CN104199324B - Reliable switching method for multi-mode remote measurement - Google Patents
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Abstract
本发明涉及一种多模态遥测可靠切换方法，该方法按照遥测需求对飞行器的遥测模态进行定义，并通过遥控指令和程控指令组合的方式对遥测模态切换进行触发，对飞行器遥测模态实时监控，如果遥测模态切换与遥控指令或程控指令的设定结果不一致，则重新发送遥测指令或程控指令，进行再次触发，确保遥测模态实现准确切换，本发明方法可以实现大规模、多特性数据的采集、存储和传输，并根据飞行器的任务阶段、任务模式，实时调整遥测模态。
The invention relates to a multi-mode telemetry reliable switching method. The method defines the telemetry mode of the aircraft according to the telemetry requirements, and triggers the telemetry mode switching through the combination of the remote control command and the program control command, and controls the telemetry mode of the aircraft. Real-time monitoring, if the telemetry mode switch is inconsistent with the setting result of the remote control command or the program control command, then resend the telemetry command or program control command to trigger again to ensure accurate switching of the telemetry mode. The method of the present invention can realize large-scale, multiple Acquisition, storage and transmission of characteristic data, and real-time adjustment of the telemetry mode according to the mission phase and mission mode of the aircraft.
Description
技术领域technical field
本发明涉及航天飞行器数据管理系统领域，特别是涉及一种多模态遥测可靠切换方法。The invention relates to the field of aerospace vehicle data management systems, in particular to a multi-mode telemetry reliable switching method.
背景技术Background technique
航天飞行器上的遥测参数包括单机电压、单机状态、数字量、温度、压力、力学参数等，是判断飞行器运行状态的主要依据。数管系统是实现遥测数据采集、处理及传输的主要分系统，主要功能包括遥测数据采集、遥测数据编帧、遥测数据存储、遥测数据回放等。The telemetry parameters on the aerospace vehicle include stand-alone voltage, stand-alone state, digital quantity, temperature, pressure, mechanical parameters, etc., which are the main basis for judging the operating state of the aircraft. The data management system is the main subsystem to realize the collection, processing and transmission of telemetry data. Its main functions include telemetry data collection, telemetry data framing, telemetry data storage, telemetry data playback, etc.
卫星等航天飞行器上通常采用传统PCM遥测方案。PCM遥测具有固定的帧格式编排，每路遥测参数在遥测帧格式中的位置在整个任务阶段保持不变，每路参数具有固定的采样频率要求，在整个任务阶段也基本不发生变化。PCM遥测技术成熟，数据处理方案简单，可靠性高，在成熟型号中应用广泛。Traditional PCM telemetry solutions are usually used on space vehicles such as satellites. PCM telemetry has a fixed frame format, and the position of each telemetry parameter in the telemetry frame format remains unchanged throughout the mission phase. Each parameter has a fixed sampling frequency requirement and basically does not change during the entire mission phase. The PCM telemetry technology is mature, the data processing scheme is simple, the reliability is high, and it is widely used in mature models.
但是随着航天飞行器上遥测数据种类和数量的增多，遥测数据的特性更加复杂，主要表现在：1)数据容量增大；2)数据的采样频率各不相同；3)数据产生的时刻不固定；4)不同任务段具有不同的遥测要求等。However, with the increase in the types and quantities of telemetry data on spacecraft, the characteristics of telemetry data are more complex, mainly in: 1) the data capacity increases; 2) the sampling frequency of the data is different; 3) the time when the data is generated is not fixed ; 4) Different mission segments have different telemetry requirements, etc.
上述变化对遥测方案提出了更高的要求，具有固定帧格式的PCM遥测对解决上述问题存在较大困难。The above changes put forward higher requirements for the telemetry scheme, and PCM telemetry with a fixed frame format has great difficulties in solving the above problems.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种多模态遥测可靠切换方法，实现大规模、多特性数据的采集、存储和传输，并根据飞行器的任务阶段、任务模式，实时调整遥测模态。The purpose of the present invention is to overcome the deficiencies of the prior art, provide a multi-modal telemetry reliable switching method, realize the collection, storage and transmission of large-scale, multi-characteristic data, and adjust the telemetry in real time according to the mission stage and mission mode of the aircraft modal.
