CN103226484A - On-orbit update method for satellite-borne integrated electronic system program - Google Patents
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Abstract
The invention discloses an on-orbit update method for a satellite-borne integrated electronic system program. The on-orbit update method comprises the steps as follows: dividing the satellite-borne integrated electronic system program into a monitoring program and a service logic program, receiving an update data block of a target program block in the service logic program to be updated from the ground through the monitoring program, detecting if the target program block runs, updating after the target program block is executed if the target program block runs, and otherwise, updating immediately; and when updating, obtaining a program execution right from the service logic program to be updated through the monitoring program, storing the current version and the version number of the target program block to an external memory, importing a new-version program block carried by the update data block into a memory, giving the program execution right to the service logic program to be updated, and updating the original version number of the target program block into a new version number through the service logic program to be updated. Compared with the prior art, the on-orbit update method is strong in commonality, updates the granularity into a function, and can execute the rollback and delete operations.
Description
Technical field
The present invention relates to a kind of method for updating program of microsatellite, relate in particular to a kind of spaceborne Integrated Electronic System program in the rail update method.
Background technology
Microsatellite needs to adapt to the different mission requirements under the various situations as a kind of highly versatile, scientific experiment platform that reliability is high, and the fault of tackling various bursts, therefore requires its spaceborne Integrated Electronic System to have program at the rail updating ability.
The general PCM observing and controlling system that adopts of star ground communication at present, its remote control mode speed is 4000bps to the maximum, and the demodulation ability of existing observing and controlling answering machine is generally 2000bps.Under the situation of not considering space-based relaying and multistation relay, the single observing and controlling segmental arc length of low earth-orbit satellite generally is no more than more than 5 degree of the 10min(elevation angle), the maximum-norm that injects data block in the promptly single observing and controlling segmental arc is 2000bps*10min*60s/min/ (8bit/byte)=146.5Kbyte.Consider that channel fading may cause error code, generally must inject the stronger Error Correction of Coding (as the R-S sign indicating number) of data block introducing; Can think that then the scale of injecting the data block valid data is half of total scale, about 70Kbyte.And the program scale of microsatellite Integrated Electronic System then needs a plurality of continuous observing and controlling segmental arcs if will carry out complete renewal to program generally more than 200Kbyte.For avoiding on the large-scale data annotating, generally only program is carried out partial update to the taking for a long time of remote-control channel.
The update method of the existing comparative maturity of existing ground-based computer, but its method is replaced the purpose that reach renewal by adopting " patch " program to form new program with original bug program usually based on the general-purpose operating system of complexity.This mode is not suitable for spaceborne program to be upgraded at rail, and main cause has: computing machine is resource-constrained usually on (1) star, generally can not move the ground complicated general-purpose operating system; (2) limited by the observing and controlling of satellite-ground link, the more amount of new data that need upload is the smaller the better, and ground " patch " routine data amount is bigger.
Publication number be the Chinese patent literature of CN 101980161 B disclose a kind of spaceborne computer software in the rail update method, this method is divided into fixed routine piece and variable program piece with software, and adds the control flag in the variable program piece; Before the renewal, turn off the control flag of corresponding program piece, make the code of this program block not participate in the operation of program on the star by telecommand; After upgrading successfully, open the control flag of revising the back program block, make the code of revising the back program block participate in the operation of program on the star, thereby finish the renewal of spaceborne computer software by telecommand.
The weak point of this method is:
(1) need add the control flag at the variable program piece, so it upgrades granularity by the decision of control flag; And in actual applications, if it is too much to insert the control flag, thereby can cause variable program block code amount to expand influences executing efficiency on the star; And very few if insert the control flag, can cause the renewal granularity thick excessively, the feasible data volume of annotating that goes up is excessive, to observing and controlling circle time build-up of pressure;
(2) need on star, design at rail refresh routine piece in the service logic program, increase the service logic program design complexity, reduce the program versatility;
(3) upgrade back redaction program block and can cover the original version program block,, can't be reduced to original version if it is undesirable to upgrade the back.
