CN115801101B

CN115801101B - Telemetry scheduling method, device and storage medium based on virtual channel time slot

Info

Publication number: CN115801101B
Application number: CN202211387785.3A
Authority: CN
Inventors: 王佳增; 韩雍博
Original assignee: Galaxyspace Beijing Communication Technology Co ltd
Current assignee: Galaxyspace Beijing Communication Technology Co ltd
Priority date: 2022-11-07
Filing date: 2022-11-07
Publication date: 2023-06-20
Anticipated expiration: 2042-11-07
Also published as: CN115801101A

Abstract

The application discloses a telemetry scheduling method, a device and a storage medium based on virtual channel time slots, which are used for a spacecraft. The method comprises the following steps: receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on the sub-packet remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process; determining slot length information related to a slot length of the virtual channel; determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

Description

Telemetry scheduling method, device and storage medium based on virtual channel time slot

Technical Field

The present invention relates to the field of satellite telemetry, and in particular, to a telemetry scheduling method, apparatus and storage medium based on virtual channel time slots.

Background

The sub-packaging telemetry technology is a data transmission technology commonly applied to spacecrafts such as satellites, and the spacecrafts can transmit data of each application process to a ground system through a transmission layer in a sub-packaging telemetry mode. In the process of sub-packet telemetry, each application process generates a corresponding source packet according to telemetry data to be transmitted, then the source packets of different application processes are multiplexed and converted into transmission frames on a virtual channel, and then a spacecraft forms the virtual channel into a main channel and transmits data streams of the main channel to a ground system through a physical channel.

In this process, the spacecraft converts source packets from multiple application processes into transport frames on the same virtual channel. However, when a plurality of application processes request to transmit source packets at the same time, the source packets of the plurality of application processes collide because the virtual channel can only transmit transmission frames in a serial manner. Since a scheduling mechanism for coping with such a situation is not deployed on a spacecraft in the prior art, source packet collisions of a plurality of application processes cannot be reasonably handled.

Aiming at the technical problem that the spacecraft in the prior art cannot reasonably schedule the sub-packet telemetry transmission related to a plurality of application processes in the sub-packet telemetry process, no effective solution is proposed at present.

Disclosure of Invention

The embodiment of the disclosure provides a telemetry scheduling method, a device and a storage medium based on virtual channel time slots, which at least solve the technical problem that a spacecraft in the prior art cannot reasonably schedule a plurality of application process related subpacket telemetry transmissions in the subpacket telemetry process.

According to an aspect of an embodiment of the present disclosure, there is provided a telemetry scheduling method based on a packetized remote control virtual channel slot, for a spacecraft, including: receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on the sub-packet remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process; determining slot length information related to a slot length of the virtual channel; determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

According to another aspect of the embodiments of the present disclosure, there is also provided a storage medium including a stored program, wherein the method described above is performed by a processor when the program is run.

According to another aspect of the embodiments of the present disclosure, there is also provided a telemetry scheduling apparatus for a spacecraft based on a packetized remote control virtual channel slot, including: a transmission frame receiving module for receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on a packetized remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process; a time slot length determining module for determining time slot length information related to the time slot length of the virtual channel; the priority determining module is used for determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and a telemetry scheduling module for scheduling telemetry processes related to the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system through the telemetry processes.

According to another aspect of the embodiments of the present disclosure, there is also provided a telemetry scheduling apparatus for a spacecraft based on a packetized remote control virtual channel slot, including: a processor; and a memory, coupled to the processor, for providing instructions to the processor for processing the steps of: receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on the sub-packet remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process; determining slot length information related to a slot length of the virtual channel; determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

In the embodiment of the disclosure, a computing device of a spacecraft determines time slot length information related to a time slot length of a virtual channel corresponding to each application process in a sub-packet remote control process, and determines priority information of each application process in the sub-packet remote control process according to the time slot length information. And then in the sub-packaging telemetry process, the computing equipment of the spacecraft utilizes the priority information of each application process determined in the sub-packaging remote control process to schedule the application process using the same virtual channel to transmit the source packet, so that the situation that a plurality of application processes using the same virtual channel collide when transmitting the source packet can be effectively avoided. In addition, in the packet remote control process, there is a large correlation between the priority information of each application process and the priority information of each application process in the packet remote control process. For more important application processes, priority is required not only in the packet remote control process, but also in the packet remote control process. Therefore, the transmission of the source packet of each application process can be accurately scheduled in the sub-packet telemetry process by utilizing the priority information determined in the sub-packet telemetry process. Therefore, the technical problem that the spacecraft in the prior art cannot reasonably schedule the sub-packet telemetry transmission related to a plurality of application processes in the sub-packet telemetry process is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and do not constitute an undue limitation on the disclosure. In the drawings:

FIG. 1 is a block diagram of a hardware architecture of a computing device for implementing a method according to embodiment 1 of the present disclosure;

FIG. 2A is a schematic diagram of a satellite remote telemetry system according to embodiment 1 of the present disclosure;

FIG. 2B is a hierarchical structure of a sub-packaging remote control system for uploading data from a ground system to a spacecraft in a satellite remote control telemetry system according to embodiment 1 of the present disclosure;

FIG. 2C is a telemetry data flow diagram of a sub-packet telemetry system for transmitting telemetry data from a spacecraft to a surface system in a satellite remote telemetry system according to embodiment 1 of the present disclosure;

fig. 3 is a flow chart of a telemetry scheduling method based on a packetized remote control virtual channel slot according to a first aspect of embodiment 1 of the present disclosure;

fig. 4A is a schematic diagram illustrating a time slot distribution of virtual channels divided over physical channels in a packet remote control process according to the present disclosure;

fig. 4B is a schematic diagram showing a remote control transmission frame corresponding to a plurality of application processes transmitted through a virtual channel in a packetized remote control process according to the present embodiment;

Fig. 5 is a schematic diagram showing a data format of a remote control transmission frame transmitted in a virtual channel in a packetized remote control process;

FIG. 6 is a schematic diagram showing a specific flow of a telemetry scheduling method according to the present embodiment;

fig. 7 is a schematic diagram of a telemetry scheduler based on a packetized remote control virtual channel slot according to embodiment 2 of the present disclosure; and

fig. 8 is a schematic diagram of a telemetry scheduler based on a packetized remote control virtual channel slot according to embodiment 3 of the present disclosure.

