CN104062978B - A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects - Google Patents
A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects Download PDFInfo
- Publication number
- CN104062978B CN104062978B CN201410295299.8A CN201410295299A CN104062978B CN 104062978 B CN104062978 B CN 104062978B CN 201410295299 A CN201410295299 A CN 201410295299A CN 104062978 B CN104062978 B CN 104062978B
- Authority
- CN
- China
- Prior art keywords
- attitude
- attinvalid
- particle
- current
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects, (1) current pose and front two maximum absolute errors clapping attitude are calculated respectively, obtain two error amounts, by two error amounts respectively compared with respective judgment threshold, obtain the scoring value of cumulative errors；(2) judge whether single-particle inversion according to the scoring value of cumulative errors in step (1), if there is single-particle inversion, then go to step (3), otherwise go to step (4)；(3) determine that single-particle inversion is temporary fault or chromic trouble；If chromic trouble, then whether failure judgement is caused by the upset of track injection parameter, if caused by the upset of track injection parameter, then from the significant data preserved, read up-to-date track inject initial parameter renewal relevant parameter and recalculate attitude, turn (4)；Otherwise using geometry method for determining posture to update current pose according to effective sensor data, turn (4), sensor data is invalid, turns safe mode, turns (4)；If temporary fault, then current control period is not controlled；(4) significant data of current period is preserved.
Description
Technical field
The invention belongs to the automation field of aircraft (aerospace), relate to a kind of elimination space single
Particle overturns the method for CPU register pair attitude impact.
Background technology
Space energetic charged particles subenvironment and the impact on aerospace operations thereof, be current aerospace space flight circle ten
Divide one of focus of concern, along with the extensive application in aircraft of microelectronic component and computer, Yi Jiwei
The integrated level of electronic device is more and more higher, and single event is the most increasing to the threat of aircraft, usually makes
Aircraft breaks down, even bringing on a disaster property consequence.
Document about single-particle inversion had much in the past, but simply paid close attention to upset mechanism of production, anti-simple grain
Sub-upset measure, unit (hardware or product) redundancy etc., these be both for unit itself design research,
Or the two-shipper taked by unit redundancy or the method for multimachine comparison of data consistency, and have no user pair
The software measure research that unit is taked.Actually no matter how unit takes anti-single particle design measure, even
Expending the biggest design difficulty and production cost, single-particle inversion still exists, at orbit aerocraft often by single
CPU depositor is overturned in particle event impact, and this can produce temporary fault or chromic trouble, even causes attitude
Lose, bringing on a disaster property consequence, therefore take software measure necessary to the impact eliminating single-particle.
Summary of the invention
The technology of the present invention solves problem: for the problem of single-particle inversion, it is provided that a kind of elimination space
Single-particle overturns the method for CPU register pair attitude impact.
The technical solution of the present invention is: a kind of space single-particle that eliminates overturns CPU register pair attitude shadow
The method rung, comprises the following steps:
(1) calculate current pose and front two maximum absolute errors clapping attitude respectively, obtain two error amounts,
By two error amounts respectively compared with respective judgment threshold, obtain the meter of cumulative errors
Score value；
(2) judge whether single-particle inversion according to the scoring value of cumulative errors in step (1), if sending out
Raw single-particle inversion, then go to step (3), otherwise go to step (4)；
(3) type of single-particle inversion, i.e. temporary fault or chromic trouble are determined；If chromic trouble,
Then whether failure judgement is caused by the upset of track injection parameter, if being caused by the upset of track injection parameter
, then from the significant data preserved, read up-to-date track inject initial parameter and update relevant parameter again
Calculate attitude, go to step (4) afterwards；Otherwise geometry method for determining posture is used to update according to effective sensor data
Current pose, goes to step (4), and sensor data is invalid, turns safe mode, goes to step (4)；If temporarily
Time fault, then current control period is not controlled；
(4) significant data of current period is preserved.