Summary of the invention
The invention discloses a kind of spaceborne Integrated Electronic System program in the rail update method, should be at rail update method not only reliability height, highly versatile, and have Version Control ability flexibly.
A kind of spaceborne Integrated Electronic System program in the rail update method, comprising:
Spaceborne Integrated Electronic System program is divided into monitoring facilities and service logic program two parts, and monitoring facilities is used to realize the partial update of service logic program, and service logic program is used to realize the satellite function;
Monitoring facilities is collected the more new data block of target block the service logic program to be updated from ground, and whether detects target block in operation, upgrade as if treating then that in operation its back that is finished is carried out, otherwise execution is upgraded immediately;
Carry out when upgrading, monitoring facilities obtains program execution from service logic program to be updated, the current version and the version number thereof of target block are saved to external memory, again will be more the redaction program block that carries of new data block import internal memory, at last program execution is given back service logic program to be updated, the original version this shop that service logic program to be updated upgrades target block is a new version number.
Particularly, should comprise in the rail update method:
(1) make up the satellite system that includes spaceborne Integrated Electronic System program and observing and controlling answering machine, this spaceborne Integrated Electronic System program communicates by observing and controlling answering machine and ground;
Can adopt microsatellite platform agreement commonly used to communicate between observing and controlling answering machine and the ground, as SPI agreement, CAN bus, 1553B bus etc.; The low power consumption CPU that the processor adopting microsatellite platform of spaceborne Integrated Electronic System program is commonly used, as DSP, ARM etc.
(2) spaceborne Integrated Electronic System program is divided into monitoring facilities and service logic program two parts, monitoring facilities is used to realize the partial update of service logic program, and service logic program is used to realize the satellite function;
In the whole star start-up course, monitoring facilities carries out hardware initialization, service logic program loads;
In the whole luck row process, ground is by annotating the injection data block of target block in the service logic program to be updated on the remote measuring and controlling interface of observing and controlling answering machine, and the observing and controlling answering machine is transmitted to monitoring facilities with it after receiving this injection data block.
Injecting the information that data block comprises has: frame alignment word, pattern-word, packet count, group coding, valid data, valid data length and verification and; For carrying out upgrading at rail easily, the present invention is provided with version number for target block and injection data block, and this version number information is included in the valid data.The target block of each version and injection data block all have a unique version number, help the fast query of program block and carry out corresponding operation.
The type of injecting data block is divided into: more new data block, rollback data block and deleted data piece; Monitoring facilities is carried out corresponding operation by the type of injecting data block, i.e. version updating operation, version rollback operation or version deletion action.
(3) before the operation of execution version updating, at first make amendment to the current version program code of target block in ground, obtains the redaction program code and also compile connection, obtains binary code; Entry address to function to be updated in the target block positions, and the binary code corresponding with this entry address extracted, and is used to make more new data block;
More the information that comprises of the valid data of new data block has: version number, function entrance address, function binary code; After monitoring facilities received more new data block, more whether new data block was correct at first to verify this, if incorrect, monitoring facilities requires ground to go up again and annotates this more new data block.
Verify more whether correct method is new data block:
At first judgement has received effectively more new data block to monitoring facilities according to frame alignment word; Judge this more pattern of new data block according to pattern-word again, will adopt different disposal routes at different patterns, when carrying out the version updating operation, pattern-word is 0x11; Judge according to packet count how many frames are complete more new data block have again, and judge that according to group coding these frame data in this position in the new data block more, obtain the length of valid data in these frame data according to valid data length; Obtain valid data then, on star, calculate the CRC(Cyclic Redundancy Check of valid data again, cyclic redundancy check (CRC) code), and with this CRC and verification with compare; If difference then this more new data block is incorrect, resend this more new data block by ground; If identical then this more new data block is correct, carry out the version updating operation.