Detailed Description

In order to better understand the technical solutions of the present disclosure, the following description will clearly and completely describe the technical solutions of the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely embodiments of a portion, but not all, of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.

It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

According to the present embodiment, there is provided a method embodiment of a telemetry scheduling method based on packetized remote control of virtual channel slots, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown or described herein.

The method embodiments provided by the present embodiments may be performed in a computing device of a spacecraft, such as a satellite. Fig. 1 shows a block diagram of a hardware architecture of a computing device for implementing a method of telemetry scheduling based on packetized remote control virtual channel slots. As shown in fig. 1, the computing device may include one or more processors (which may include, but are not limited to, a microprocessor MCU, a processing device such as a programmable logic device FPGA), memory for storing data, transmission means for communication functions, and input/output interfaces. Wherein the memory, the transmission device and the input/output interface are connected with the processor through a bus. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computing device may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

It should be noted that the one or more processors and/or other data processing circuits described above may be referred to herein generally as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computing device. As referred to in the embodiments of the present disclosure, the data processing circuit acts as a processor control (e.g., selection of the variable resistance termination path to interface with).

The memory may be used to store software programs and modules of application software, such as a program instruction/data storage device corresponding to the telemetry scheduling method based on the packetized remote control virtual channel time slot in the embodiment of the disclosure, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the telemetry scheduling method based on the packetized remote control virtual channel time slot for implementing the application program. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the computing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission means is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communications provider of the computing device. In one example, the transmission means comprises a network adapter (Network Interface Controller, NIC) connectable to other network devices via the base station to communicate with the internet. In one example, the transmission device may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.

It should be noted herein that in some alternative embodiments, the computing device shown in FIG. 1 described above may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that fig. 1 is only one example of a particular specific example and is intended to illustrate the types of components that may be present in the computing devices described above.

Fig. 2A is a schematic diagram of a satellite remote control and measurement system according to the present embodiment. The system comprises: the ground system 200 and the spacecraft 100 (e.g., satellite, etc.), wherein the ground system 200 transmits remote control application data to the spacecraft 200 via a physical channel between the ground system 200 and the spacecraft 100 by means of a packet remote control. In addition, the spacecraft 100 receives remote control application data transmitted from the surface system 200 and transmits telemetry data to the surface system 200 by means of packetized telemetry. Wherein both the ground system 200 and the computing device of the spacecraft 100 are adapted for the hardware architecture shown in fig. 1.

Fig. 2B shows a hierarchical structure of a subcontracting remote control system for uploading data from the ground system 200 to the spacecraft 100. Referring to fig. 2B, the hierarchical structure of the packet remote control system includes a wrapper layer, a segmentation layer, a transport layer, a channel coding layer, and a physical layer. In the ground system (i.e. the transmitting end), after the packet header is added to the packaging layer, the remote control application data forms a remote control packet (i.e. a remote control user data unit). The remote control packet is segmented at the segmentation level, and then a remote control segment (i.e., a remote control frame data unit) is formed by adding a segment header. At the transmission layer, the remote control frame data unit is put into the data field of the remote control transmission frame, and the front part is provided with a frame head, and the rear part is optionally provided with an error control code as a frame tail. At the channel coding layer, a remote control transmission frame is block coded into a series of fixed length code blocks, which have error correction and detection capabilities. And, the block code sequence is repackaged into a remote control channel transmission unit, each of which may contain one or more remote control transmission frames. Finally, at the physical layer, the remote control channel transmission units are modulated onto a physical channel and sent to the spacecraft. And the spacecraft (i.e. the receiving end) completes the reverse process of the operation.

Fig. 2C shows a telemetry data flow diagram of a packetized telemetry system that transmits telemetry data from spacecraft 100 to surface system 200. Referring to FIG. 2C, in a packetized telemetry process, a plurality of application processes (e.g., APP_1-APP_n) deployed on a spacecraft generate source packets from telemetry data to be transmitted to a surface system.

The computing device of the spacecraft then generates a transport frame for transmission in virtual channels 0-1 from the source packets. And referring to fig. 2C, source packets generated by a plurality of application processes may be transmitted through the same virtual channel. For example, source packets of application processes app_0-app_2 may be transmitted over virtual channel 0, source packets of application processes app_3-app_5 may be transmitted over virtual channel 1, and so on.

The computing device of the spacecraft then composes the plurality of virtual channels 0-m into a primary channel to generate a transport frame synchronization data stream suitable for transmission over the physical channel and transmits to the ground system over the physical channel.

The ground system completes the reverse process of the above operation and transmits the telemetry data to the corresponding SINK processes SINK_0 to SINK_w.