本发明的上述目的是通过如下技术方案予以实现的：Above-mentioned purpose of the present invention is achieved by following technical scheme:
一种多模态遥测可靠切换方法，包括下列步骤：A multi-modal telemetry reliable switching method, comprising the following steps:
第一步、根据飞行器的工作阶段和任务模式，确定遥测模态个数M，并将每个遥测模态确定为一组数据源包的集合，即第m个遥测模态为Km个数据源包组成的集合，其中m＝1～M，与m相对应的Km分别为K1、K2、…、KM，m、Km均为正整数；其中每个数据源包是由一组具有相同特征的数据封装组成，封装后的数据源包对所述数据特征进行标示，并按照数据特征具有相应的调度周期和优先级；The first step is to determine the number M of telemetry modalities according to the working stage and task mode of the aircraft, and determine each telemetry modal as a set of data source packets, that is, the mth telemetry modal is K m data A collection of source packets, where m=1~M, K m corresponding to m are K 1 , K 2 , ..., K M , and m and K m are positive integers; each data source packet is composed of A group of data packages with the same characteristics, the packaged data source package marks the data characteristics, and has a corresponding scheduling period and priority according to the data characteristics;
飞行器按照遥测模态中各数据源包的调度周期和优先级，从飞行器接收数据中提取的数据源包，并将所述提取后的数据源包组成数据帧，然后发送所述数据帧到地面站；According to the scheduling period and priority of each data source packet in the telemetry mode, the aircraft receives the data source packets extracted from the data from the aircraft, and forms the extracted data source packets into a data frame, and then sends the data frame to the ground stand;
第二步、通过遥控指令、程控指令组合方式，对遥测模态切换进行触发，即如果飞行器接收到地面站发送的遥控指令，则根据遥控指令对遥测模态切换进行触发，如果飞行器接收到飞行器程控模块发送的程控指令，则根据程控指令对遥测模态切换进行触发；The second step is to trigger the telemetry mode switching through the combination of remote control command and program control command, that is, if the aircraft receives the remote control command sent by the ground station, it will trigger the telemetry mode switching according to the remote control command. The program control command sent by the program control module triggers the switching of the telemetry mode according to the program control command;
第三步、完成第二步的遥测模态切换触发后，在飞行器接收到的遥测数据中读取“固定波道”参数进行识别，辨识飞行器当前时刻的遥测模态，如果所述遥测模态不是按照第二步的切换触发后的遥测模态，则重新发送程控指令或遥测指令，返回第二步操作。Step 3: After completing the telemetry mode switching trigger in the second step, read the "fixed channel" parameter in the telemetry data received by the aircraft for identification, and identify the telemetry mode of the aircraft at the current moment. If the telemetry mode If it is not the telemetry mode triggered by switching in the second step, resend the program control command or telemetry command and return to the second step operation.
在上述的多模态遥测可靠切换方法中，在第一步中，飞行器按照遥测模态中各数据源包的调度周期和优先级，从飞行器接收数据中提取的数据源包，并将所述提取后的数据源包组成数据帧，其具体实现过程如下：In the above multi-modal telemetry reliable switching method, in the first step, the aircraft receives the data source packets extracted from the data according to the scheduling period and priority of each data source packet in the telemetry mode, and sends the The extracted data source package forms a data frame, and its specific implementation process is as follows:
(a)、在提取时刻t，确定出调度周期满足调度条件的各数据源包，即如果mod(t，Tm,n)＝0，则第m个遥测模态的第n个数据源包的调度周期满足调度条件，其中，Tm,n为第m个遥测模态的第n个数据源包的调度周期，mod为取余计算，m＝1～M，n＝1～Km；(a) At the extraction time t, determine the data source packets whose scheduling period satisfies the scheduling conditions, that is, if mod(t, T m,n )=0, then the nth data source packet of the mth telemetry mode The scheduling cycle of satisfies the scheduling condition, wherein, T m,n is the scheduling cycle of the nth data source packet of the mth telemetry mode, mod is the remainder calculation, m=1~M, n=1~K m ;
(b)、按照数据源包的优先级由高到底的顺序，对步骤(a)确定出的满足调度条件的各数据源包进行排序，并将排序后的数据源包组成数据帧。(b) According to the order of priority of the data source packets from high to low, sort the data source packets determined in step (a) that meet the scheduling conditions, and form the sorted data source packets into a data frame.
在上述的多模态遥测可靠切换方法中，在第二步中，当利用遥控指令对遥测模态切换进行触发时，具体触发实现过程如下：In the above multi-modal telemetry reliable switching method, in the second step, when the remote control command is used to trigger the telemetry mode switching, the specific trigger implementation process is as follows:
当飞行器接收到地面站发送的遥控指令时，确定出所述遥控指令指定的遥测模态，如果所述指定遥测模态与当前遥测模态不同，则发送指令触发遥测模态进行切换，即将目前飞行器的遥测模态切换为遥控指令指定的遥测模态。When the aircraft receives the remote control command sent by the ground station, it determines the telemetry mode specified by the remote control command. If the specified telemetry mode is different from the current telemetry mode, the command is sent to trigger the telemetry mode to switch, that is, the current The telemetry mode of the aircraft is switched to the telemetry mode specified by the remote control command.
在上述的多模态遥测可靠切换方法中，在第二步中，当利用程控指令对遥测模态切换进行触发时，具体触发实现过程如下：In the above multi-modal telemetry reliable switching method, in the second step, when the telemetry mode switching is triggered by a program-controlled instruction, the specific trigger implementation process is as follows:
当飞行器接收到飞行器程控模块发送的程控指令时，确定出所述程控指令指定的遥测模态，如果所述指定遥测模态与当前遥测模态不同，则发送指令触发遥测模态进行切换，即将目前飞行器的遥测模态切换为程控指令指定的遥测模态；并将所述程控指令进行备份。When the aircraft receives the program control command sent by the program control module of the aircraft, it determines the telemetry mode specified by the program control command. If the specified telemetry mode is different from the current telemetry mode, it sends an instruction to trigger the telemetry mode to switch, that is, At present, the telemetry mode of the aircraft is switched to the telemetry mode specified by the program control command; and the program control command is backed up.
在上述的一种多模态遥测可靠切换方法中，在第三步中，如果需要重新发送程控指令对遥测模态切换进行再次触发，则将第二步中备份的程控指令重新发送一次。In the above-mentioned multi-mode telemetry reliable switching method, in the third step, if it is necessary to resend the program control command to trigger the telemetry mode switching again, then resend the program control command backed up in the second step.
本发明与现有技术相比具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)本发明根据飞行器的工作阶段和任务模式，定义了多个遥测模态，其中每个遥测模态为一组数据源包的集合，对于同一定义的遥测模态，根据数据源包的调度周期和优先级对数据源包进行提取，系统设计简单、灵活，从而满足飞行器在不同工作阶段和任务模式下的遥测需求，克服了传统PCM遥测不能满足多种遥测模式需求的缺点，并克服了传统PCM遥测在时变特性遥测模式下系统设计复杂的缺点；(1) The present invention defines a plurality of telemetry modes according to the working stages and task modes of the aircraft, wherein each telemetry mode is a collection of one group of data source packages, for the same defined telemetry mode, according to the data source package The scheduling cycle and priority extract data source packets, and the system design is simple and flexible, thus meeting the telemetry requirements of the aircraft in different working stages and mission modes, overcoming the shortcomings of traditional PCM telemetry that cannot meet the requirements of multiple telemetry modes, and overcoming Overcome the shortcomings of traditional PCM telemetry in the time-varying characteristic telemetry mode of complex system design;
(2)本发明采用遥控指令或程控指令实现遥测模态切换触发，即两种指令均能实现遥测模态的触发，提高了切换触发的灵活性；(2) The present invention adopts remote control command or program control command to realize the switching trigger of telemetry mode, that is, both kinds of commands can realize the triggering of telemetry mode, which improves the flexibility of switching trigger;
(3)本发明在完成遥测模态切换触发后，在飞行器接收到的遥测数据中读取“固定波道”参数进行识别，辨识飞行器当前时刻的遥测模态，如果遥测模态切换结果不正确，则通过重新发送程控指令或遥测指令，对遥测模态切换进行再次触发，确保飞行器当前时刻的遥测模态与程控指令或遥测指令指定的遥测模态一致，可以提高遥测模态切换的可靠性。(3) After the telemetry mode switching trigger is completed, the present invention reads the "fixed channel" parameter from the telemetry data received by the aircraft for identification, and identifies the current telemetry mode of the aircraft. If the telemetry mode switching result is incorrect , then re-trigger the telemetry mode switching by resending the program control command or telemetry command to ensure that the telemetry mode of the aircraft at the current moment is consistent with the telemetry mode specified by the program control command or telemetry command, which can improve the reliability of telemetry mode switching .