The present invention can directly judge the more correctness of new data block on star, needn't beam back ground and judge, has accelerated in the rail updating efficiency.When more new data block had the multiframe data, monitoring facilities should be carried out after receiving complete more new data block again and upgrade operation.
When carrying out the version updating operation, monitoring facilities judges whether target block moves, and then treats to carry out after its operation finishes the version updating operation if moving again, otherwise carries out the version updating operation immediately.
Whether detect target block in the method for operation is:
Monitoring facilities obtains the function calls situation of forming target block by checking current function call stack; If exist function to be called, then target block is moving, otherwise in operation.
The present invention judges by the function call stack whether function to be updated is moving, and carries out the version updating operation again, makes service logic program need not to carry out particular design or increase overhead, extra statement etc. to be used for the function renewal; And the renewal granularity is a function, and promptly I is only upgraded a function, and granularity is easy to dispose little injection data block much smaller than program integral body, has saved the observing and controlling resource.
(4) make mistakes or upgrade undesirable situation for handle upgrading, monitoring facilities is also collected the rollback data block of target block from ground, be used to carry out the version rollback operation.
Described version rollback operation comprises:
Monitoring facilities inquires the version number that need roll back to and the program block corresponding with this version number according to the rollback data block, finds this program block and be written into internal memory in external memory, carries out and upgrades, and target block is rolled back to old version.
The valid data of rollback data block only are the version number that need roll back to, and after monitoring facilities inquires the version number that need roll back to and the program block corresponding with this version number, judge earlier that whether this version number and current version be number consistent, as if unanimity, then do not do any operation; If inconsistent, then carry out the version rollback operation.
(5) since on the star storage resources limited, save routine version unrestrictedly; Therefore monitoring facilities is also collected the deleted data piece of target block from ground, is used to carry out the version deletion action, with the version deletion of confirming not re-use.
Described version deletion action comprises:
Monitoring facilities inquires the version number that needs deletion and the program block corresponding with this version number according to the deleted data piece, finds this program block and with its deletion in external memory.
The valid data of deleted data piece are only for needing the version number of deletion, after monitoring facilities inquires the version number that needs deletion and the program block corresponding with this version number, judge earlier that whether this version number and current version be number consistent, as if unanimity, then do not do any operation; If inconsistent, then carry out the version deletion action.
In the renewal process, monitoring facilities sends to ground with update mode by telemetry; Described telemetry comprises: current operation types, state, function address and program version number.So the state that upgrades on the star can be understood by checking telemetry in ground, carries out in time in the rail renewal process, monitors exactly whole easily.
Compared with prior art, beneficial effect of the present invention is:
(1) of the present invention at rail update method highly versatile, can be used for all service logic program without particular design is carried out upgrading at rail, need not the artificial signs such as controlling flag of inserting;
(2) renewal granularity of the present invention is a function, and promptly I is only upgraded a function, and granularity is easy to dispose little injection data block much smaller than program integral body, has saved the observing and controlling resource;
(3) of the present inventionly can be rolled back to old version with being updated service logic program,, strengthen the reliability of whole star to eliminate unknown error or the leak that redaction exists in the rail update method; Correspondingly, the present invention also can discharge storage resources on the star with the program version deletion of confirming not re-use.