In the above-described operating environment, according to a first aspect of the present embodiment, there is provided a telemetry scheduling method based on a packetized remote virtual channel slot, the method being implemented by a computing device of a spacecraft 100 shown in fig. 2A. Fig. 3 shows a schematic flow chart of the method, and referring to fig. 3, the method includes:

s302: receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on the sub-packet remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process;

S304: determining slot length information related to a slot length of the virtual channel;

s306: determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and

s308: scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

In particular, referring to FIG. 2A, a computing device of spacecraft 100 receives remote control application data from a ground system and obtains remote control transmission frames associated with the remote control application data at a transmission layer. Wherein, at the transport layer shown in fig. 2A, the remote control transport frames of the surface system 200 are transported to the spacecraft 100 through virtual channels (it should be noted here that the packetized remote control technology also transports remote control transport frames destined for the spacecraft 100 through virtual channels. This virtual channel is a virtual channel applied to a different scenario than the one employed in the packetized telemetry system shown in fig. 2B).

And for different application processes app_1-app_n deployed on different spacecraft 100, the computing device of the ground system transmits the remote control transmission frame to spacecraft 100 through different virtual channels.

For example, during the transfer, the ground system simultaneously transmits remote control application data to the application processes app_2 to app_5 of the spacecraft. In this case, the computing device of the terrestrial system builds virtual channels vc_0 to vc_3 at the transport layer. Wherein, the virtual channel VC_0 corresponds to the application process APP_2 and is used for transmitting a remote control transmission frame corresponding to the APP_2; the virtual channel VC_1 corresponds to the application process APP_3 and is used for transmitting a remote control transmission frame corresponding to the APP_3; similarly, the virtual channel vc_3 is used to transmit a remote control transfer frame corresponding to the application process app_5.

Fig. 4A is a schematic diagram showing a time slot distribution of virtual channels vc_0 to vc_3 divided on a physical channel in the packet remote control process according to the present embodiment. Referring to fig. 4A, according to the present technical solution, a computing device of a ground system divides a physical channel into a plurality of virtual channels in a time division manner, so as to realize remote control application data sharing of a same physical channel in a plurality of application processes.

Fig. 4B is a schematic diagram showing a remote control transmission frame corresponding to a plurality of application processes transmitted through a virtual channel in the packetizing remote control process according to the present embodiment. Referring to fig. 4B, a remote control transmission frame tf_2 corresponding to the application process app_2 is transmitted through the virtual channel vc_0, thereby transmitting the remote control transmission frame tf_2 in a time slot with the virtual channel vc_0; the remote control transmission frame TF_3 corresponding to the application process APP_3 is transmitted through the virtual channel VC_1, so that the remote control transmission frame TF_3 is transmitted in a time slot corresponding to the virtual channel VC_1; the remote control transmission frame TF_4 corresponding to the application process APP_4 is transmitted through the virtual channel VC_2, so that the remote control transmission frame TF_4 is transmitted in a time slot corresponding to the virtual channel VC_2; the remote control transmission frame tf_5 corresponding to the application process app_5 is transmitted through the virtual channel vc_3, so that the remote control transmission frame tf_5 is transmitted in a time slot corresponding to the virtual channel vc_3.

The computing device of spacecraft 100 may thus receive remote control transfer frames tf_2 to tf_5 corresponding to application processes app_2 to app_5 through virtual channels vc_0 to vc_3 (S302).

Further, referring to fig. 2A, when remote control application data is to be added by the packetized remote control technique, the ground system 200 may determine the slot lengths of the respective virtual channels according to priorities of different application processes, for example. Therefore, as shown with reference to fig. 4A and 4B, according to the present embodiment, the slot lengths of the respective virtual channels vc_0 to vc_3 are not identical. Wherein the length of the virtual channel vc_0 is longest and the slot length of the virtual channel vc_3 is shortest. Thus, the computing device of spacecraft 100 may determine slot length information related to the slot lengths of the respective virtual channels vc_0 to vc_3 in the course of receiving the remote control transfer frames tf_2 to tf_5 (S304). The time slot length information may be, for example, the time slot length of each virtual channel vc_0 to vc_3, or may be a ratio of the time slot lengths of each virtual channel vc_0 to vc_3.

As described above, when the ground system 200 uploads remote control application data by the packetized remote control technique, for example, the slot lengths of the respective virtual channels may be determined according to priorities of different application processes. Therefore, according to the present embodiment, the slot lengths of the virtual channels vc_0 to vc_3 can reflect the priorities of the respective application processes app_2 to app_5 in the packet remote control process. For example, according to an alternative aspect of the present embodiment, the higher the priority in the packet remoting process, the longer the slot length of its virtual channel. For example, referring to fig. 4A, the priority of application process app_2 is highest, and thus the slot length of virtual channel vc_0 is longest, and the priority of application process app_5 is lowest, and thus the slot length of virtual channel vc_3 is shortest. The computing device of the spacecraft 100 can thus determine the priority information of the application processes app_2 to app_5 in the packetizing remote control process according to the slot length information of the virtual channels vc_0 to vc_3 (S306).

Then, referring to fig. 2C, in the packet telemetry, source packets generated in the application processes app_3 to app_5 are transmitted through the same virtual channel 2. The source packets of app_3-app_5 collide during transmission over virtual channel 2.

Therefore, according to the technical solution of the present embodiment, the computing device of the spacecraft 100 schedules the telemetry process according to the priority information of each application process app_3 to app_5 determined in the packetizing remote control process (S308). For example, the priority information determined by each of the application processes app_3 to app_5 in the remote control process may be used as the priority information of the application processes app_3 to app_5 in the telemetry process, and the source packets generated by the application processes app_3 to app_5 may be input into the virtual channel 1 according to the priority information.

As described in the background, in the packetization telemetry process, the spacecraft converts source packets from multiple applications into transport frames on the same virtual channel. However, when a plurality of application processes request to transmit source packets at the same time, the source packets of the plurality of application processes collide because the virtual channel can only transmit transmission frames in a serial manner. Because the scheduling mechanism for coping with such a situation is not deployed on the spacecraft in the prior art, the technical problem of source packet collision of a plurality of application processes cannot be reasonably handled.

In view of this, according to the technical solution of the present disclosure, the computing device of the spacecraft 100 determines time slot length information related to the time slot length of the virtual channel corresponding to each application process during the sub-packet remote control, and determines priority information of each application process during the sub-packet remote control according to the time slot length information. Then, in the packet telemetry process, the computing device of the spacecraft 100 schedules the application process using the same virtual channel to transmit the source packet by using the priority information of each application process determined in the packet telemetry process, so as to effectively avoid the situation that a plurality of application processes using the same virtual channel collide when transmitting the source packet. In addition, there is a great correlation between the priority information of each application process in the packet remote control process and the priority information of each application process in the packet remote control process. For more important application processes, priority is required not only in the packet remote control process, but also in the packet remote control process. Therefore, the transmission of the source packet of each application process can be accurately scheduled in the sub-packet telemetry process by utilizing the priority information determined in the sub-packet telemetry process. Therefore, the technical problem that the spacecraft in the prior art cannot reasonably schedule the sub-packet telemetry transmission related to a plurality of application processes in the sub-packet telemetry process is solved.

Optionally, the operation of scheduling telemetry processes related to the application process according to the priority information includes: and inputting the source packet generated in the telemetry process of the application process into a virtual channel corresponding to the application process according to the priority information.

Specifically, as described above, the computing device of the spacecraft 100 may use the priority information determined by each of the application processes app_3 to app_5 in the remote control process as the priority information of the application processes app_3 to app_5 in the telemetry process, and input the source packets generated by the application processes app_3 to app_5 into the virtual channel 1 according to the priority information. Therefore, the problem that a plurality of application processes sharing the same virtual channel in the packetization telemetry process generate conflict when the generated source packet is input into the virtual channel is effectively solved.

Optionally, the operation of determining the slot length information related to the slot length of the virtual channel includes: acquiring a remote control transmission frame transmitted in one time slot of a virtual channel; determining a first remote control transmission frame and a last remote control transmission frame transmitted in a time slot according to the acquired frame sequence number of the remote control transmission frame and the virtual channel identification word; and determining time slot length information according to the time information related to the first remote control transmission frame and the last remote control transmission frame.

Specifically, fig. 5 shows a data format of a remote control transmission frame transmitted in a virtual channel in a packetized remote control process. Referring to fig. 5, fields of "frame sequence number" and "virtual channel identification word" are provided in the master header of the remote control transmission frame. Wherein the "frame sequence number" is used to record the order of the remote control transmission frames in the virtual channel. The virtual channel identification word is used for recording the identification of the virtual channel corresponding to the remote control transmission frame.

Thus, after the computing device of the spacecraft 100 receives the remote control transmission frame at the transmission layer, the computing device may acquire the remote control transmission frame in one time slot according to the virtual channel identification word of the remote control transmission frame. Referring specifically to fig. 4B, the "virtual channel identification word" for all remote control transmission frames in the virtual channel vc_0 corresponds to the virtual channel vc_0. So that a remote control transmission frame within one slot of the virtual channel vc_0 can be determined. The remote control transmission frame within one slot may also be determined in a similar manner for the other virtual channels vc_1 to vc_3.

The computing device of spacecraft 100 may then determine the first and last remote control transfer frames within a time slot based on the field "frame sequence number" of each remote control transfer frame. For example, the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_0 are determined, the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_1 are determined, the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_2 are determined, and the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_3 are determined.

The computing device of spacecraft 100 then gathers time information associated with the first and last remote control transfer frames to determine the slot length. For example, the computing device of spacecraft 100 may determine the arrival time of each remote control transfer frame. Thus, the time slot length information of one time slot of the virtual channel vc_0 may be determined according to the arrival times of the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_0, the time slot length information of one time slot of the virtual channel vc_1 may be determined according to the arrival times of the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_2, the time slot length information of one time slot of the virtual channel vc_2 may be determined according to the arrival times of the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_3, and the time slot length information of one time slot of the virtual channel vc_3 may be determined according to the arrival times of the first remote control transmission frame and the last remote control transmission frame of the virtual channel vc_1. Thus, in the above manner, the present disclosure can quickly and accurately determine slot length information of one slot of a virtual channel in an easy manner.

Optionally, determining the priority information corresponding to the application process according to the time slot length information of the virtual channel includes: determining a first weight value of time slot length information of a virtual channel; and determining priority information corresponding to the corresponding application process of the virtual channel according to the first weight value.

Specifically, the computing device of spacecraft 100 has determined, for example, that the slot length information of virtual channel vc_0 is T ₀ Time slot length information of virtual channel VC_1 is T (unit seconds) ₁ Time slot length information of virtual channel vc_2 (in seconds) is T ₂ Time slot length information of virtual channel vc_3 (in seconds) is T ₃ (in seconds).

Then, the computing device of spacecraft 100 calculates the time slot length information T according to the virtual channels VC_0-VC_3 ₀ ～T ₃ Determining a first weight value w corresponding to VC_0-VC_3 _1,0 ～w _1,3 . Wherein the weight value w _1,0 Is the first weight value corresponding to the virtual channel VC_0, the weight value w _1,1 Is the first weight value corresponding to the virtual channel VC_1, the weight value w _1,2 Is the first weight value corresponding to the virtual channel VC_2, the weight value w _1,3 Is a first weight value corresponding to the virtual channel VC 3.