The scoring value AttInvalid calculation procedure of the cumulative errors in described step (1) is as follows:
(1.1) current pose and front two absolute errors clapping attitude are calculated respectively
(1.2) MaxAtt1 is judged whether > matt1Or MaxAtt2 > matt2；If MaxAtt1 > matt1, then
AttInvalid value adds X on the basis of current AttInvalid value；If MaxAtt2 > matt2, then
AttInvalid value adds Y on the basis of current AttInvalid value；Otherwise,
AttInvalid=AttInvalid0；
It is above-mentioned,θ,ψ、θ ', ψ ' andθ ' ', ψ ' ' the most current, upper cycle, the satellite three axle appearance of phase week before last
State；matt1、matt2For judgment threshold；X and Y is score value, meets X<0, Y>0, X+Y>0；AttInvalid
≠ AttInvalid0 then there occurs single-particle inversion, AttInvalid > AttInvalid0+Y be then long-term therefore
Barrier.
The present invention compared with prior art has the advantage that
1) present invention uses software approach, and design is autonomous to be judged and treatment measures, it is not necessary to unit redundancy, single
Machine condition can realize eliminating the single-particle inversion impact on attitude.
2) present invention can distinguish temporary fault and the chromic trouble that attitude is affected by single-particle inversion, it is possible to from
Main recovery attitude or proceed to safe mode, improves reliability and the safety of aircraft.
Accompanying drawing explanation
Fig. 1 is flow chart of the present invention.
Detailed description of the invention
As it is shown in figure 1, the invention provides a kind of space single-particle that eliminates to overturn CPU register pair attitude shadow
The method rung, before the present invention processes, preferably confirms critical failure do not occur, i.e. with certain satellite over the ground
As a example by, first pass through two from three data and process, preserve critical data.If critical failure occurs, utilize and protect
The critical data deposited processes.
(1) two from three data process
The initial, middle of application of software data district and end position arrange physically separate 3 district for
Preserve critical data, during use, critical data is carried out two from three voting, and autonomous calibration error data.
It is continuous that the setting principle of critical data is to maintain aircraft normal condition, it is ensured that the safety of satellite and weight
Want the seriality of function, and consider when taking up room and expend machine etc. and to determine two from three critical data.
Such as: for critical data when design work pattern-word, star etc., 3 Physical Extents are as follows:
| Initial address | Termination address | Describe |
| 0x2000000 | 0x20007FF | Two from three data field one district |
| 0x2007000 | 0x20077FF | Two from three data field two district |
| 0x200E000 | 0x200E7FF | Two from three data field three district |
(2) single-particle inversion fault diagnosis
Judge the seriality of attitude, calculate current pose and front two maximum absolute errors clapping attitude respectively, produce
Raw 2 error amounts, the different score values of 2 error amounts of design, exceed threshold value if there is arbitrary error,
Then scorer adds up the score value of corresponding error.The setting of score value is wanted to distinguish temporary fault and chromic trouble,
Note current pose and upper cycle attitude, the score value that current pose is corresponding with phase week before last attitude error are respectively
X and Y, then need to meet following relation: X<0, Y>0, X+Y>0.Threshold value choose want can identify fault and
It is not result in attitude of flight vehicle fluctuation.
Such as:
A) calculating current pose and front two maximum absolute errors clapping attitudes:
B) error in judgement size scoring
If (MaxAtt1 > matt1Or MaxAtt2 > matt2)
If (MaxAtt1 > matt1), then AttInvalid=AttInvalid+X.
If (MaxAtt2 > matt2), then AttInvalid=AttInvalid+Y.
Otherwise
AttInvalid=AttInvalid0.
Whereinθ,ψ、θ ', ψ ' andθ ' ', ψ ' ' the most current, upper cycle, the satellite three-axis attitude of phase week before last.
AttInvalid is scorer, integer data, and initial value is AttInvalid0.matt1、matt2For judgment threshold,
This satellite flies the most over the ground, takes 3～5 degree.X, Y are score value, take X=-1, Y=2.By above-mentioned event
Barrier diagnosis may determine that temporary fault, and owing to track injection parameter, attitude or attitude quaternion etc. are by single
The chromic trouble that particle upset impact brings.
(3) single-particle inversion type judges
Score value according to above-mentioned fault diagnosis, it may be judged whether there occurs single-particle inversion, and then judge it is temporary
Time fault or chromic trouble.AttInvalid ≠ AttInvalid0 then there occurs single-particle inversion,
AttInvalid > AttInvalid+Y is then chromic trouble.
Such as:
AttInvalid ≠ AttInvalid0 then there occurs single-particle inversion.
AttInvalid > AttInvalid0+Y is then chromic trouble.
(4) gesture stability of single-particle inversion processes
Temporary fault is then given temporarily not control and is indicated that assignment is not controlled, and does not i.e. carry out aircraft in current control period
Control.