附图说明Description of drawings
图1为本发明的遥测模态定义示意图；Fig. 1 is a schematic diagram of the telemetry mode definition of the present invention;
具体实施方式detailed description
下面结合附图和具体实施例对本发明作进一步的详细描述：Below in conjunction with accompanying drawing and specific embodiment the present invention will be described in further detail:
遥测模态是指在特定需求约束下的一种遥测模式的统称，不同的遥测模态对应于不同的工作阶段和任务模式，因此具有不同的数据采集内容，即采集数据的数据特征不同，传统PCM遥测采用固定帧格式结构，在实现多种不同遥测模态同时定义时存在技术难度，本发明综合利用AOS协议提供的八种业务，实现多个遥测模态的定义，可以适应遥测模态随任务、随时间的动态变化需求。Telemetry mode refers to a general term for a telemetry mode under the constraints of specific requirements. Different telemetry modes correspond to different work stages and task modes, so they have different data collection content, that is, the data characteristics of the collected data are different. Traditional PCM telemetry adopts a fixed frame format structure, and there are technical difficulties in realizing the definition of multiple different telemetry modes at the same time. The present invention comprehensively utilizes eight services provided by the AOS protocol to realize the definition of multiple telemetry modes, and can adapt to telemetry modes at any time. tasks, dynamically changing requirements over time.
其中，AOS协议包括两种基本数据结构，分别为数据源包结构和数据帧结构，其中：Among them, the AOS protocol includes two basic data structures, namely the data source packet structure and the data frame structure, among which:
数据源包结构是一种面向应用过程的数据结构，不同的数据源包具有不同的数据特征，其中，数据特征包括数据类型、数据传输速率、数据长度、数据内容，数据源包的格式如表1所示：The data source package structure is a data structure oriented to the application process. Different data source packages have different data characteristics. Among them, the data characteristics include data type, data transmission rate, data length, and data content. The format of the data source package is as shown in Table 1 shows:
表1 AOS协议中面向应用过程的数据源包格式Table 1 Data source packet format for application process in AOS protocol
数据帧结构是一种面向传输过程的数据结构，其中，数据帧结构通过虚拟信道标识实现对同一物理信道的复用，数据帧的格式如表2所示。The data frame structure is a data structure oriented to the transmission process, wherein the data frame structure realizes the multiplexing of the same physical channel through the virtual channel identifier, and the format of the data frame is shown in Table 2.
表2 AOS协议中面向传输过程的数据帧格式Table 2 Data frame format for transmission process in AOS protocol
本发明的多模态遥测可靠切换方法，包括下列步骤：The multimodal telemetry reliable switching method of the present invention comprises the following steps:
第一步、根据飞行器的工作阶段和任务模式，确定遥测模态个数M，并按照飞行器在当前工作阶段和任务模式下的遥测要求，将每个遥测模态确定为一组数据源包的集合，即第m个遥测模态为Km个数据源包组成的集合，该数据源包集合可以满足飞行器在当前工作阶段和任务模式下的遥测需求，其中m＝1～M，与m相对应的Km分别为K1、K2、…、KM，m、Km均为正整数。The first step is to determine the number M of telemetry modes according to the working phase and task mode of the aircraft, and determine each telemetry mode as a set of data source packages according to the telemetry requirements of the aircraft in the current working phase and task mode Set, that is, the m-th telemetry mode is a set composed of K m data source packages, which can meet the telemetry requirements of the aircraft in the current working stage and mission mode, where m=1~M, which is the same as m The corresponding K m are respectively K 1 , K 2 , ..., K M , and both m and K m are positive integers.
其中，数据源包是由一组具有相同特征的数据封装组成，封装后的数据源包对所述数据特征进行标示，并按照数据特征具有相应的调度周期和优先级；其中封装可按照AOS协议的数据源包格式进行。Among them, the data source package is composed of a group of data packages with the same characteristics, and the packaged data source package marks the data characteristics, and has a corresponding scheduling cycle and priority according to the data characteristics; the package can be in accordance with the AOS protocol The format of the data source package.
在不同的飞行阶段和任务模式下，按照不同的遥测模态进行遥测数据的组织管理，即飞行器按照遥测模态中各数据源包的调度周期和优先级，从飞行器接收数据中提取的数据源包，并将所述提取后的数据源包组成数据帧，并发送所述数据帧到地面站，其中，数据源包的提取和组帧的具体实现过程如下：In different flight phases and mission modes, the organization and management of telemetry data is carried out according to different telemetry modes, that is, the data source extracted from the data received by the aircraft according to the scheduling period and priority of each data source package in the telemetry mode packet, and the extracted data source packet is formed into a data frame, and the data frame is sent to the ground station, wherein, the extraction of the data source packet and the specific implementation process of framing are as follows:
(a)、在提取时刻t，确定出调度周期满足调度条件的各数据源包，即如果mod(t，Tm,n)＝0，则第m个遥测模态的第n个数据源包的调度周期满足调度条件，其中，Tm,n为第m个遥测模态的第n个数据源包的调度周期，mod为取余计算，m＝1～M，n＝1～Km；(a) At the extraction time t, determine the data source packets whose scheduling period satisfies the scheduling conditions, that is, if mod(t, T m,n )=0, then the nth data source packet of the mth telemetry mode The scheduling cycle of satisfies the scheduling condition, wherein, T m,n is the scheduling cycle of the nth data source packet of the mth telemetry mode, mod is the remainder calculation, m=1~M, n=1~K m ;
(b)、按照数据源包的优先级由高到底的顺序，对步骤(b)确定出的满足调度条件的各数据源包进行排序，排序后的数据源包组成数据帧。(b) According to the order of the priority of the data source packets from high to low, sort the data source packets determined in step (b) that meet the scheduling conditions, and the sorted data source packets form a data frame.
如图1所示的遥测模态定义示意图，系统根据三种飞行器的工作阶段和任务模式定义了3个遥测模态，其中：The schematic diagram of telemetry mode definition shown in Figure 1, the system defines three telemetry modes according to the working stages and mission modes of the three aircrafts, among which:
飞行阶段1和任务模式1定义的遥测模态1包括两个数据源包，分别为数据源包1和数据源包2；Telemetry mode 1 defined by flight phase 1 and mission mode 1 includes two data source packages, namely data source package 1 and data source package 2;
飞行阶段2和任务模式2定义的遥测模态2包括3个数据源包，分别为数据源包3、数据源包4和数据源包5；Telemetry mode 2 defined by flight phase 2 and mission mode 2 includes 3 data source packages, which are data source package 3, data source package 4 and data source package 5;
飞行阶段3和任务模式3定义的遥测模态3包括3个数据源包，分别为数据源包6、数据源包7和数据源包8；Telemetry mode 3 defined by flight phase 3 and mission mode 3 includes 3 data source packages, namely data source package 6, data source package 7 and data source package 8;
其中数据源包1～8的优先级、调度周期分别为R1～R8、T1～T8。Among them, the priorities and scheduling periods of data source packets 1 to 8 are R1 to R8 and T1 to T8 respectively.
第二步、通过遥控指令、程控指令组合方式，对遥测模态切换进行触发，即如果接收到遥控指令，则根据遥控指令对遥测模态切换进行触发，如果接收到程控指令，则根据程控指令对遥测模态切换进行触发，其切换触发的具体实现过程如下：The second step is to trigger the telemetry mode switching through the combination of remote control command and program control command. That is, if the remote control command is received, the telemetry mode switching will be triggered according to the remote control command; Trigger the telemetry mode switch, and the specific implementation process of the switch trigger is as follows:
当飞行器接收到地面站发送的遥控指令时，对所述遥控指令进行分析，得到指令对应的飞行器工作阶段和任务状态，从而确定出遥控指令指定的遥测模态，如果所述指定遥测模态与当前遥测模态不同，则发送指令触发遥测模态进行切换，即将目前飞行器的遥测模态切换为遥控指令指定的遥测模态。When the aircraft receives the remote control command sent by the ground station, it analyzes the remote control command to obtain the aircraft working phase and task state corresponding to the command, thereby determining the telemetry mode specified by the remote control command. If the specified telemetry mode is the same as If the current telemetry mode is different, a command is sent to trigger the switching of the telemetry mode, that is, the current telemetry mode of the aircraft is switched to the telemetry mode specified by the remote control command.
当飞行器接收到飞行器程控模块发送的程控指令时，对所述程控指令进行分析，得到指令对应的飞行器工作阶段和任务状态，从而确定出所述程控指令指定的遥测模态，如果所述指定遥测模态与当前遥测模态不同，则发送指令触发遥测模态进行切换，即将目前飞行器的遥测模态切换为程控指令指定的遥测模态；并将所述程控指令进行备份。When the aircraft receives the program control instruction sent by the aircraft program control module, the program control instruction is analyzed to obtain the aircraft working phase and task state corresponding to the instruction, thereby determining the telemetry mode specified by the program control instruction, if the specified telemetry If the mode is different from the current telemetry mode, an instruction is sent to trigger the switching of the telemetry mode, that is, the current telemetry mode of the aircraft is switched to the telemetry mode specified by the program control command; and the program control command is backed up.
第三步、完成第二步的遥测模态切换触发后，在飞行器接收到的遥测数据中读取“固定波道”参数进行识别，辨识飞行器当前时刻的遥测模态，如果所述遥测模态不是按照第二步的切换触发后的遥测模态，则重新发送程控指令或遥测指令，返回第二步操作。该步操作是为了确保飞行器当前时刻的遥测模态与程控指令或遥测指令指定的遥测模态一致，可提高遥测模态切换的可靠性，其中：Step 3: After completing the telemetry mode switching trigger in the second step, read the "fixed channel" parameter in the telemetry data received by the aircraft for identification, and identify the telemetry mode of the aircraft at the current moment. If the telemetry mode If it is not the telemetry mode triggered by switching in the second step, resend the program control command or telemetry command and return to the second step operation. This step is to ensure that the telemetry mode of the aircraft at the current moment is consistent with the telemetry mode specified by the program control command or telemetry command, which can improve the reliability of telemetry mode switching, among which:
如果需要重新发送程控指令对遥测模态切换进行再次触发，则将第二步中备份的程控指令重新发送一次；If it is necessary to re-send the program-controlled command to trigger the telemetry mode switch again, then re-send the program-controlled command backed up in the second step;
如果需要重新发送遥控指令对遥测模态切换进行再次触发，则发送指令到地面站请求重新发送之前的遥控指令。If it is necessary to resend the remote control command to trigger the switching of the telemetry mode again, then send the command to the ground station to request the resend of the previous remote control command.
实施例：Example:
(1)根据飞行器的工作阶段和任务模式，确定出飞行器共有2个遥测模态，分别为遥测模态A和遥测模态B，即M＝2；(1) According to the working stage and task mode of the aircraft, it is determined that the aircraft has two telemetry modes, which are respectively telemetry mode A and telemetry mode B, that is, M=2;
其中，遥测模态A有2个数据源包，分别为数据源包C1和数据源包C2；遥测模态B有3个数据源包，分别为数据源包C3、数据源包C4和数据源包C5；以上遥测模态的数据源包对应的优先级和调度周期如表3所示：Among them, telemetry mode A has 2 data source packages, which are data source package C1 and data source package C2; telemetry mode B has 3 data source packages, which are data source package C3, data source package C4 and data source package Package C5; the priority and scheduling period corresponding to the data source package of the above telemetry mode are shown in Table 3:
表3 实施例中遥测模态的数据源包对应的优先级和调度周期Table 3 The priority and scheduling period corresponding to the data source package of the telemetry mode in the embodiment
按照本发明对遥测模态的定义，在时刻t＝0.5s、1s、1.5s、2s和2.5s时，各遥测模态提取的数据源包如表4所示：According to the definition of the telemetry mode in the present invention, when time t=0.5s, 1s, 1.5s, 2s and 2.5s, the data source package that each telemetry mode extracts is as shown in table 4:
(2)在t＝1～2000s过程中，飞行器的工作状态如下：(2) In the process of t=1～2000s, the working state of the aircraft is as follows:
在t＝1s时，飞行器的遥测模态为遥测模态A；At t=1s, the telemetry mode of the aircraft is telemetry mode A;
在t＝300s时接收到遥控指令，对该遥控指令进行分析，分析结果表明飞行器的工作阶段或工作状态发生变化，需要将遥测模态切换到遥测模态B；Receive the remote control command at t=300s, analyze the remote control command, the analysis result shows that the working phase or working state of the aircraft changes, and the telemetry mode needs to be switched to telemetry mode B;
在t＝1800s时接收到程控指令，对该程控指令进行分析，分析结果表明飞行器的工作阶段或工作状态发生变化，需要将遥测模态切换到遥测模态A；When t=1800s, the program control command is received, and the program control command is analyzed. The analysis result shows that the working phase or working state of the aircraft changes, and the telemetry mode needs to be switched to telemetry mode A;
根据本发明的多模态遥测可靠切换方法，在t＝300s时，需要根据遥控指令对遥测模态切换进行触发，即发送指令将遥测模态由遥测模态A切换到遥测模态B；在t＝1800s时，需要根据程控指令对遥测模态切换进行触发，即发送指令将遥测模态由遥测模态B切换到遥测模态A，并保存该程控指令；According to the multimodal telemetry reliable switching method of the present invention, when t=300s, it is necessary to trigger the telemetry mode switching according to the remote control instruction, that is, to send an instruction to switch the telemetry mode from telemetry mode A to telemetry mode B; When t=1800s, it is necessary to trigger the switching of the telemetry mode according to the program control instruction, that is, send an instruction to switch the telemetry mode from telemetry mode B to telemetry mode A, and save the program control command;
(3)在完成t＝300s的遥测模态切换后，在飞行器接收到的遥测数据中读取“固定波道”参数进行识别，辨识飞行器当前时刻的遥测模态，如果所述遥测模态为遥测模态A，即按照步骤(2)的切换触发，飞行器未正确完成遥测模态切换，则地面站重新发送遥控指令，返回步骤(2)进行再次切换触发，并再次进行遥测模态识别，直到遥测模态切换为B；(3) After completing the telemetry mode switch of t=300s, read the "fixed channel" parameter in the telemetry data received by the aircraft for identification, and identify the telemetry mode of the aircraft at the current moment, if the telemetry mode is Telemetry mode A, that is, according to the switching trigger of step (2), if the aircraft does not complete the telemetry mode switching correctly, the ground station will re-send the remote control command, return to step (2) to switch and trigger again, and perform telemetry mode identification again, until the telemetry mode switches to B;
在在完成t＝1800s的遥测模态切换后，在飞行器接收到的遥测数据中读取“固定波道”参数进行识别，辨识飞行器当前时刻的遥测模态，如果所述遥测模态为遥测模态B，即按照步骤(2)的切换触发，飞行器未正确完成遥测模态切换，则飞行器重新发送备份的遥控指令，返回步骤(2)进行再次切换触发，并再次进行遥测模态识别，直到遥测模态切换为A。After completing the telemetry mode switching at t=1800s, read the "fixed channel" parameter in the telemetry data received by the aircraft for identification, and identify the current telemetry mode of the aircraft. If the telemetry mode is the telemetry mode State B, that is, according to the switching trigger of step (2), if the aircraft does not complete the telemetry mode switching correctly, the aircraft will re-send the backup remote control command, return to step (2) to switch trigger again, and perform telemetry mode identification again, until Telemetry mode switched to A.
以上所述，仅为本发明最佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。The above description is only the best specific implementation mode of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or modifications within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention.
本发明说明书中未作详细描述的内容属于本领域专业技术人员的公知技术。The content that is not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.
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