And wherein w is _1,0 ：w _1,1 ：w _1,2 ：w _1,3 ＝T ₀ ：T ₁ ：T ₂ ：T ₃ . Wherein, for example, w _1,0 、w _1,1 、w _1,2 And w _1,3 For the values after normalization operation. The specific calculation formula is as follows:

wherein i=0 to 3.

The computing device of the spacecraft 100 then follows the first weight value w _1,0 ～w _1,3 Determining priority information P corresponding to application processes APP_2-APP_5 ₂ ～P ₅ . Wherein the priority information P ₂ For example, the score corresponding to the priority of application app_2; priority information P ₃ For example, the score corresponding to the priority of application app_3; priority information P ₄ For example, the score corresponding to the priority of application app_4; priority information P ₅ For example, the priority corresponding score of application app_5. And, w _1,0 ：w _1,1 ：w _1,2 ：w _1,3 ＝P ₂ ：P ₃ ：P ₄ ：P ₅ . Wherein P is ₂ ～P ₅ The higher the score in (c), the higher the priority of the corresponding application. So that a person skilled in the art can based on the priority information P ₂ ～P ₅ The proportional relation between the two is multiplied by the same reference score, thereby determining the priority information P ₂ ～P ₅ The specific score corresponding to the score. The reference score may be set according to actual situations, and will not be described herein.

In this way, the embodiment of the disclosure can quickly and accurately determine the priority of each application process according to the time slot information of the virtual channel in the sub-packet remote control process.

Optionally, determining the priority information corresponding to the application process according to the time slot length information of the virtual channel includes: determining a first weight value of time slot length information of a virtual channel; determining the transmission data quantity of remote control application data corresponding to an application process and transmitted by a virtual channel; determining a second weight value corresponding to the application process according to the first weight value and the transmission data quantity; and taking the second weight value as priority information corresponding to the application process.

Specifically, according to another case of the present disclosure, when the computing device of the ground system 200 transmits the remote control transmission frame to the spacecraft 100, not only the slot length of the corresponding virtual channel is set according to the priority of the application process, but also the slot length of the virtual channel corresponding to the application process is determined in consideration of the priority of the application process and the data amount of the remote control application data corresponding to the application process.

For example, the computing device of the ground system 200 may first determine the data amount DS of remote control application data corresponding to application processes APP_2-APP_5 in the packet remote control process ₂ ～DS ₅ . Wherein DS is ₂ Is the data volume of the remote control application data corresponding to the application process app_2; DS (DS) ₃ Is the data volume of remote control application data corresponding to the application process app_3; DS (DS) ₄ Is the data volume of remote control application data corresponding to the application process app_4; DS (DS) ₅ Is the data amount of remote control application data corresponding to the application process app_5.

The computing device of the ground system 200 may then rely on the priority information P ₂ ～P ₅ Determining the data quantity DS ₂ ～DS ₅ Corresponding data amount weight value wd ₂ ～wd ₅ . Wherein wd is ₂ ～wd ₅ May be P ₂ ～P ₅ The specific calculation formula of the weighted value after normalization processing is as follows:

Wherein j=2 to 5

The computing device of the surface system 200 then weights the value wd according to the data amount ₂ ～wd ₅ And data volume DS ₂ ～DS ₅ Determining a weighted data quantity WDS corresponding to each application process APP_2-APP_5 ₂ ～WDS ₅ ：

WDS _j ＝wd _j *DS _j Formula (3)

Where j=2 to 5.

Then according to the weighted data quantity WDS ₂ ～WDS ₅ Determining the time slot length T of each virtual channel VC_0-VC_3 ₀ ～T ₃ Weight value (i.e. first weight value) w _1,0 ～w _1,3 . Wherein w is _1,0 ～w _1,3 For WDS ₂ ～WDS ₅ And carrying out normalization calculation on the numerical values.

I.e. w _1,0 ：w _1,1 ：w _1,2 ：w _1,3 ＝WDS ₂ ：WDS ₃ ：WDS ₄ ：WDS ₅ And w is _1,0 ：w _1,1 ：w _1,2 ：w _1,3 The sum is 1.

The computing device of the ground system 200 then follows the first weight value w _1,0 ～w _1,3 Determining time slot length information T corresponding to each virtual channel ₀ ～T ₃ 。

In this case, therefore, during telemetry, the computing device of spacecraft 100 is determining priority information P of each application app_2-app_5 ₂ ～P ₅ In the process of (1), firstly, determining the time slot length T of virtual channels VC_0-VC_3 corresponding to each application process APP_2-APP_5 in the process of packet remote control ₀ ～T ₃ Weight value (i.e. first weight value) w _1,0 ～w _1,3 。

Then, the computing device of the spacecraft further determines the data quantity DS corresponding to the respective application processes APP_2 to APP_5 transmitted through the virtual channels VC_0 to VC_3 in the process of the packetized remote control ₂ ～DS ₅ 。

The spacecraft computing device may then calculate a second weight value w corresponding to each application process app_2-app_5 according to the following formula _2,2 ～w _2,5 ：

w _2,2 ＝w _1,0 /DS ₂ Formula (4)

w _2,3 ＝w _1,1 /DS ₃ Formula (5)

w _2,4 ＝w _1,2 /DS ₄ Formula (6)

w _2,5 ＝w _1,3 /DS ₅ Formula (7)

The computing device of the spacecraft 100 then follows the second weight value w _2,2 ～w _2,5 Determining priority information P corresponding to application processes APP_2-APP_5 ₂ ～P ₅ . Wherein the priority information P ₂ For example, the score corresponding to the priority of application app_2; priority information P ₃ For example, the score corresponding to the priority of application app_3; priority information P ₄ For example, the score corresponding to the priority of application app_4; priority information P ₅ For example, the priority corresponding score of application app_5. And, w _2,2 ：w _2,3 ：w _2,4 ：w _2,5 ＝P ₂ ：P ₃ ：P ₄ ：P ₅ . Wherein P is ₂ ～P ₅ The higher the score in (c), the higher the priority of the corresponding application. So that a person skilled in the art can based on the priority information P ₂ ～P ₅ The proportional relation between the two is multiplied by the same reference score, thereby determining the priority information P ₂ ～P ₅ The specific score corresponding to the score. The reference score may be set according to actual situations, and will not be described herein.

Thus, according to the technical solution of the present disclosure, in the process of transmitting remote control application data to the spacecraft 100 by the ground system 200 through the packetized remote control, the priority of each application process app_2 to app_5 and the data size DS of the corresponding remote control application data are determined ₂ ～DS ₅ To determine the slot length T of each virtual channel VC_0-VC_3 ₀ ～T ₃ Therefore, it is possible to more efficiently transmitAnd inputting remote control application data. Correspondingly, the computing equipment of the spacecraft calculates the time slot length information T of the virtual channels VC_0-VC_3 corresponding to the application processes APP_2-APP_5 in the sub-packet remote control process ₀ ～T ₃ And data volume DS ₂ ～DS ₅ To determine the priority information P of the respective application processes APP_2 to APP_5 ₂ ～P ₅ Therefore, the priorities of the application processes APP_2 to APP_5 can be calculated more accurately, and the transmission efficiency of the virtual channel can be improved in the packet telemetry process.

Optionally, the operation of determining the second weight value corresponding to the application process according to the first weight value and the transmission data amount includes: and determining a second weight value according to the ratio between the first weight value and the transmission data quantity.

As shown in the above formulas (4) to (7), the computing device of the spacecraft 100 determines the second weight value according to the ratio between the first weight value and the transmission data amount. Therefore, the priority of each application process determined according to the second weight value can reflect the real situation of each application process more accurately, and the transmission efficiency in the telemetry process is improved.

Optionally, determining the priority information corresponding to the application process according to the time slot length information of the virtual channel includes: determining a weight value of time slot length information of a virtual channel; determining the transmission data quantity of remote control application data corresponding to an application process and transmitted by a virtual channel; according to the weight value and the transmission data quantity, determining candidate scores corresponding to all application processes from a plurality of preset candidate scores as priority scores corresponding to all application processes; and determining priority information corresponding to the application process according to the priority score.

Specifically, according to the technical solution of the present disclosure, a plurality of candidate scores S may be preset ₁ ～S _m . For example, m=4 may be taken in the present embodiment, and S ₁ ＝4，S ₂ ＝3，S ₃ =2 and S ₄ =1. Of course, m may take other values, and the candidate score S _j (j=1 to m) other integral values may be adopted. The setting may be made according to the specific circumstances.

According to the technical solution described above, the computing device of spacecraft 100 determines the priority information P of each application process app_2 to app_5 ₂ ～P ₅ In the process of (1), firstly, determining the time slot length T of virtual channels VC_0-VC_3 corresponding to each application process APP_2-APP_5 in the process of packet remote control ₀ ～T ₃ Weight value w of (2) _1,0 ～w _1,3 . And the weight value w _1,0 ～w _1,3 As time slot weight values wt corresponding to application processes APP_2-APP_5, respectively ₂ ～wt ₅ 。

Wherein, wt ₂ ＝w _1,0 ；wt ₃ ＝w _1,1 ；wt ₄ ＝w _1,2 ；wt ₅ ＝w _1,3 。

The computing device of spacecraft 100 then further determines the data quantity DS corresponding to the respective application processes app_2-app_5 transmitted over the virtual channels vc_0-vc_3 in the packetized remote control process ₂ ～DS ₅ 。

Then, the computing device of spacecraft 100 calculates the time slot weight value wt of the application processes APP_2-APP_5 ₂ ～wt ₅ Data volume DS ₂ ～DS ₅ Determining feature vectors corresponding to the application processes APP_2-APP_5:

wherein i=2 to 5.

Substituting the feature vector into the following formula to determine the candidate scores S of the application processes APP_2-APP_5 _j Probability value between:

wherein P is _ij Representing the application process APP_i relative to the candidate score S _j Probability values of (a) are provided. Wherein i=2 to 5,j =1 to m.

For example, for application process APP_2, its and respective candidate scores S may be determined _j Probability P between _2j (j=1 to m), for the application process app_3, it can be determined with the respective candidate score S _j Probability P between _3j (j=1 to m), and so on, for the application process app_5, it can be determined with each candidate score S _j Probability P between _5j (j＝1～m)。

Then, for application app_2, from the probability value P _2j Selecting a candidate score corresponding to the maximum probability value from (j=1 to m) as a priority score N corresponding to the application process APP_2 ₂ . For example, when the probability value P ₂₂ At maximum, selecting corresponding candidate score S ₂ As a priority score N corresponding to application APP_2 ₂ 。

For application app_3, from probability value P _3j (j=1-m), selecting the candidate score corresponding to the maximum value as the priority score N corresponding to the application process APP_3 ₃ . For example, when the probability value P ₃₁ At maximum, selecting corresponding candidate score S ₁ As a priority score N corresponding to application APP_3 ₃ 。

And so on, for application process app_5, from probability value P _5j (j=1-m), selecting the candidate score corresponding to the maximum value as the priority score N corresponding to the application process APP_5 ₅ . For example, when the probability value P ₅₃ At maximum, selecting corresponding candidate score S ₃ As a priority score N corresponding to application APP_5 ₅ 。

Thus, by the above manner, the priority scores N corresponding to the respective application processes APP_2 to APP_5 can be determined ₂ ～N ₅ . And then can be based on the priority score N ₂ ～N ₅ Determining priority information P of application processes APP_2-APP_5 ₂ ～P ₅ . For example, the more priority scoresThe higher the priority information representing the corresponding application process.