Whether chromic trouble is distinguished and to be caused by the upset of track injection parameter, if being drawn by orbit parameter upset
Rise, then take track and inject initial parameter significant data renewal relevant parameter and recalculate attitude；Otherwise root
Using geometry method for determining posture to update current pose according to effective sensor data, sensor data is invalid, turns safety
Pattern.Such as: geometry determines appearance can utilize star sensor information, infrared and sun sensor information etc., base
Appearance principle is determined, according to orbital data, it may be determined that satellite inertial or over the ground attitude in double vectors.General root
According to current track argument, inclination angle and the right ascension of ascending node etc. calculated, whether saltus step judges whether to there occurs track
Injection parameter overturns.The data effective marker being typically based on sensor output is the most effective to judge its data.
(5) are then gone to step if there is chromic trouble.
(5) significant data of current period is preserved
Designed path injection initial parameter, sensor state and actuator Status Flag etc. are significant data,
The design principle of significant data is the data infrequently changed, if these data change i.e. to OBDH or
House keeping computer application preserves significant data.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1. one kind eliminates the method that space single-particle overturns the impact of CPU register pair attitude, it is characterised in that bag
Include following steps:
(1) calculate current pose and front two maximum absolute errors clapping attitude respectively, obtain two error amounts,
By two error amounts respectively compared with respective judgment threshold, obtain the scoring value of cumulative errors；
(2) judge whether single-particle inversion according to the scoring value of cumulative errors in step (1), if sending out
Raw single-particle inversion, then go to step (3), otherwise go to step (4)；
(3) type of single-particle inversion, i.e. temporary fault or chromic trouble are determined；If chromic trouble,
Then whether failure judgement is caused by the upset of track injection parameter, if being caused by the upset of track injection parameter
, then from the significant data preserved, read up-to-date track inject initial parameter and update relevant parameter again
Calculate attitude, go to step (4) afterwards；Otherwise geometry method for determining posture is used to update according to effective sensor data
Current pose, goes to step (4), and sensor data is invalid, turns safe mode, goes to step (4)；If temporarily
Time fault, then current control period is not controlled；
(4) significant data of current period is preserved.
A kind of space single-particle that eliminates the most according to claim 1 overturns CPU register pair attitude shadow
The method rung, it is characterised in that: the scoring value AttInvalid meter of the cumulative errors in described step (1)
Calculation step is as follows:
(1.1) current pose and front two absolute errors clapping attitude are calculated respectively
(1.2) MaxAtt1 is judged whether > matt1Or MaxAtt2 > matt2；If MaxAtt1 > matt1, then
AttInvalid value adds X on the basis of current AttInvalid value；If MaxAtt2 > matt2, then
AttInvalid value adds Y on the basis of current AttInvalid value；Otherwise,
AttInvalid=AttInvalid0；
It is above-mentioned,θ,ψ、θ ', ψ ' andθ ", ψ " is the most current, the upper cycle, the satellite three axle appearance of phase week before last
State；matt1、matt2For judgment threshold；X and Y is score value, meets X<0, Y>0, X+Y>0；AttInvalid
≠ AttInvalid0 then there occurs single-particle inversion, AttInvalid > AttInvalid0+Y be then long-term therefore
Barrier；AttInvalid0 is the initial value of scorer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410295299.8A CN104062978B (en) | 2014-06-26 | 2014-06-26 | A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410295299.8A CN104062978B (en) | 2014-06-26 | 2014-06-26 | A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104062978A CN104062978A (en) | 2014-09-24 |
| CN104062978B true CN104062978B (en) | 2016-08-17 |
Family
ID=51550739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410295299.8A Active CN104062978B (en) | 2014-06-26 | 2014-06-26 | A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104062978B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1760676A (en) * | 2004-10-14 | 2006-04-19 | 中国科学院空间科学与应用研究中心 | A kind of detector and method that detects capability of microprocessor for anti event of single particle |
| CN101281481A (en) * | 2008-05-23 | 2008-10-08 | 北京时代民芯科技有限公司 | Method for error correcting and detecting for memory anti-single particle overturn |
