CN111308511B - Autonomous health management system and method for navigation satellite load subsystem - Google Patents
Autonomous health management system and method for navigation satellite load subsystem Download PDFInfo
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
Abstract
The invention discloses an autonomous health management system and method for a navigation satellite load subsystem. And according to the monitoring results of the time-frequency monitoring unit and the comprehensive monitoring unit, performing autonomous fault diagnosis and autonomous fault recovery strategy formulation through the health judgment and processing unit, and performing fault recovery according to the autonomous fault recovery strategy.
Description
Technical Field
The invention relates to the technical field of navigation satellites, in particular to an autonomous health management technology of a navigation satellite load subsystem.
Background
A navigation satellite is an artificial satellite for providing wireless navigation signals and navigation information, which provides navigation, positioning and timing services for users. The navigation satellite system has high positioning precision and wide service range, can provide all-weather continuous navigation positioning service all the day long, becomes a national important infrastructure in the space-time positioning field, and is an important support for the status and strategic benefits of the nation.
The load subsystem is a main load for providing navigation service by a navigation satellite, receives navigation information injected by ground operation control, modulates the navigation information into a downlink navigation signal and sends the downlink navigation signal to the ground so as to be used by ground users for positioning and resolving. The load subsystem includes:
the time-frequency subsystem is used for providing high-precision time-frequency reference and time-frequency signals required by other subsystems, and comprises a main clock, a standby clock, a base frequency processor, a frequency synthesizer and other single machines;
the upper injection receiving subsystem is used for completing the upper injection receiving sent by the ground operation control system and demodulating the navigation information and parameters;
the information processing subsystem is used for processing the instruction and the parameter demodulated by the uplink injection subsystem, performing corresponding treatment according to the instruction requirement, generating a low-power downlink navigation signal and modulating the navigation information injected on the ground onto the navigation signal according to a specific format; and
and the high-power subsystem is used for carrying out power amplification on the low-power downlink navigation signal and sending the downlink navigation signal to the ground through the downlink antenna.
Due to the particularity of navigation services, navigation satellites have high reliability and high continuity requirements. Improving the autonomous health management level of the in-orbit operation of the navigation satellite is one of the key development directions of providing high reliability and continuity for the navigation satellite. And the load subsystem is used as a main load of the navigation service, and the autonomous health management of the load subsystem is the most important content of the autonomous health management of the in-orbit operation of the navigation satellite. The autonomous health management of the load subsystem mainly comprises autonomous integrity monitoring and autonomous fault quick recovery.
The traditional method for judging the completeness of the ground-based telemetry is limited by telemetry channel capacity telemetry data, a plurality of faults cannot directly determine a single fault machine, and meanwhile, the time required for fault judgment is long, so that the fault recovery time is long, and the autonomous health recovery of a satellite cannot be realized, thereby affecting the availability and continuity of a navigation satellite and the safety of the satellite. Some studies provide some monitoring schemes for autonomous integrity of satellites, but these schemes cannot achieve system-wide monitoring and single-level positioning within the system.
Disclosure of Invention
Aiming at the requirements of high availability and high continuity of a navigation satellite, the invention provides an autonomous health management system and method for a navigation satellite load subsystem, so as to realize the step-by-step positioning of faults of subsystems in the load subsystem and carry out the rapid recovery of the faults according to the positioning condition.
A navigational satellite load subsystem autonomous health management system, comprising:
the time-frequency monitoring unit is used for autonomously monitoring the integrity of the time-frequency subsystem;
the comprehensive monitoring unit is used for monitoring the integrity of the upper note receiving subsystem, the information processing subsystem and the high-power subsystem and comprises an upper note signal monitoring module, a message generating and comparing module, a low-power navigation signal monitoring module and a high-power navigation signal monitoring module; and
the health judgment and processing unit comprises a health judgment module and a processing module, wherein the health judgment module is used for carrying out autonomous fault diagnosis according to the monitoring results of the time-frequency monitoring unit and the comprehensive monitoring unit; and the processing module is used for making an autonomous fault recovery strategy according to the received diagnosis result.
Further, in order to ensure the reliability of the health judgment and processing unit, the health judgment and processing unit is provided with a triple modular redundancy design.
Further, the health judgment and processing unit includes an autonomous fault recovery policy comparison table, and the processing module searches the autonomous fault recovery policy comparison table according to the diagnosis result of the health judgment module to obtain an autonomous fault recovery policy.
The invention also provides a navigation satellite which is provided with the navigation satellite load subsystem autonomous health management system.
The invention provides an autonomous health management system and method for a navigation satellite load subsystem, which are applied to a navigation satellite to perform autonomous integrity monitoring on a time-frequency subsystem, an upper-note receiving subsystem, an information processing subsystem and a high-power subsystem, so that autonomous integrity monitoring of a whole system and a whole functional chain is realized. Compared with the traditional satellite integrity monitoring method, the system and the method provided by the invention realize the integrated autonomous integrity monitoring of the integrity of uplink and downlink signals and messages, are convenient for sharing time-frequency and hardware resources, save satellite-borne resources, eliminate false alarms caused by the self-fault of the monitoring unit by adopting a redundancy comparison method, and improve the reliability of the system.
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To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
FIG. 1 is a schematic diagram of an autonomous health management system of a navigation satellite loading subsystem according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a navigation satellite according to an embodiment of the present invention; and
fig. 3 is a flow chart illustrating a navigation satellite load subsystem autonomous health management method according to an embodiment of the present invention.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for the purpose of illustrating the specific embodiment, and does not limit the sequence of the steps. Rather, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
The invention discloses an autonomous health management system and method for a navigation satellite load subsystem and a navigation satellite provided with the system, which realize the step-by-step fault location and the rapid fault recovery of each subsystem in the load subsystem. The system and method are further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an autonomous health management system of a navigation satellite loading subsystem according to an embodiment of the present invention. As shown in fig. 1, an autonomous health management system of a navigation satellite load subsystem includes a time-frequency monitoring unit 231, an integrated monitoring unit 233, a health decision and processing unit 232:
the time-frequency monitoring unit 231 is configured to monitor signals generated by the time-frequency subsystem; the time-frequency subsystem is a subsystem of a load subsystem of the navigation satellite and comprises a main clock, a standby clock, a base frequency processor and a frequency synthesizer; the monitoring of the signals generated by the time-frequency subsystem comprises: monitoring a 10MHz signal generated by a main clock, a 10MHz signal generated by a standby clock and a 10.23MHz signal generated by a fundamental frequency processor;
the integrated monitoring unit 233 is configured to monitor integrity of the uplink navigation signal, the downlink navigation signal, and the text, and includes an uplink signal monitoring module 101, a text generation and comparison module 102, a low-power navigation signal monitoring module 103, and a high-power navigation signal monitoring module 104:
the uplink injection signal monitoring module 101 is configured to perform ranging and information demodulation on an uplink injection signal to obtain a reference ranging value, where the reference ranging value is used for integrity monitoring of an uplink injection receiving subsystem; the integrity of the upper note receiving subsystem comprises the integrity of an uplink injection signal and the information integrity;
the message generating and comparing module 102 is configured to monitor message integrity of an information processing subsystem, where the information processing subsystem is a subsystem of a load subsystem of a navigation satellite, the message integrity of the information processing subsystem refers to downlink message arrangement integrity of a low-power downlink navigation signal generated by the information processing subsystem, and the message generating and comparing module 102 has functions of:
receiving message information from the upper note receiving subsystem, and generating a downlink navigation message according to the upper note information;
receiving navigation message information sent by an information processing subsystem;
receiving a downlink navigation message demodulated by a low-power navigation signal monitoring module;
comparing a downlink navigation message generated according to the upper note information, navigation message information sent by the information processing subsystem and the downlink navigation message demodulated by the low-power navigation signal monitoring module; and
generating a message integrity abnormal signal of a message generation and comparison module;
the low-power navigation signal monitoring module 103 is configured to monitor signal integrity of the information processing subsystem, and includes capturing, tracking, and demodulating a navigation signal generated by the information processing subsystem, calculating a distance measurement value and a signal power, demodulating to obtain a navigation message, comparing the distance measurement value and the signal power with a preset reference value, and generating a low-power navigation signal integrity abnormal signal; the signal integrity of the information processing subsystem refers to the integrity of downlink signal generation of the information processing subsystem, and is mainly embodied in the integrity of signal power and a signal ranging value; and
the high-power navigation signal monitoring module 104 is configured to monitor the signal integrity of the high-power subsystem, and includes capturing, tracking, and demodulating a navigation signal amplified by the high-power subsystem, calculating a distance measurement value and a signal power, comparing the distance measurement value and the signal power with a preset reference value, and generating a low-power navigation signal integrity abnormal signal; the high-power subsystem is a subsystem of a navigation satellite load subsystem, the signal integrity of the high-power subsystem refers to the integrity of a navigation signal, and the abnormity comprises the jump of a ranging value and the jump of signal power; and
the health decision and processing unit 232 includes a health decision module and a processing module, wherein the health decision module is configured to perform autonomous fault diagnosis according to the monitoring results of the time-frequency monitoring unit 231 and the comprehensive monitoring unit 233; and the processing module is used for making an autonomous fault recovery strategy according to the received diagnosis result.
In another embodiment of the present invention, the health decision and processing unit 232 includes an autonomic failure recovery policy lookup table, and the processing module searches the autonomic failure recovery policy lookup table according to the diagnosis result of the health decision module to obtain an autonomic failure recovery policy. The strategy and impact of autonomous fault recovery are different according to different fault positions. The autonomous recovery strategy comprises different operations of main and standby clock switching, stand-alone reset, stand-alone on/off, stand-alone switching backup, subsystem on/off and the like. Because the reference frequency is the basis of the load operation of the navigation satellite, if the fundamental frequency processor fails, the whole load subsystem needs to be reset. The autonomic failure recovery policy lookup table is shown in table 1.
TABLE 1
Fig. 2 is a schematic structural diagram of a navigation satellite according to an embodiment of the present invention. As shown in fig. 2, the navigation satellite includes a satellite platform 201, a loading subsystem 202 and an autonomous health management system 203, wherein:
the load subsystem 202 receives the navigation information of ground operation control upper notes, and modulates the navigation information to downlink navigation signals to be sent to the ground for ground users to carry out positioning calculation, and the method comprises the following steps:
the time-frequency subsystem 221, which is used to provide high-precision time-frequency reference and time-frequency signals required by other subsystems, includes:
a main clock 2211 for generating 10MHz time-frequency signals;
the standby clock 2212 is used for generating 10MHz time-frequency signals, when the navigation satellite operates, the standby clock is started up at the same time, the standby clock 2212 performs hot backup, and when the main clock 2211 works abnormally, a time-frequency system is quickly and seamlessly switched to the standby clock 2212;
the base frequency processor 2213 is configured to generate a 10.23MHz time-frequency signal based on the 10MHz signal generated by the main clock, and amplify and output the 10.23MHz signal and the 10MHz signal generated by the main clock to the frequency synthesizer; and
a frequency synthesizer 2214, configured to perform frequency synthesis with the 10.23MHz and 10MHz time-frequency signals output by the baseband processor 2213 as reference signals, so as to obtain frequencies required by the single machines, such as the upper note receiving processor 2221, the information processing unit 2231, the integrity monitoring receiver 2232, and the autonomous health manager 203;
an upper injection receiving subsystem 222, configured to complete uplink injection reception sent by the ground operation and control system, and demodulate navigation information and parameters, including an upper injection receiving processor 2221 and an upper injection receiver antenna 2222;
the information processing subsystem 223 is configured to process the instruction and the parameter demodulated by the uplink injection subsystem, perform corresponding processing according to the instruction requirement, generate a low-power downlink navigation signal, and modulate the navigation information injected on the ground onto the navigation signal according to a specific format, and includes an information processor 2231 and an integrity monitoring receiver 2232; and
the high-power subsystem 224 is configured to perform power amplification on a low-power downlink navigation signal, and send the downlink navigation signal to the ground through a downlink antenna, and includes a triplexer 2241, an RNSS antenna array 2242, a main path transmission link 2243, and a backup path transmission link 2244, where the triplexer 2241 receives a radio frequency signal sent by the information processor 2231 through the main backup transmission link 2243 or the backup transmission link 2244, processes the radio frequency signal, and sends the radio frequency signal to the RNSS antenna array 2242; and
the autonomous health management system 203 is configured to receive radio frequency signals and data of the subsystems of the load subsystem 202 and the satellite platform, and autonomously monitor and process a health state of the navigation satellite. The autonomous health management system 203 includes a time-frequency monitoring unit 231, a comprehensive monitoring unit 233, and a health decision and processing unit 232.
FIG. 3 is a flow chart illustrating autonomous health management of a navigation satellite loading subsystem according to an embodiment of the invention. As shown in fig. 3, a method for autonomous health management of a navigation satellite load subsystem includes:
step 301, fault diagnosis. According to the monitoring results of the time-frequency monitoring unit and the comprehensive detection unit, the self-fault diagnosis is carried out through the health judgment module, and a fault positioning result is obtained; in one embodiment of the invention, the diagnostic process of the health decision module comprises:
and performing time-frequency subsystem fault location according to a time-frequency signal monitoring result of the time-frequency monitoring unit:
if the 10MHz signal generated by the main clock and the 10.23MHz signal generated by the fundamental frequency processor both exceed the monitoring threshold, and meanwhile, the 10MHz signal generated by the standby clock is normal, the main clock is abnormal;
if the 10MHz signal generated by the standby clock and the 10.23MHz signal generated by the fundamental frequency processor both exceed the monitoring threshold, and meanwhile, the 10MHz signal generated by the main clock is normal, the standby clock is abnormal;
if the 10.23MHz signal generated by the base frequency processor exceeds the monitoring threshold, and meanwhile, the 10MHz signal generated by the main clock and the 10MHz signal generated by the standby clock are normal, the base frequency processor is abnormal;
if the 10MHz signal generated by the main clock and the 10MHz signal generated by the standby clock both exceed the monitoring threshold, and meanwhile, the 10.23MHz signal generated by the fundamental frequency processor is normal, the high-stability crystal oscillator is abnormal; and
if the 10MHz signal generated by the main clock, the 10MHz signal generated by the standby clock and the 10.23MHz signal generated by the fundamental frequency processor are normal, and meanwhile, the upper note receiving subsystem and the information processing subsystem of the satellite work abnormally, the frequency output by the frequency synthesizer is abnormal;
and carrying out fault positioning on the upper injection receiving subsystem according to the ranging result of the upper injection signal monitoring module and the ranging value of the upper injection receiving subsystem:
if the ranging value of the upper injection receiving subsystem jumps abnormally and the ranging result of the upper injection signal monitoring module is normal, the upper injection receiving subsystem is indicated to be abnormal;
if the distance measurement result of the upper injection signal monitoring module is abnormally jumped and the distance measurement value of the upper injection receiving subsystem is normal, the upper injection signal monitoring module is indicated to be abnormal; and
if the ranging value of the upper injection receiving subsystem and the ranging result of the upper injection signal monitoring module are abnormally jumped, indicating that the ground upper injection signal or the upper injection receiver antenna and the power divider are abnormal;
carrying out signal integrity fault location according to a low-power navigation signal integrity abnormal signal sent by a low-power navigation signal monitoring module, a high-power navigation signal integrity abnormal signal sent by a high-power navigation signal monitoring module and a signal integrity abnormal signal sent by an integrity monitoring receiver:
if the abnormal integrity signal of the low-power navigation signal is received, and the abnormal integrity signal of the high-power navigation signal and the abnormal integrity signal of the integrity monitoring receiver are not received at the same time, the abnormal integrity signal of the low-power navigation signal is indicated;
if the signal integrity abnormal signal of the integrity monitoring receiver is received, and the high-power navigation signal integrity abnormal signal and the low-power navigation signal integrity abnormal signal are not received at the same time, the integrity monitoring receiver is abnormal;
if the high-power navigation signal integrity abnormal signal is received, and the low-power navigation signal integrity abnormal signal and the signal integrity abnormal signal of the integrity monitoring receiver are not received at the same time, the high-power navigation signal monitoring module is abnormal;
if the abnormal signal of the integrity of the high-power navigation signal and the abnormal signal of the integrity monitoring receiver are received, and meanwhile the abnormal signal of the integrity of the low-power navigation signal is not received, the high-power subsystem is indicated to be abnormal;
and
if the high-power navigation signal integrity abnormal signal, the signal integrity abnormal signal of the integrity monitoring receiver and the low-power navigation signal integrity abnormal signal are received at the same time, the fact that the information processing subsystem is abnormal is indicated; and
and carrying out message integrity fault location according to the message integrity abnormal signal of the message generation and comparison module and the message integrity abnormal signal of the integrity monitoring receiver:
if the message integrity abnormal signal of the message generation and comparison module is received and the message integrity abnormal signal of the integrity monitoring receiver is not received, the message generation and comparison module is abnormal;
if the message integrity abnormal signal of the integrity monitoring receiver is received and the message integrity abnormal signal of the message generation and comparison module is not received, the integrity monitoring receiver is abnormal; and
if the message integrity abnormal signal of the integrity monitoring receiver and the message integrity abnormal signal of the message generating and comparing module are received at the same time, the message processing subsystem is abnormal; and
step 302, an autonomic failure recovery policy is obtained. And according to the fault positioning result, making an autonomous fault recovery strategy through a processing module. In one embodiment of the present invention, the autonomic failure recovery policy is obtained by looking up an autonomic failure recovery policy look-up table as shown in table 1.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (4)
1. An autonomous health management system for a navigation satellite loading subsystem, the autonomous health management system being mounted on a navigation satellite and comprising:
a time-frequency monitoring unit configured to monitor the integrity of the 10MHz signal generated by the main clock, the 10MHz signal generated by the standby clock, and the 10.23MHz signal generated by the fundamental frequency processor;
an integrated monitoring unit comprising:
the uplink injection signal monitoring module is configured to perform ranging and information demodulation on the uplink injection signal to obtain a reference ranging value so as to monitor the integrity of the uplink injection signal and the integrity of the information;
the message generating and comparing module is configured to monitor the downlink message arrangement integrity of the low-power downlink navigation signal generated by the information processing subsystem;
the navigation signal monitoring module with low power is configured to monitor, capture, track and demodulate a navigation signal generated by the information processing subsystem, calculate a distance measurement value and a signal power, demodulate the navigation message to obtain a navigation message, compare the distance measurement value and the signal power with a preset reference value, and generate a navigation signal integrity abnormal signal with low power; and
the high-power navigation signal monitoring module is configured to capture, track and demodulate a navigation signal amplified by the high-power subsystem, calculate a distance measurement value and a signal power, compare the distance measurement value and the signal power with a preset reference value and generate a high-power navigation signal integrity abnormal signal;