Description of drawings
Fig. 1 is the communication network architecture synoptic diagram between satellite system and the ground;
Fig. 2 is the workflow diagram of spaceborne Integrated Electronic System program;
Fig. 3 is a monitoring facilities to new data block accuracy verification process flow diagram more;
Fig. 4 (a) is the connecting method synoptic diagram that contains the more new data block of identical entry address;
Fig. 4 (b) is the connecting method synoptic diagram that does not contain the more new data block of identical entry address;
Fig. 5 is the version updating operational flowchart of monitoring facilities;
Fig. 6 is the version rollback operational flowchart of monitoring facilities;
Fig. 7 is the version deletion action process flow diagram of monitoring facilities.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
A kind of spaceborne Integrated Electronic System program in the rail update method, specifically comprise:
(1) make up the satellite system that includes spaceborne Integrated Electronic System program and observing and controlling answering machine, this spaceborne Integrated Electronic System program communicates by observing and controlling answering machine and ground;
Can adopt the SPI agreement to communicate between observing and controlling answering machine and the ground, the CPU that spaceborne Integrated Electronic System program adopts is DSP, and uphole equipment is the ground observing and controlling net of being made up of equipment such as land station, antennas;
Communication network architecture between satellite system and the ground as shown in Figure 1; The ground observing and controlling net sends telecommand to the observing and controlling answering machine, the observing and controlling answering machine is transmitted to spaceborne Integrated Electronic System with telecommand, carry out corresponding telecommand by spaceborne Integrated Electronic System program, by spaceborne Integrated Electronic System hardware interface telemetry is beamed back the ground observing and controlling net by the observing and controlling answering machine again after complete.
(2) spaceborne Integrated Electronic System program is divided into monitoring facilities and service logic program two parts, monitoring facilities is used to realize the partial update of service logic program, and service logic program is used to realize the satellite function;
The workflow of spaceborne Integrated Electronic System program as shown in Figure 2; Whole star starts, and monitoring facilities at first carries out hardware initialization, service logic program loads; In the whole luck row process, the observing and controlling answering machine receives the telecommand of annotating on the ground and this telecommand is transmitted to monitoring facilities by the remote measuring and controlling interface;
If this telecommand is more new data block, rollback data block or deleted data piece, then monitoring facilities is carried out corresponding operating to the correspondent service logic program, be version updating operation, version rollback operation or version deletion action, if not then service logic program is carried out logic of business functions on the star.
When (3) target block in certain service logic program was carried out the version updating operation on need be to star, following preliminary work was at first done on ground:
Current version program code to target block is made amendment, and obtains the redaction program code and compiles connection, obtains binary code; Entry address to function to be updated in the target block positions, and the binary code corresponding with this entry address extracted, and is used to make more new data block, and this is more annotated the observing and controlling answering machine on the new data block;
More the form of new data block is referring to table 1;
Table 1 is the form of new data block more
Wherein, more in the new data block form of valid data as shown in table 2;
Table 2 is the form of valid data in the new data block more
After monitoring facilities receives more new data block, at first judge to have received effectively more new data block according to frame alignment word; Determine that it is more new data block according to pattern-word 0x11 again; Judge according to packet count how many frames are complete more new data block have again, and judge that according to group coding these frame data in this position in the new data block more, obtain the length of valid data in these frame data according to valid data length; Obtain valid data then, on star, calculate the CRC(Cyclic Redundancy Check of valid data again, cyclic redundancy check (CRC) code), and with this CRC and verification with compare; If difference then this more new data block is incorrect, resend this more new data block by ground; If identical then this more new data block is correct, carry out to upgrade operation; The checking flow process as shown in Figure 3.
When more new data block had the multiframe data, monitoring facilities should redo after receiving complete more new data block.
Illustrate, if the pattern-word of the injection data block A that satellite receives is 0x11, packet count is 2, and group coding is 1, and valid data length is 365; Illustrate that this injection data block A is new data block more, valid data length is 365; Packet count is 2 and group coding is 1 to show that these valid data are imperfect, and it is follow-up to also have 1 frame.Therefore after these frame data of checking were correct, monitoring facilities was temporary to internal memory with these frame data; Then satellite is receivable is that 0x11, packet count are 2, group coding is 2, supposes that valid data length is 111 injection data block B that this injection data block B is the additional of previous frame data to pattern-word; Monitoring facilities splices two frame data in internal memory after these frame data of checking are correct, obtains a complete more new data block, and the length of valid data is 365+111=476.
To inject the process following (A is the injection data block of splicing or packet numbering is little, and B is the new injection data block of annotating that goes up) that data block A, B splice:
Check at first whether the version number of injecting data block A, B is consistent, if unanimity just can be spliced;
Check then whether inject data block A, B contains identical entry address;
If contain identical entry address, illustrate that the function binary code that injects data block A, B belongs to same target block, the function binary code that then directly will inject data block B is appended to the end of the function binary code that injects data block A;
Shown in Fig. 4 (a), the version number of injecting data block A1 is 2, comprises 2 entry address: 0xC0332512 and 0xC0357782; The version number of injecting data block B1 is 2, comprises 1 function entrance address 0xC0357782, and then A1 becomes the pattern of C1 with B1 splicing back;
If do not contain identical entry address, the end of the function binary code that entry address and the function binary code of B is added to A then;
Shown in Fig. 4 (b), injecting data block A2 data block version number is 3, comprises 2 entry address: 0xC0332512 and 0xC0357782; The version number of injecting data block B2 data block is 3, comprises 1 entry address 0xC0357982, and then A2 becomes the pattern of C3 with B2 splicing back.
After monitoring facilities is verified as complete more new data block correctly, monitoring facilities is determined the position of function call stack by the CPU register, in the function call stack, obtain the entry address of the function of forming target block, this entry address and the entry address of new data block are more mated, if coupling illustrates that then this function is function to be updated and is moving, then treat to carry out again after its operation finishes the version updating operation, otherwise carry out the version updating operation immediately.
During renewal, the function to be updated of current version is saved to external memory according to the form of valid data in the table 2, its version number is the version number's (if never upgrade, then version number is 1) when upgrading last time; Then will be more function binary code in the new data block be loaded into the entry address of function to be updated in internal memory, and to revise current version number be version number's (new version number) of more new data block, renewal so far finishes.More new technological process as shown in Figure 5.
When (4) target block in certain service logic program was carried out the version rollback operation on need be to star, ground monitoring was annotated the rollback data block on the net, and the form of rollback data block is referring to table 3;
The form of table 3 rollback data block
After monitoring facilities receives the rollback data block, judge earlier this rollback data block whether correctly when verifying more new data block (verification method with identical), judge again after checking is correct need roll back to version number and current version number whether consistent, as if unanimity, then do not do any operation; If inconsistent, then in external memory, find the version number that needs rollback and the binary code corresponding, and it is written into internal memory replaces current binary code and version number thereof with this version number, finish the version rollback operation.Operating process as shown in Figure 6.
When (5) target block in certain service logic program was carried out the version deletion action on need be to star, ground monitoring was annotated the deleted data piece on the net, and the form of deleted data piece is referring to table 4;
The form of table 4 deleted data piece
After monitoring facilities receives the deleted data piece, first this deleted data piece of checking whether correct when verifying more new data block (verification method with identical), judge again after checking is correct whether version number and current version in the deleted data piece be number consistent, as if unanimity, then do not do any operation; If inconsistent, then in external memory, find the version number of need deletion and the binary code corresponding with this version number according to the version number in the deleted data piece, with this binary code and version number's deletion thereof, finish the version deletion action.Operating process as shown in Figure 7.
(6) when carrying out version updating, version rollback, version deletion action, monitoring facilities characterizes current update mode by sending telemetry as shown in table 5 earthward;
The form of table 5 telemetry
The state that upgrades on the star can be judged by observing telemetry in ground, thereby better understands the process of upgrading at rail.
Claims (10)
- A spaceborne Integrated Electronic System program in the rail update method, it is characterized in that, comprising:Spaceborne Integrated Electronic System program is divided into monitoring facilities and service logic program two parts, and monitoring facilities is used to realize the partial update of service logic program, and service logic program is used to realize the satellite function;Monitoring facilities is collected the more new data block of target block the service logic program to be updated from ground, and whether detects target block in operation, upgrade as if treating then that in operation its back that is finished is carried out, otherwise execution is upgraded immediately;Carry out when upgrading, monitoring facilities obtains program execution from service logic program to be updated, the current version and the version number thereof of target block are saved to external memory, again will be more the redaction program block that carries of new data block import internal memory, at last program execution is given back service logic program to be updated, the original version this shop that service logic program to be updated upgrades target block is a new version number.
- 2. as claimed in claim 1ly it is characterized in that in the rail update method after monitoring facilities received more new data block, more whether new data block was correct at first to verify this, if incorrect, monitoring facilities requires ground to go up again and annotates this more new data block.
- 3. as claimed in claim 1ly it is characterized in that, detect target block and whether be in the method for operation in the rail update method:Monitoring facilities obtains the function calls situation of forming target block by checking current function call stack; If exist function to be called, then target block is moving, otherwise in operation.
- 4. program as claimed in claim 1 is characterized in that in the rail update method monitoring facilities is also collected the rollback data block of target block from ground, is used to carry out the version rollback operation.
- 5. as claimed in claim 4ly it is characterized in that described version rollback operation comprises in the rail update method:Monitoring facilities inquires the version number that need roll back to and the program block corresponding with this version number according to the rollback data block, finds this program block and be written into internal memory in external memory, carries out and upgrades, and target block is rolled back to old version.
- 6. as claimed in claim 5ly it is characterized in that, after monitoring facilities inquires the version number that need roll back to and the program block corresponding with this version number, judge earlier that whether this version number and current version be number consistent, as if unanimity, then do not do any operation in the rail update method; If inconsistent, then carry out the version rollback operation.
- 7. as claimed in claim 1ly it is characterized in that in the rail update method monitoring facilities is also collected the deleted data piece of target block from ground, be used to carry out the version deletion action, with the version deletion of confirming not re-use.
- 8. as claimed in claim 7ly it is characterized in that in the rail update method described version deletion action comprises:Monitoring facilities inquires the version number that needs deletion and the program block corresponding with this version number according to the deleted data piece, finds this program block and with its deletion in external memory.
- 9. as claimed in claim 8ly it is characterized in that, after monitoring facilities inquires the version number that needs deletion and the program block corresponding with this version number, judge earlier that whether this version number and current version be number consistent, as if unanimity, then do not do any operation in the rail update method; If inconsistent, then carry out the version deletion action.
- 10. describedly it is characterized in that in the rail update method in the renewal process, monitoring facilities sends to ground with update mode by telemetry as claim 1～9 is arbitrary; Described telemetry comprises: current operation types, state, function address and program version number.
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| CN103440184B (en) * | 2013-08-20 | 2016-12-28 | 浙江大学 | The method of one seed coat satellite carried computer state backrush warm spare |
| CN103984566B (en) * | 2014-02-21 | 2017-01-18 | 北京神舟航天软件技术有限公司 | In-orbit fine-grained performance function addition method |
| CN103984566A (en) * | 2014-02-21 | 2014-08-13 | 北京神舟航天软件技术有限公司 | In-orbit fine-grained performance function addition method |
| CN103870362A (en) * | 2014-03-21 | 2014-06-18 | 华为技术有限公司 | Data recovery method, data recovery device and backup system |
| CN103870362B (en) * | 2014-03-21 | 2017-08-04 | 华为技术有限公司 | A kind of data reconstruction method, device and standby system |
| CN103955411A (en) * | 2014-05-21 | 2014-07-30 | 北京空间机电研究所 | On-orbit transmitting and configuring method for spaceborne high-capacity FPGA (Field Programmable Gate Array) program |
| CN104090788A (en) * | 2014-06-27 | 2014-10-08 | 上海航天电子通讯设备研究所 | Method and system for configuring and running satellite-borne software on basis of load |
| CN104090788B (en) * | 2014-06-27 | 2018-09-18 | 上海航天电子通讯设备研究所 | A kind of On-board software configuration and operation method and system based on load |
| CN104536727B (en) * | 2014-11-26 | 2018-08-10 | 上海新跃仪表厂 | The in-orbit maintaining method of star sensor software |
| CN104536727A (en) * | 2014-11-26 | 2015-04-22 | 上海新跃仪表厂 | On-orbit maintenance method for star sensor software |
| CN104820586B (en) * | 2015-04-09 | 2018-05-22 | 北京空间机电研究所 | A kind of in-orbit maintaining method of spacecraft embedded software |
| CN104820586A (en) * | 2015-04-09 | 2015-08-05 | 北京空间机电研究所 | On-orbit maintenance method for spacecraft embedded software |
| CN106484456A (en) * | 2015-08-26 | 2017-03-08 | 罗伯特·博世有限公司 | For installing method and the subsystem of software upgrading in vehicle |
| CN105471660A (en) * | 2015-12-28 | 2016-04-06 | 北京卫星制造厂 | Data acquisition method applicable to new type low orbit satellite platform |
| CN105471660B (en) * | 2015-12-28 | 2018-10-09 | 北京卫星制造厂 | A kind of data capture method suitable for novel low orbit satellite platform |
| CN107566028A (en) * | 2017-07-07 | 2018-01-09 | 南京航空航天大学 | A kind of in-orbit file updating method of satellite based on VxWorks |
| CN107957874A (en) * | 2017-11-21 | 2018-04-24 | 上海航天测控通信研究所 | Recoverable resident formula On-board software On-board programming method |
| CN107957874B (en) * | 2017-11-21 | 2021-07-13 | 上海航天测控通信研究所 | Recoverable resident type on-orbit programming method for satellite-borne software |
| CN108052355A (en) * | 2017-11-22 | 2018-05-18 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | The spaceborne in-orbit recombination method of load cell software |
| CN108052355B (en) * | 2017-11-22 | 2020-12-15 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Satellite-borne load unit software on-orbit weight composing method |
| CN109213475A (en) * | 2018-07-20 | 2019-01-15 | 北京航空航天大学 | Satellite multiloop compares the artificial intelligence Writing method of command unit remote control source program |
| CN109213475B (en) * | 2018-07-20 | 2022-04-01 | 北京航空航天大学 | Artificial intelligence writing method for satellite multi-loop comparison instruction unit remote control source program |
| CN109672470A (en) * | 2018-12-28 | 2019-04-23 | 航天东方红卫星有限公司 | It is infused on software on a kind of small satellite satellite and reconstruct ground test verification method and system |
| CN109672470B (en) * | 2018-12-28 | 2021-04-13 | 航天东方红卫星有限公司 | Method and system for ground test verification of software uploading and reconstruction on small satellite |
| CN110232057A (en) * | 2019-05-29 | 2019-09-13 | 掌阅科技股份有限公司 | Data rewind method, electronic equipment, storage medium |
| CN110532015A (en) * | 2019-07-26 | 2019-12-03 | 华东师范大学 | In-orbit upgrade-system towards Space Mission Software |
| CN110399156A (en) * | 2019-07-26 | 2019-11-01 | 华东师范大学 | In-orbit upgrade method towards Space Mission Software |
| CN112527368A (en) * | 2020-12-02 | 2021-03-19 | 北京百度网讯科技有限公司 | Cluster kernel version updating method and device, electronic equipment and storage medium |
| CN112527368B (en) * | 2020-12-02 | 2024-03-22 | 北京百度网讯科技有限公司 | Cluster kernel version updating method and device, electronic equipment and storage medium |
| CN113268367A (en) * | 2021-04-26 | 2021-08-17 | 北京控制工程研究所 | 1553B bus RT terminal address lookup table on-track monitoring and maintaining method |
| CN113268367B (en) * | 2021-04-26 | 2023-07-14 | 北京控制工程研究所 | On-orbit monitoring and maintaining method for 1553B bus RT terminal address lookup table |
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