| CN101976212A (en) * | 2010-10-27 | 2011-02-16 | 西安空间无线电技术研究所 | Small amount code reloading-based DSP anti-single-event error correction method |
| CN102096627A (en) * | 2009-12-11 | 2011-06-15 | 上海卫星工程研究所 | Device for testing single event upset fault resistance of on-board software |
| CN102880187A (en) * | 2012-09-21 | 2013-01-16 | 北京控制工程研究所 | Transverse guidance method for primary reentry section of skip reentry aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009238168A (en) * | 2008-03-28 | 2009-10-15 | Mitsubishi Electric Corp | Microprocessor |
-
2014
- 2014-06-26 CN CN201410295299.8A patent/CN104062978B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1760676A (en) * | 2004-10-14 | 2006-04-19 | 中国科学院空间科学与应用研究中心 | A kind of detector and method that detects capability of microprocessor for anti event of single particle |
| CN101281481A (en) * | 2008-05-23 | 2008-10-08 | 北京时代民芯科技有限公司 | Method for error correcting and detecting for memory anti-single particle overturn |
| CN102096627A (en) * | 2009-12-11 | 2011-06-15 | 上海卫星工程研究所 | Device for testing single event upset fault resistance of on-board software |
| CN101976212A (en) * | 2010-10-27 | 2011-02-16 | 西安空间无线电技术研究所 | Small amount code reloading-based DSP anti-single-event error correction method |
| CN102880187A (en) * | 2012-09-21 | 2013-01-16 | 北京控制工程研究所 | Transverse guidance method for primary reentry section of skip reentry aircraft |
Non-Patent Citations (2)
| Title |
|---|
| Residue code based low cost SEU-tolerant fir filter design for OBP satellite communication systems;wenhui yang,zhen gao;《Eurasip Journal on Wireless Communications & Networking》;20121230;全文 * |
| 一种存储器容错设计方法;赵云富，等;《空间控制技术与应用》;20090630;第35卷(第3期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104062978A (en) | 2014-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Hajiyev et al. | Robust adaptive unscented Kalman filter for attitude estimation of pico satellites | |
| KR101189697B1 (en) | Fault detector and detecting method for attitude control system of spacecaft | |
| CN103234553B (en) | A kind of method for diagnosing faults of gyro measurement system | |
| CN104298846A (en) | System and method for providing model-based alerting of spatial disorientation to pilot | |
| Venkateswaran et al. | Analytical redundancy based fault detection of gyroscopes in spacecraft applications | |
| CN103712598B (en) | Attitude determination method of small unmanned aerial vehicle | |
| CN107529376B (en) | The method of the microsatellite non-cooperative target Relative Navigation of multimodality fusion | |
| BR102017012163A2 (en) | computer-implemented method for correcting an input error, system for correcting an input error and aircraft | |
| US9170105B1 (en) | System and method for improved accuracy gyro rate sensing | |
| CN109164819B (en) | Backstepping self-adaptive sliding mode large-angle attitude maneuver control method of rigid-body spacecraft | |
| Fekih et al. | Effective fault-tolerant control paradigm for path tracking in autonomous vehicles | |
| US9156540B2 (en) | Hard landing detection and orientation control | |
| TW201120629A (en) | Closed-loop soft error rate sensitivity control | |
| CN104062978B (en) | A kind of space single-particle that eliminates overturns the method that CPU register pair attitude affects | |
| Yu et al. | Data augmentation to address various rotation errors of wearable sensors for robust pre-impact fall detection | |
| CN106494643B (en) | A kind of attitude of satellite abnormal restoring control method based on the earth's core Vector Message | |
| Ramos et al. | Factorized partial-update Schmidt–Kalman filter | |
| Jia et al. | A novel fault reconstruction approach to satellite attitude control system via learning unknown input observer and H∞ techniques | |
| Suh et al. | Robust modal filtering and control of the X-56A model with simulated fiber optic sensor failures | |
| CN107228672A (en) | It is a kind of be applied under attitude maneuver operating mode star is quick and gyro data fusion method | |
| Mao et al. | Precise attitude determination strategy for spacecraft based on information fusion of attitude sensors: Gyros/GPS/Star-sensor | |
| Yun et al. | Reducing the computation time in the state chi-square test for IMU fault detection | |
| Notaro et al. | HW VS SW sensor redundancy: Fault detection and isolation observer based approaches for inertial measurement units | |
| CN106017455B (en) | Attitude determination method without initial attitude based on non-filtering of geomagnetic field and gyroscope | |
| CN109625330A (en) | A kind of satellite attitude control method reused based on angular momentum information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |