CN102866709B - Method for implementing in-orbit maneuvering imaging task of agile earth observing satellite - Google Patents
Method for implementing in-orbit maneuvering imaging task of agile earth observing satellite Download PDFInfo
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Abstract
The invention discloses a method for implementing an in-orbit maneuvering imaging task of an agile earth observing satellite. Command parameters required for maneuvering imaging are transmitted to a satellite by a user through a satellite-ground link; the satellite can generate a command set automatically; an on-satellite computer stores commands by adopting a two-dimensional index data structure of a task number and time information and simultaneously is matched with a program control data block which is noted on the ground surface and is used for an agile maneuvering task; and the operation of adding task, deleting the tasks, operating the tasks and interrupting the tasks are realized according to the requirements of a ground user. In addition, the on-satellite computer can perform backup and storage on the commands relative to the tasks through an internal emergency data recovery module, and the commands can be recovered after the on-satellite computer is reset or shut down, so that the overall satellite continuously executes the tasks according to a predetermined mode. By the method, the application performance of the satellite can be improved greatly with low cost; moreover, the capability of dealing with in-orbit urgent tasks and state change of the satellite can be enhanced; the dependence on ground surface measurement and control is reduce; and the safety and the reliability are improved.
Description
Technical field
The present invention relates to a kind of quick satellite motor-driven imaging task implementation method in-orbit, belong to the motor-driven technical field of imaging of quick satellite.
Background technology
The satellite of current model is when imaging task, there is no motor-driven action, camera subsystem on star is started shooting, takes pictures, is shut down by terrestrial user, and then by data down transmission, to ground receiving station, this procedure decomposition is the program control command performed according to chronological order by data transmission subsystem, and carry out encoding and formaing according to star ground communication format, note on when satellite passes by star, after On board computer receives, send instruction successively to subsystem each on star to complete imaging task according to time sequencing.
Quick and the high precision characteristic of the height of quick satellite needs the coordinated of multiple subsystems such as Star Service subsystem on star, appearance control subsystem, camera subsystem, data transmission subsystem, tracking-telemetry and command subsystem, need the instruction set of layout in quantity and complexity as compared with the past model greatly increase.In the past model with temporal information be only that the command operating mode of index is only applicable to that instruction number is less, the simple situation of relation between instruction, be difficult to realize the operation to complicated order set.Such as, when quick satellite is applied in-orbit, demand fulfillment user increases, deletes the demand of task at any time.Obviously, the instruction-level method of operating of model can not realize this purpose in the past.In addition, model resetted at On board computer or can not preserve the instruction of having noted on ground after cutting machine in the past, must rely on ground upper note again, at this moment can not realize the reliable continuous working of satellite imagery task.Therefore, the task problem of implementation that new method solves the motor-driven imaging in-orbit of quick satellite must be designed, strengthen the ability that satellite tackles hot job in-orbit and state change, reduce satellite to the dependence of ground observing and controlling.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of quick satellite motor-driven imaging task implementation method, complete the motor-driven imaging task of agility that satellite in the past cannot complete.
The technical solution used in the present invention is:
A kind of quick satellite motor-driven imaging task implementation method in-orbit, step is as follows:
(1) terrestrial user appearance control on quick Satellite, number are passed, camera and the motor-driven imaging of Star Service subsystem time telecommand form multiple instruction template according to the typical mode of operation of each subsystem and be stored in On board computer, afterwards terrestrial user is noted a kind of task operating instruction, described task operating instruction comprises adds assignment instructions, deletion assignment instructions, terminated task instruction and instruction of executing the task;
Add the parameter that assignment instructions comprises instruction in mission number, instruction template numbering and instruction template;
Delete in assignment instructions, terminated task instruction and instruction of executing the task and include mission number;
(2) On board computer receives in step (1) by after the task operating instruction that ground is noted, first decision instruction type, if interpolation assignment instructions, then enter step (3), if deletion assignment instructions, then enter step (4), if terminated task instruction, then enter step (5), if instruction of executing the task then enters step (6);
(3) On board computer calls according to the instruction template numbering of adding in assignment instructions the corresponding instruction template be stored in On board computer, and generate concrete program control command according to the order parameter added in assignment instructions, before the start-up time afterwards mission number being added on each program control command, again with in the routine storage of the forms of 3 parts of mutual backups stored in On board computer internal memory
Meanwhile, the program control command of generation also can be independently stored to outside internal memory by On board computer, so that On board computer resets or recovers instruction after cutting machine;
(4) On board computer is according to the routine storage of the mission number scanning On board computer internal memory deleted in assignment instructions, by all program control commands in the task corresponding to this mission number and programmable data block delete; Ground can be specified and be deleted a certain task, also can delete whole tasks that On board computer has stored.