And about the parameter A shown in formula (9) _j ＝[a _j1 ,a _j2 ,a _j3 ]Training may be performed using a gradient descent method. The following is given by parameter A ₁ ＝[a ₁₁ ,a ₁₂ ,a ₁₃ ]The following description is given for the sake of example:

first, a sample set is constructed, wherein sample set specific information is shown in the following table 1:

TABLE 1

Each sample Sa in the sample set _i Is a slot weight wts of (b) _i And data length dss _i Are sequentially substituted into the following formulas (10) and (11), and calculated for each sample Sa _i Relative to candidate score S ₁ Is a predictive probability value P of (1) _i 。

Sample Sa _i Corresponding priority score NS _i And candidate score S ₁ Comparing, when NS _i Corresponding to candidate score S ₁ When it is, sample Sa _i Relative to candidate score S ₁ Is 1, otherwise taking sample Sa _i Relative to candidate score S ₁ Is 0.

According to sample Sa _i Relative to candidate score S ₁ Actual probability and predicted probability values of (a)Performing inverse gradient calculation on the parameter A ₁ ＝[a ₁₁ ,a ₁₂ ,a ₁₃ ]Training is performed until the inverse gradient function converges.

For other parameters A _j ＝[a _j1 ,a _j2 ,a _j3 ]The training may be performed with reference to the above method, and will not be described here again.

Further, referring to fig. 1, according to a second aspect of the present embodiment, there is provided a storage medium. The storage medium includes a stored program, wherein the method of any one of the above is performed by a processor when the program is run.

Further, fig. 6 shows a specific flowchart of a telemetry scheduling method according to the present embodiment, which is implemented by the computing devices of the ground system 200 and the spacecraft 100 (hereinafter simply referred to as the ground system 200 and the spacecraft 100). Referring to fig. 6, the telemetry scheduling method includes:

s602: the ground system 200 sets the time slot length of virtual channels VC_0-VC_3 based on the packet remote control according to the priority information of the application processes APP_2-APP_5 in the packet remote control process;

S604: the ground system 200 transmits remote control transmission frames respectively corresponding to the application processes APP_2 to APP_5 to the spacecraft 100 through virtual channels VC_0 to VC_3;

s606: spacecraft 100 receives remote control transmission frames corresponding to application processes app_2 to app_5 through virtual channels vc_0 to vc_3;

s608: the spacecraft 100 determines the time slot length information of each virtual channel VC_0-VC_3 according to the true sequence number and the virtual channel identification word of the received remote control transmission frame;

s610: spacecraft 100 determines priority information of application processes app_2 to app_5 according to the determined slot length information;

s612: the spacecraft 100 acquires source packets of application processes APP_3 to APP_5 in a sub-packet telemetry process;

s614: spacecraft 100 inputs source packets of app_3 to app_5 to the same virtual channel 1 according to the determined priority information of app_3 to app_5.

In the embodiment of the disclosure, a computing device of a spacecraft determines time slot length information related to a time slot length of a virtual channel corresponding to each application process in a sub-packet remote control process, and determines a priority of each application process in the sub-packet remote control process according to the time slot length information. And then in the sub-packet telemetry process, the computing equipment of the spacecraft utilizes the priorities of all application processes determined in the sub-packet remote control process to schedule the application processes using the same virtual channel to transmit the source packets, so that the situation that a plurality of application processes using the same virtual channel collide when transmitting the source packets can be effectively avoided. In addition, in the packet remote control process, there is a large correlation between the priority of each application process and the priority of each application process in the packet telemetry process. For more important application processes, priority is required not only in the packet remote control process, but also in the packet remote control process. Therefore, the transmission of the source packet of each application process can be accurately scheduled in the sub-packet telemetry process by utilizing the priority determined in the sub-packet telemetry process. Therefore, the technical problem that the spacecraft in the prior art cannot reasonably schedule the sub-packet telemetry transmission related to a plurality of application processes in the sub-packet telemetry process is solved.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

Example 2

Fig. 7 shows a telemetry scheduler 700 based on packetized remote control of virtual channel timeslots according to the present embodiment, the apparatus 700 being for a spacecraft 100 and corresponding to the method according to the first aspect of embodiment 2. Referring to fig. 7, the apparatus 700 includes: a transmission frame receiving module 710 for receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on a packetized remote control, wherein the application process is deployed on a spacecraft and the virtual channel corresponds to the application process; a slot length determining module 720, configured to determine slot length information related to a slot length of the virtual channel; a priority determining module 730, configured to determine priority information corresponding to the application process according to the time slot length information of the virtual channel; and a telemetry scheduling module 740 for scheduling telemetry processes related to the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system through the telemetry processes.

Optionally, the telemetry scheduling module includes a source packet transmission sub-module, configured to input, according to the priority information, a source packet generated in the telemetry process by the application process into a virtual channel corresponding to the application process.