a health decision and processing unit comprising:
a health decision module configured to perform the following actions:
judging whether the main clock, the standby clock, the fundamental frequency processor, the high-stability crystal oscillator and the frequency synthesizer are abnormal or not according to the monitoring results of the 10MHz signal generated by the main clock, the 10MHz signal generated by the standby clock and the 10.23MHz signal generated by the fundamental frequency processor;
judging whether the upper note receiving subsystem, the upper note signal monitoring unit and the ground upper note signal or the upper note receiver antenna and the power divider are abnormal or not according to the distance measurement values of the upper note receiving subsystem and the upper note signal monitoring module;
judging whether the low-power navigation signal monitoring module, the integrity monitoring receiver, the high-power navigation signal monitoring module, the high-power subsystem and the information processing subsystem are abnormal or not according to the low-power navigation signal integrity abnormal signal, the high-power navigation signal integrity abnormal signal and the signal integrity abnormal signal sent by the integrity monitoring receiver; and
judging whether the message generation and comparison module, the integrity monitoring receiver and the information processing subsystem are abnormal or not according to the message integrity monitoring result of the message generation and comparison module and a message integrity abnormal signal of the integrity monitoring receiver; the autonomous failure recovery strategy comparison table comprises a one-to-one corresponding relation between failure positions and processing methods; and
and the processing module is configured to determine an autonomous fault recovery strategy according to the received fault positioning result and the autonomous fault recovery strategy comparison table.
2. The navigation satellite load subsystem autonomous health management system of claim 1, wherein said autonomous fault recovery policy lookup table comprises:
if the main clock is abnormal, switching the main clock and the standby clock;
if the standby clock is abnormal, the standby clock is restarted after being shut down;
if the fundamental frequency processor and/or the abnormal fundamental frequency processor, closing the upper note receiving processor, the information processor, the integrity monitoring receiver, the frequency synthesizer and the fundamental frequency processor, and then starting the computer according to the reverse sequence of the shutdown and the time interval sequence specified by the startup;
if the upper note receiving processor and/or the information processor and/or the integrity monitoring receiver and/or the time-frequency monitoring unit and/or the upper note signal monitoring module and/or the health judgment and processing unit are abnormal, resetting the abnormal single machine;
if the high-power single machine is abnormal, the high-power subsystem is shut down and then restarted;
if the message generation and comparison module and/or the low-power navigation signal monitoring module and/or the high-power navigation signal monitoring module are abnormal, resetting the comprehensive monitoring unit; and
and if the fault does not disappear and the abnormal single machine has backup, starting the backup.
3. A navigation satellite comprising a satellite platform, a load subsystem, and an autonomous health management system for a navigation satellite load subsystem as claimed in any one of claims 1-2.
4. Method for operating a system according to any of claims 1-2, characterized in that it comprises the steps of:
according to the monitoring results of the time-frequency monitoring unit and the comprehensive detection unit, the self-fault diagnosis is carried out through the health judgment module, and a fault positioning result is obtained; and
and searching an autonomous fault recovery strategy comparison table through a processing module according to the fault positioning result so as to obtain an autonomous fault recovery strategy.
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| CN111948688B (en) * | 2020-08-12 | 2023-12-01 | 中国科学院微小卫星创新研究院 | Satellite-borne autonomous fault diagnosis method and system |
| CN112398528B (en) * | 2020-11-05 | 2022-11-25 | 中国科学院微小卫星创新研究院 | Autonomous handling method for inter-satellite link signal transmission abnormity |
| CN112835070B (en) * | 2021-01-06 | 2023-10-20 | 中国科学院微小卫星创新研究院 | Navigation satellite time-frequency autonomous recovery system |
| CN112918703B (en) * | 2021-03-18 | 2023-11-17 | 中国科学院微小卫星创新研究院 | Plug-and-play modularized satellite |
| CN113484881B (en) * | 2021-06-30 | 2024-04-26 | 中国科学院微小卫星创新研究院 | Autonomous judging system and method for correctness of navigation message |
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