking 3-5 times of a telemetry data frame period as a judgment time delay to judge whether the time is overtime; if not, turning to the step (2); if so, entering the step (4);
(4) determining loss of a current data frame
Marking the data frame state of the current frame counting as lost and outputting;
(5) judging whether the frame ordering is finished
If the frame buffer area still has data frames and the processing is not finished, turning to the step (1); if the processing is finished, the process is finished.
In step 2, the bit stream synchronization preprocessing comprises: determining the displacement amount by adopting synchronous code comparison, shifting the bit stream data, and recovering a correct telemetering data source code;
the specific process is as follows:
(1) the synchronous code is subjected to non-cyclic left shift to generate a mask code and a comparison characteristic code
After shifting, the number of the synchronization code bytes is k +1, and the shift number is: 0. 1, 2,3, …, 7, generating 8 groups of masks and comparison feature codes; assuming that the synchronous code is 2 bytes, generating 8 groups of mask codes with 3 bytes and comparison feature codes;
(2) judging the comparison feature code and determining the bit offset S
Extracting data source codes byte by byte sequentially, carrying out AND operation on the data source codes and the mask codes in sequence, judging and comparing the feature codes, and determining a bit offset S after the judgment is consistent;
(3) sequentially performing bit left shift S operation on bit stream data
Recovering the source code of the telemetering data frame by frame in sequence;
(4) determining correctness of recovered telemetry data source code frame synchronization word
If the synchronous word comparison fails, turning to the step (2); if the comparison of the synchronous words is correct, the step (5) is carried out after the output;
(5) judging whether the bit stream synchronous preprocessing is finished
If the data frame still exists in the buffer area, the step (3) is carried out; if so, exit.
In step 2, the inter-satellite telemetry is split into: for the downloaded inter-satellite telemetry data source codes, dividing the telemetry frame into telemetry data source codes of a target satellite according to target satellite identification words in a source code frame structure, and outputting the telemetry data source codes according to a target satellite telemetry frame format;
in step 2, the format of the single-satellite telemetry frame is normalized as follows: and for telemetering source codes downloaded by different measurement and control systems, carrying out preprocessing such as frame sequencing, bit stream synchronization, inter-satellite telemetering splitting and the like, and then carrying out format normalization processing according to a single-satellite telemetering frame.
In step 2, the normalization process is to adjust the frame length, frame synchronization word and time stamp information of the telemetry data source code.
The invention has the beneficial effects that: the comprehensive processing of multisource heterogeneous telemetry parameters of the Beidou third satellite is realized, the method is suitable for transmitting telemetry data under different measurement and control systems, and is particularly suitable for processing the telemetry data transmitted by inter-satellite links. Compared with the prior telemetry processing technology, the technology has the advantages of strong universality, high flexibility and good expansibility.
Drawings
FIG. 1 is a Beidou No. three satellite telemetry download process;
FIG. 2 is a processing flow chart of a multi-source heterogeneous telemetry data comprehensive processing method of a Beidou third satellite;
FIG. 3 is a flow chart of the sequencing of telemetry data frames in the method of the present invention;
FIG. 4 is a comparison of bit stream encoded bytes in the method of the present invention;
fig. 5 is a flow chart of the pre-processing of bit stream synchronization in the method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a comprehensive processing method of multi-source heterogeneous telemetry data of a Beidou third satellite, which specifically comprises the following steps of:
According to the data source configuration, a receiving buffer area matched with the data source configuration is established, and satellite telemetering data source codes transmitted by each ground measurement and control station are received in real time;
the Beidou third navigation constellation consists of satellites with different orbits, including a medium and high orbit satellite, an inclined synchronous orbit satellite and a geostationary orbit satellite. The single satellite telemetering data source code can be directly downloaded to the ground measurement and control station, and can also be transmitted to other satellites and then downloaded to the ground measurement and control station. And the ground measurement and control stations distributed at different positions receive telemetering data source codes downloaded by the Beidou third satellite according to the measurement and control plan. The telemetry data source code received by each ground station is transmitted to a data processing system in a network manner, as shown in fig. 1. According to network attributes of different ground measurement and control stations, the data processing system establishes network connection with the data processing system, constructs a receiving buffer area matched with the data processing system, and receives telemetering data source codes tracked and received by the ground measurement and control stations in real time.