(5) On board computer is according to the task termination of the mission number in terminated task instruction by correspondence, namely subsystem on star is stopped to send the relevant all instructions of this task, and scan instruction memory block, delete all program control commands in this task and programmable data block;
(6) On board computer is according to the mission number of executing the task in instruction, scan instruction memory block, program control command in task corresponding to this mission number, programmable data block are sent to subsystem on star with relative program control command, on star, subsystem performs corresponding operating according to command information after receiving instruction, completes motor-driven imaging task.
Described mission number puts the numbering performing motor-driven imaging task under referring to quick satellite; Described instruction template numbering refers to the numbering being stored in instruction template in On board computer.
Described task refers to the motor-driven imaging task of quick satellite, comprises program control command, programmable data block and relative program control command;
Program control command refers to the instruction sent according to absolute time on star;
The transmitting time that relative program control command refers to all instructions in one group of instruction all with Article 1 instruction start-up time for benchmark, and program control command solidification is stored in On board computer relatively;
The valid data length of programmable data block is 32 bytes, wherein stores the pre-angle setting of the roll angle of quick satellite, the angle of pitch and antenna, notes on star by ground.
The present invention's advantage is compared with prior art:
(1) user needs needed for motor-driven imaging task by order parameter from satellite-ground link to satellite transmission, as motor-driven start time, targeted attitude roll angle, the targeted attitude angle of pitch, camera mode of operation, number pass mode of operation, satellite Autonomous generates the instruction set according to mission number and temporal information 2-d index.On board computer takes the data structure of mission number and temporal information bidimensional index to store instruction with the form of 3 parts of redundancy backups, according to the needs of terrestrial user, can realize increase task, deletes task dispatching task realization operation.Task in-orbit in this way realizes, and can exchange the significantly raising of the effectiveness of satellite with less cost for.
(2) On board computer receives after director data that ground is noted generates the relevant program control command of task, except being stored in internal memory, also to be stored into internal memory on star outside, when On board computer reset or after cutting machine, On board computer can recover program control command and programmable data block, continue to perform motor-driven imaging task, or according to surface instruction to task operating on star.Reliability and the continuity of whole star tasks carrying can be ensured like this, strengthen the ability that satellite tackles hot job in-orbit and state change, reduce the dependence to ground observing and controlling.
Accompanying drawing explanation
Fig. 1 is that quick satellite task of the present invention comprises instruction classification figure;
Fig. 2 is motor-driven imaging task performing step figure of the present invention;
Fig. 3 is instruction storage format figure of the present invention;
Fig. 4 is task dependent instruction distribution flow figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
As shown in Figure 1, the motor-driven imaging task of quick satellite comprises: program control command, program control command and programmable data block relatively.Program control command refers to the instruction sent according to absolute time on star, the transmitting time that relative program control command refers to all instructions in one group of instruction all with Article 1 instruction start-up time for benchmark.In addition, according to the needs of appearance control and data transmission subsystem, the basis of model program control command in the past devises programmable data block.The director data content of programmable data block is 32 bytes, only has 4 byte instruction data lengths to cause the problem of carry information scarce capacity to make up program control command.Program control command numbers autonomous generation by star according to the instruction template that ground is noted; Relative program control command solidification is stored in On board computer, also can upgrade by ground being noted instruction; Programmable data block is noted on star by ground.
The motor-driven imaging task of described quick satellite is from the angle of On board computer, and the element of task all can be analyzed to a series of relevant program control command, programmable data block and relative program control command.Therefore On board computer can be just directly converted to operations such as the increase of program control command, programmable data block and relative program control command, deletion and execution to operations such as the increase of task, deletion and execution.
Task-decomposing and planning be operated in ground surface end design, for the observing and controlling simplifiedly in the face of satellite operates, improve the efficiency that ground upstream data injects, when camera subsystem, data transmission subsystem being used in-orbit, start, shutdown etc. do not need the instruction of parameter to form relative program control command to be stored in On board computer.Other instructions of being correlated with by motor-driven imaging task are stored in On board computer with the form of instruction template according to the typical mode of operation of each subsystem.Need star to when adding task in orbit, the instruction template that terrestrial user personnel selection is corresponding with motor-driven imaging task type, by the parameter of instruction in mission number, instruction template number, instruction template according to star the form of arranging be sent on star.Meanwhile, terrestrial user can also by upper note deletion task, execute the task, instruction set that aborting task instruction is relevant to task is deleted accordingly, perform, hang up.
The invention provides a kind of quick satellite motor-driven imaging task implementation method in-orbit, as shown in Figure 2, step is as follows:
(1) terrestrial user appearance control on quick Satellite, number are passed, camera and the motor-driven imaging of Star Service subsystem time telecommand form multiple instruction template according to the typical mode of operation of each subsystem and be stored in On board computer, afterwards terrestrial user is noted a kind of task operating instruction, described task operating instruction comprises adds assignment instructions, deletion assignment instructions, terminated task instruction and instruction of executing the task;
Add the parameter that assignment instructions comprises instruction in mission number, instruction template numbering and instruction template;
Delete in assignment instructions, terminated task instruction and instruction of executing the task and include mission number;
Mission number puts the numbering performing motor-driven imaging task under referring to quick satellite, and instruction template numbering refers to the numbering being stored in instruction template in On board computer.
On star, each subsystem all has fixing several mode of operations, i.e. typical mode of operation.Need star to when adding task, terrestrial user selects the instruction template corresponding with motor-driven imaging task type, by the parameter of mission number, instruction template numbering, instruction in instruction template according to star the form of arranging be sent on star, On board computer can generate instruction set automatically.
Task in the present invention refers to the motor-driven imaging task of quick satellite, comprises program control command, programmable data block and relative program control command;
Program control command refers to the instruction sent according to absolute time on star;
The transmitting time that relative program control command refers to all instructions in one group of instruction all with Article 1 instruction start-up time for benchmark, and program control command solidification is stored in On board computer relatively;
The valid data length of programmable data block is 32 bytes, wherein stores the pre-angle setting of the roll angle of quick satellite, the angle of pitch and antenna, notes on star by ground.
(2) On board computer receives by after the instruction that ground is noted in step (1), and first judgement is the instruction of what type.If add the instruction of task, On board computer calls according to the instruction template numbering of adding in assignment instructions the corresponding instruction template be stored in On board computer, and generate concrete program control command according to the order parameter added in assignment instructions, before the start-up time afterwards mission number being added on each program control command, then with in the routine storage of the forms of 3 parts of mutual backups stored in On board computer internal memory.In the routine storage of model in the past, all program control commands are free this one dimension index information of information only.For the property requirements that satisfied quick satellite task realizes, before program control command information start-up time, increase the mission number information of a byte, realize the mission number to program control command and temporal information 2-d index.Instruction storage format is as shown in Figure 3: every bar program control command needs the storage space taking 10 bytes: mission number takies 1 byte, and instruction takies 4 bytes start-up time, and command content takies 4 bytes.On board computer sends each bar instruction successively according to time sequencing just can complete motor-driven imaging task.In addition, the bidimensional index of mission number and instruction start-up time can realize that terrestrial user personnel delete task, stop, executable operations, thoroughly solves the unsolved task problem of implementation of model in the past.
Programmable data block is directly above noted by ground and is obtained, its function is consistent with using method and program control command: after On board computer receives the programmable data block that ground is noted, for each block programmable data block adds the mission number information of a byte in routine storage, realize the 2-d index of mission number to programmable data block and temporal information.
Meanwhile, the instruction of generation also can be independently stored to outside internal memory by serial communication interface by On board computer, so that On board computer resets or recovers instruction after cutting machine.During concrete operations, be that the emergency data being stored into On board computer inside is recovered in module, On board computer resetted or the instruction of storage after cutting machine, can be recovered, guaranteeing that whole star continues to execute the task according to predetermined mode of operation.Emergency data is recovered module and is made up of FPGA and SRAM, and emergency data is recovered module and possessed data storage function and data recovery function, is communicated with On board computer A machine by RS-422 serial communication interface with the CPU of B machine.Emergency data is recovered module and is stored in internal SRAM with the form of 3 parts of mutual backups when storing instruction.When recovering instruction to On board computer, emergency data recovers module gets 2 mode comparison data by 3, ensures its correctness.
(3) if the instruction of the task of deletion, ground is noted instruction and delete a certain item task to On board computer requirement, On board computer according to mission number scan instruction memory block, by all program control commands in the task corresponding to this mission number and programmable data block delete.Meanwhile, On board computer also can delete the instruction belonging to this appointed task that emergency data is recovered to store in module, retains the instruction of other tasks.Ground can be specified and be deleted a certain task, also can delete whole tasks that On board computer has stored.
(4) if the instruction of aborting task, the current task that performing is stopped immediately when ground sends command request, On board computer is according to the task termination of the mission number in terminated task instruction by correspondence, namely subsystem on star is stopped to send the relevant all instructions of this task, and scan instruction memory block, delete all program control commands in this task and programmable data block.
(5) if the instruction of executing the task, On board computer is according to the mission number that will perform provided in instruction of executing the task, the relevant program control command of task and programmable data block are also taken out in 3 modes of getting 2 comparison data in scan instruction memory block, then according to time sequencing, the program control command of composition task, programmable data block are sent to subsystem on star with relative program control command successively, the each equipment of subsystem performs corresponding operating according to command information after receiving instruction, just can complete the execution of motor-driven imaging task, whole flow process as shown in Figure 4.
Wherein, program control command presses absolute time arrangement on star, includes the instruction starting relevant relative program control command group in program control command; Relative program control command mainly contains the switching on and shutting down instruction to loading device not containing parameter; For programmable data block, before attitude maneuver, the data such as the motor-driven roll angle of appearance control, the angle of pitch, the pre-angle setting of antenna in programmable data block to be delivered to according to the transmitting time comprised in programmable data block and are controlled subsystem and make it start attitude maneuver task by On board computer.After this imaging task completes, On board computer sends other instructions successively according to time sequencing, to carry out other tasks.Meanwhile, On board computer provides telemetry intelligence (TELINT) to reflect tasks carrying situation, comprises program control command and sends counting and response counting, does not currently perform program control command number etc., and provides independent remote measurement bag to show not perform program control command, programmable data block.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (1)
1. a quick satellite motor-driven imaging task implementation method in-orbit, is characterized in that step is as follows:
(1) terrestrial user appearance control on quick Satellite, number are passed, camera and the motor-driven imaging of Star Service subsystem time telecommand form multiple instruction template according to the typical mode of operation of each subsystem and be stored in On board computer, afterwards terrestrial user is noted a kind of task operating instruction, described task operating instruction comprises adds assignment instructions, deletion assignment instructions, terminated task instruction and instruction of executing the task;
Add the parameter that assignment instructions comprises instruction in mission number, instruction template numbering and instruction template;
Delete in assignment instructions, terminated task instruction and instruction of executing the task and include mission number;
(2) On board computer receives in step (1) by after the task operating instruction that ground is noted, first decision instruction type, if interpolation assignment instructions, then enter step (3), if deletion assignment instructions, then enter step (4), if terminated task instruction, then enter step (5), if instruction of executing the task then enters step (6);
(3) On board computer calls according to the instruction template numbering of adding in assignment instructions the corresponding instruction template be stored in On board computer, and generate concrete program control command according to the order parameter added in assignment instructions, before the start-up time afterwards mission number being added on each program control command, again with in the routine storage of the forms of 3 parts of mutual backups stored in On board computer internal memory
Meanwhile, the program control command of generation also can be independently stored to outside internal memory by On board computer, so that On board computer resets or recovers instruction after cutting machine;
(4) On board computer is according to the routine storage of the mission number scanning On board computer internal memory deleted in assignment instructions, by all program control commands in the task corresponding to this mission number and programmable data block delete;
(5) On board computer is according to the task termination of the mission number in terminated task instruction by correspondence, namely subsystem on star is stopped to send the relevant all instructions of this task, and scan instruction memory block, delete all program control commands in this task and programmable data block;
(6) On board computer is according to the mission number of executing the task in instruction, the relevant program control command of task and programmable data block are also taken out in 3 modes of getting 2 comparison data in scan instruction memory block, then according to time sequencing, the program control command of composition task, programmable data block are sent to subsystem on star with relative program control command successively, on star, subsystem performs corresponding operating according to command information after receiving instruction, completes motor-driven imaging task;
Described mission number puts the numbering performing motor-driven imaging task under referring to quick satellite; Described instruction template numbering refers to the numbering being stored in instruction template in On board computer;
Described task refers to the motor-driven imaging task of quick satellite, comprises program control command, programmable data block and relative program control command;
Program control command refers to the instruction sent according to absolute time on star;
The transmitting time that relative program control command refers to all instructions in one group of instruction all with Article 1 instruction start-up time for benchmark, and program control command solidification is stored in On board computer relatively;
The valid data length of programmable data block is 32 bytes, wherein stores the pre-angle setting of the roll angle of quick satellite, the angle of pitch and antenna, notes on star by ground.
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| CN108171443B (en) * | 2018-01-22 | 2020-12-29 | 合肥工业大学 | Multi-satellite emergency task planning method and device considering instruction upper notes |
| CN109211245B (en) * | 2018-07-30 | 2021-12-31 | 上海卫星工程研究所 | Multi-objective task planning method |
| CN111399532B (en) * | 2019-12-26 | 2023-03-10 | 西安空间无线电技术研究所 | Remote sensing satellite on-orbit control method for parameter of instruction set |
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