Optionally, the slot length determining module 720 includes: a remote control transmission frame acquisition sub-module for acquiring a remote control transmission frame transmitted in one time slot of the virtual channel; a first-end remote control transmission frame determining sub-module, configured to determine a first remote control transmission frame and a last remote control transmission frame transmitted in the one time slot according to the acquired frame sequence number and virtual channel identification word of the remote control transmission frame; and determining the time slot length information according to the time information related to the first remote control transmission frame and the last remote control transmission frame.

Optionally, the priority determining module 720 includes: a first weight determining sub-module, configured to determine a first weight value of slot length information of a virtual channel; and the first priority determining submodule is used for determining priority information corresponding to the corresponding application process of the virtual channel according to the first weight value.

Optionally, the priority determining module 720 includes: a first weight determination sub-module for determining a first weight value of the time slot length information of the virtual channel; the data volume determining sub-module is used for determining the transmission data volume of remote control application data corresponding to the application process and transmitted by the virtual channel; the second weight determining submodule is used for determining a second weight value corresponding to the application process according to the first weight value and the transmission data quantity; and the second priority determining submodule is used for determining priority information corresponding to the application process according to the second weight value.

Optionally, the second weight determination submodule includes: and the second weight determining unit is used for determining the second weight value according to the ratio between the first weight value and the transmission data quantity.

Example 3

Fig. 8 shows a telemetry scheduler 800 based on packetized remote control of virtual channel timeslots according to this embodiment, the apparatus 800 being for a spacecraft, corresponding to the method according to the first aspect of embodiment 1. Referring to fig. 8, the apparatus 800 includes: a processor 810; and a memory 820 coupled to the processor for providing instructions to the processor for processing the steps of: receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on the sub-packet remote control, wherein the application process is deployed on a spacecraft, and the virtual channel corresponds to the application process; determining slot length information related to a slot length of the virtual channel; determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

Optionally, determining the priority information corresponding to the application process according to the time slot length information of the virtual channel includes: determining a first weight value of time slot length information of a virtual channel; determining the transmission data quantity of remote control application data corresponding to an application process and transmitted by a virtual channel; determining a second weight value corresponding to the application process according to the first weight value and the transmission data quantity; and determining priority information corresponding to the application process according to the second weight value.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A telemetry scheduling method based on virtual channel time slots for a spacecraft, comprising:

receiving a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on a sub-packet remote control, wherein the ground system determines the time slot length of each virtual channel according to the priorities of different application processes, the application processes are deployed on the spacecraft, and the virtual channels correspond to the application processes;

determining slot length information related to a slot length of the virtual channel;

determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and

scheduling telemetry processes associated with the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the surface system via the telemetry processes.

2. The method of claim 1, wherein scheduling telemetry processes associated with the application process based on the priority information comprises: and inputting the source packet generated in the telemetry process by the application process into a virtual channel corresponding to the application process according to the priority information.

3. The method of claim 1, wherein determining slot length information related to the slot length of the virtual channel comprises:

acquiring a remote control transmission frame transmitted in one time slot of the virtual channel;

determining a first remote control transmission frame and a last remote control transmission frame transmitted in the time slot according to the acquired frame sequence number of the remote control transmission frame and the virtual channel identification word; and

and determining the time slot length information according to the time information related to the first remote control transmission frame and the last remote control transmission frame.

4. The method of claim 1, wherein determining priority information corresponding to the application procedures, respectively, based on the slot length information of the virtual channel, comprises:

determining a first weight value of time slot length information of the virtual channel; and

And determining priority information corresponding to the corresponding application process of the virtual channel according to the first weight value.

5. The method of claim 1, wherein determining priority information corresponding to the application procedures, respectively, based on the slot length information of the virtual channel, comprises:

determining a first weight value of time slot length information of the virtual channel;

determining the transmission data quantity of remote control application data corresponding to the application process transmitted by the virtual channel;

determining a second weight value corresponding to the application process according to the first weight value and the transmission data quantity; and

and determining priority information corresponding to the application process according to the second weight value.

6. The method of claim 5, wherein determining a second weight value corresponding to the application process based on the first weight value and the amount of transmission data comprises: and determining the second weight value according to the ratio between the first weight value and the transmission data quantity.

7. A storage medium comprising a stored program, wherein the method of any one of claims 1 to 6 is performed by a processor when the program is run.

8. A telemetry scheduling device based on virtual channel time slots for a spacecraft, comprising:

a transmission frame receiving module, configured to receive a remote control transmission frame corresponding to an application process from a ground system through a virtual channel based on a subcontracting remote control, where the ground system determines a time slot length of each virtual channel according to priorities of different application processes, the application processes are deployed on the spacecraft, and the virtual channels correspond to the application processes;

a time slot length information determining module, configured to determine time slot length information related to a time slot length of the virtual channel;

the priority determining module is used for determining priority information corresponding to the application process respectively according to the time slot length information of the virtual channel; and

and the telemetry scheduling module is used for scheduling telemetry processes related to the application processes according to the priority information, wherein the application processes transmit telemetry data to corresponding sink processes of the ground system through the telemetry processes.

9. The apparatus of claim 8, wherein the telemetry scheduling module includes a source packet transmission sub-module for inputting source packets generated by the application during the telemetry into a virtual channel corresponding to the application according to the priority information.

10. A telemetry scheduling device based on virtual channel time slots for a spacecraft, comprising:

a processor; and

a memory, coupled to the processor, for providing instructions to the processor to process the following processing steps:

receiving remote control transmission frames corresponding to application processes from a ground system through virtual channels based on the sub-packet remote control, wherein the ground system determines the time slot length of each virtual channel according to the priorities of different application processes; the application process is deployed on the spacecraft, and the virtual channel corresponds to the application process;