Generally, the telemetering data source code adopts data frame transmission with fixed length, and under different measurement and control systems, the data frame rate, length and structure are different. For example, the code rate of the incoherent telemetry data of the S-band is several kbps, etc., and the frame length is several hundred bytes; the code rate of the measurement and control data transmission integrated data is hundreds of kbps and the like, and the frame length is thousands of bytes. Each ground measurement and control station can track different Beidou satellite III at different time intervals, so that telemetry data source codes from different satellites are stored in a single receiving buffer area.
Step 2, telemetering data source code preprocessing
Extracting telemetering data source codes from a receiving buffer area, and preprocessing the telemetering data source codes according to different telemetering data structures and requirements, wherein the preprocessing comprises frame sequencing preprocessing, bit stream synchronization preprocessing, inter-satellite telemetering splitting preprocessing and single-satellite telemetering frame format normalization preprocessing;
because the satellite telemetering data source code is transmitted to the processing system through the space-based inter-satellite link and the ground network, the telemetering data source code can generate the phenomena of disorder, frame loss and the like under the influence of link topology, tracking quality, network time delay and the like. For the measurement and control data transmission integrated telemetering system, telemetering data source codes are transmitted in a bit stream mode. When the link between the satellites works, the telemetry of the satellite comprises the telemetry data source codes of other satellites. Therefore, according to the telemetry data source code structure description, frame sequencing preprocessing, bit stream synchronization preprocessing, inter-satellite telemetry splitting preprocessing and single-satellite telemetry frame format normalization preprocessing are carried out on the telemetry data according to needs.
Frame ordering preprocessing
The telemetry data source code is made up of a series of time-ordered data frames. The satellite, as each frame of data is generated, sets a frame count for each frame, which is automatically incremented by 1 per frame. And different types of telemetry data source codes downloaded by different satellites independently increase the frame count. And after receiving each frame of telemetering data source code, the ground measurement and control station adds the receiving time information of the ground measurement and control station to each frame of data and sends the information to the data processing system through the network. And the telemetering data source codes received by the data processing system are cached according to a frame mode, the telemetering frame count and the time stamp in the buffer area are sequentially judged, and the received telemetering frames are sequenced and output in real time. The frame ordering preprocessing is shown in fig. 3, and the flow is as follows:
(1) calculating current frame count, timestamp
The current frame count is determined by adding 1 to the previous frame count, and the current frame time is determined by adding the previous frame time to the telemetry frame period. The telemetering frame period can be obtained by calculating the frame code rate and the frame length; if the calculation is the first calculation, using the frame count and the timestamp of the first frame data in the frame buffer area as the current frame count and the timestamp;
(2) judging whether a data frame with a frame count coincidence exists
Circularly traversing the data frames in the frame buffer area, and checking whether the data frames which are consistent with the current frame count exist; if yes, outputting the data frame and then turning to the step (1); if not, entering the step (3);
(3) determining whether a frame timestamp is expired
Taking 3-5 times of a telemetry data frame period as a judgment time delay to judge whether the time is overtime; if not, turning to the step (2); if so, entering the step (4);
(4) determining loss of a current data frame
Marking the data frame state of the current frame counting as lost and outputting;
(5) judging whether the frame ordering is finished
If the frame buffer area still has data frames and the processing is not finished, turning to the step (1); if the processing is finished, the process is finished.
(II) synchronous preprocessing of bit streams
In the bit stream transmission mode, since the bytes in the data area have uncertain displacement, the byte data received by the ground measurement and control station is inconsistent with the actual output of the satellite, as shown in fig. 4. The telemetry data source code is composed of a synchronization code and a data field. The telemetering data source code which is not subjected to bit stream synchronization preprocessing and the telemetering data source code output by the satellite have bit offset and need to be corrected. Determining bit offset by adopting synchronous code comparison, shifting bit stream data, and recovering a correct telemetering data source code;
typically, the telemetry frame is L (L128, 256, 512, etc.) bytes long, the synchronization code is k (2 ≦ k ≦ 4) bytes long, and the synchronization code is located at the head or tail of the frame. Determining the bit offset S and performing bit stream synchronization, as shown in fig. 5, the flow is as follows:
(1) the synchronous code is subjected to non-cyclic left shift to generate a mask code and a comparison characteristic code
After shifting, the number of the synchronization code bytes is k +1, and the shift number is: 0. 1, 2,3, …, 7, generating 8 groups of masks and comparison feature codes; assuming that the synchronization code is 2 bytes (0xEB90), 8 sets of mask and alignment signatures of 3 bytes are generated;
masking: 0x00FFFF
Comparing the feature codes: {0x00, 0xEB, 0x90}
masking: 0x01FFFE
Comparing the feature codes: {0x01, 0xD7, 0x20}
Group 2, left displacement amount is 2:
masking: 0x03FFFC
Comparing the feature codes: {0x03, 0xAE, 0x40}
Group 3, left shift amount 3:
masking: 0x07FFF8
Comparing the feature codes: {0x07, 0x5C, 0x80}
…
Group 7, left displacement amount 7:
masking: 0x7FFF80
Comparing the feature codes: {0x75, 0xC8, 0x00}
(2) Judging the comparison feature code and determining the bit offset S
Extracting data source codes byte by byte sequentially, carrying out AND operation on the data source codes and the mask codes in sequence, judging and comparing the feature codes, and determining a bit offset S after the judgment is consistent;
(3) sequentially performing bit left shift S operation on bit stream data
Recovering the source code of the telemetering data frame by frame in sequence;
(4) determining correctness of recovered telemetry data source code frame synchronization word
If the synchronous word comparison fails, turning to the step (2); if the comparison of the synchronous words is correct, the step (5) is carried out after the output;
(5) judging whether the bit stream synchronous preprocessing is finished
If the data frame still exists in the buffer area, the step (3) is carried out; if so, exit.
(III) inter-satellite telemetry splitting
For the downloaded inter-satellite telemetry data source codes, dividing the telemetry frame into telemetry data source codes of a target satellite according to target satellite identification words in a source code frame structure, and outputting the telemetry data source codes according to a target satellite telemetry frame format;
single star telemetry frame format normalization
Carrying out preprocessing such as frame sequencing, bit stream synchronization, inter-satellite telemetry splitting and the like on telemetry source codes downloaded by different measurement and control systems, and then carrying out format normalization processing according to a single-satellite telemetry frame; the normalization processing is to adjust the frame length, frame synchronization word, time stamp and other information of the source code of the telemetering data; after normalization processing is carried out on the telemetering data source codes under different ground stations and different measurement and control systems, the length of the telemetering frame and the data structure are consistent.
Step 3, single-star telemetering parameter analysis processing
The preprocessed telemetering data source codes are classified according to satellites, and telemetering parameter analysis is achieved; the telemetry parameter analysis process of each satellite is independently carried out; extracting a telemetry packet from a telemetry frame according to the structural description of the single-satellite telemetry data source code, and analyzing the telemetry packet into telemetry parameters of a satellite state;
step 4, comprehensive optimization of single-satellite remote measurement processing results
Because the satellite telemetering is from different data sources, the telemetering parameter processing result is comprehensively optimized according to the tracking quality, the tracking starting time and the like of different measurement and control stations. When a plurality of measurement and control stations exist, the telemetry processing result output by the measurement and control station with higher tracking quality is preferentially selected; when the tracking quality of a plurality of measurement and control stations is proper, the telemetering processing result output by the measurement and control station with earlier tracking start time is preferentially selected; and outputting a single-satellite remote measuring and optimizing processing result, a single-satellite remote measuring and controlling station remote measuring processing result and the like to the outside according to needs.
Claims (6)
1. The comprehensive processing method of the multi-source heterogeneous telemetry data of the Beidou third satellite is characterized by comprising the following steps:
step 1, receiving multi-source telemetering data
According to the data source configuration, a receiving buffer area matched with the data source configuration is established, and satellite telemetering data source codes transmitted by each ground measurement and control station are received in real time;
step 2, telemetering data source code preprocessing
Extracting telemetry data source codes from a receiving buffer area, and preprocessing the telemetry data source codes according to different telemetry data structures and requirements, wherein the preprocessing comprises frame sequencing preprocessing, bit stream synchronization preprocessing, inter-satellite telemetry splitting preprocessing and single-satellite telemetry frame format normalization preprocessing;
step 3, single-star telemetering parameter analysis processing
The preprocessed telemetering data source codes are classified according to satellites, and telemetering parameter analysis is achieved; extracting a telemetry packet from a telemetry frame according to the structural description of the single-satellite telemetry data source code, and analyzing the telemetry packet into telemetry parameters of a satellite state;
step 4, comprehensive optimization of single-satellite remote measurement processing results
Because the satellite telemetering is from different data sources, the telemetering parameter processing result is comprehensively optimized according to the tracking quality and the tracking starting time of different measuring and controlling stations.
2. The multi-source heterogeneous telemetry data comprehensive processing method of the Beidou third satellite according to claim 1, wherein in the step 2, the frame sequencing preprocessing comprises: caching the telemetering data source codes received by the data processing system according to a frame mode, sequentially judging the telemetering frame count and the time stamp in a buffer area, and sequencing and outputting the received telemetering frames in real time;
the specific process is as follows:
(1) calculating current frame count, timestamp
The current frame count is determined by adding 1 to the previous frame count, and the current frame time is determined by adding the previous frame time to the telemetry frame period; the telemetering frame period is obtained by calculating the frame code rate and the frame length; if the calculation is the first calculation, using the frame count and the timestamp of the first frame data in the frame buffer area as the current frame count and the timestamp;
(2) judging whether a data frame with a frame count coincidence exists
Circularly traversing the data frames in the frame buffer area, and checking whether the data frames which are consistent with the current frame count exist; if yes, outputting the data frame and then turning to the step (1); if not, entering the step (3);
(3) determining whether a frame timestamp is expired
Taking 3-5 times of a telemetry data frame period as a judgment time delay to judge whether the time is overtime; if not, turning to the step (2); if so, entering the step (4);
(4) determining loss of a current data frame
Marking the data frame state of the current frame counting as lost and outputting;
(5) judging whether the frame ordering is finished
If the frame buffer area still has data frames and the processing is not finished, turning to the step (1); if the processing is finished, the process is finished.
3. The multi-source heterogeneous telemetry data comprehensive processing method of the Beidou third satellite according to claim 1, wherein in the step 2, the bit stream synchronization preprocessing comprises: determining the displacement amount by adopting synchronous code comparison, shifting the bit stream data, and recovering a correct telemetering data source code;
the specific process is as follows:
(1) the synchronous code is subjected to non-cyclic left shift to generate a mask code and a comparison characteristic code
After shifting, the number of the synchronization code bytes is k +1, and the shift number is: 0. 1, 2,3, …, 7, generating 8 groups of masks and comparison feature codes; assuming that the synchronous code is 2 bytes, generating 8 groups of mask codes with 3 bytes and comparison feature codes;
(2) judging the comparison feature code and determining the bit offset S
Extracting data source codes byte by byte sequentially, carrying out AND operation on the data source codes and the mask codes in sequence, judging and comparing the feature codes, and determining a bit offset S after the judgment is consistent;
(3) sequentially performing bit left shift S operation on bit stream data
Recovering the source code of the telemetering data frame by frame in sequence;
(4) determining correctness of recovered telemetry data source code frame synchronization word
If the synchronous word comparison fails, turning to the step (2); if the comparison of the synchronous words is correct, the step (5) is carried out after the output;
(5) judging whether the bit stream synchronous preprocessing is finished
If the data frame still exists in the buffer area, the step (3) is carried out; if so, exit.
4. The multi-source heterogeneous telemetry data comprehensive processing method of the Beidou third satellite according to claim 1, wherein in step 2, the inter-satellite telemetry is split into: and for the downloaded inter-satellite telemetry data source code, splitting the telemetry frame into the telemetry data source code of the target satellite according to the target satellite identification word in the source code frame structure, and outputting the telemetry data source code according to the target satellite telemetry frame format.
5. The multi-source heterogeneous telemetry data comprehensive processing method of the Beidou third satellite according to claim 1, wherein in step 2, the format of the single-satellite telemetry frame is normalized as follows: and for telemetering source codes downloaded by different measurement and control systems, carrying out preprocessing such as frame sequencing, bit stream synchronization, inter-satellite telemetering splitting and the like, and then carrying out format normalization processing according to a single-satellite telemetering frame.
6. The comprehensive processing method of the multi-source heterogeneous telemetry data of the Beidou third satellite according to claim 5, wherein in the step 2, the normalization processing is to adjust frame length, frame synchronization word and time stamp information of a telemetry data source code.
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Cited By (3)
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| CN113193905A (en) * | 2020-09-30 | 2021-07-30 | 中国科学院微小卫星创新研究院 | Telemetering packet data domain multiplexing method |
| CN113282685A (en) * | 2020-09-30 | 2021-08-20 | 中国科学院微小卫星创新研究院 | Tabulation-based satellite telemetry data system |
| CN116916192A (en) * | 2023-09-11 | 2023-10-20 | 长光卫星技术股份有限公司 | Satellite telemetry management method based on Beidou short message |
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