CN111623800B - Low-orbit remote sensing satellite navigation positioning system multistage health state acquisition method - Google Patents
Low-orbit remote sensing satellite navigation positioning system multistage health state acquisition method Download PDFInfo
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- CN111623800B CN111623800B CN202010525477.7A CN202010525477A CN111623800B CN 111623800 B CN111623800 B CN 111623800B CN 202010525477 A CN202010525477 A CN 202010525477A CN 111623800 B CN111623800 B CN 111623800B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
Abstract
The invention provides a method for acquiring a multilevel health state of a low-orbit remote sensing satellite navigation positioning system. The multi-level health management comprises: device level health management and system level health management. Device level health management includes: equipment operation health management; and (4) health management of equipment functions. The system level health management comprises: the navigation positioning system runs health management; and (4) performing functional health management on the navigation positioning system. The implementation main body of the system level health management comprises an on-board computer, an orbit control subsystem and an effective load subsystem, wherein the on-board computer is in information interaction with a navigation positioning system in a low-orbit remote sensing satellite. Compared with single-level health management, the multi-level health management method of the low-orbit remote sensing satellite navigation positioning system provided by the invention has the advantages that the management means are more diversified, the health state is reflected more comprehensively, the limitation of fault handling in the single-level health management is solved, and the in-orbit autonomous and safe operation of the low-orbit remote sensing satellite can be more effectively ensured.
Description
Technical Field
The invention relates to a health management method of a satellite-borne navigation positioning system, in particular to a multistage health management method of a low-orbit remote sensing satellite-borne navigation positioning system.
Background
The low-orbit remote sensing satellite is widely applied to the fields of surveying and mapping, resource investigation, environment monitoring and the like, and the high-precision satellite time, the position and the speed of in-orbit operation and related derivative information are beneficial to improving the quality of image data obtained by effective loads, so that the low-orbit remote sensing satellite developed in China at present is generally provided with a satellite-borne navigation positioning system for providing the satellite time and the related information of the orbit. The satellite-borne navigation positioning system is in a high-speed operation state in orbit for a long time, the space environment in which the low-orbit remote sensing satellite runs is complex, and equipment working abnormity caused by single particles is easy to occur; the input of the navigation positioning system for completing the positioning calculation is derived from an external navigation signal, and if the navigation satellite is in a bad working state or an error occurs in the navigation signal transmission process, the function realization of the receiving terminal is affected.
Meanwhile, data generated by the satellite-borne navigation positioning system is used for ground data processing, and is transmitted to other platform subsystems and effective load subsystems in a remote sensing satellite system in real time, so that functions of whole satellite high-precision time synchronization, orbit calculation, camera load integral time determination, radar load ranging assistance and the like are completed. Therefore, the health state of the satellite-borne navigation positioning system is crucial to the on-orbit operation of the low-orbit remote sensing satellite.
However, the ground controllable arc section of the low-orbit remote sensing satellite is very limited due to the limitation of the orbit height and the ground measurement and control station. On the one hand, non-persistent fault sites occurring outside the arc segment may not be monitorable; on the other hand, the uplink instruction control is carried out after a fault is identified by a series of analysis and diagnosis completely depending on the ground, so that the timeliness is poor, the fault repair is delayed, and the optimal implementation of the remote sensing satellite function is influenced for a long time.
In the prior art, only a single-level monitoring method for certain faults of a satellite-borne navigation positioning system is provided, and the multi-level health state information monitoring and health management of a low-earth-orbit remote sensing satellite for the whole operation process of the navigation positioning system are not related.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method comprises the steps of acquiring navigation observation data by capturing and tracking navigation satellite signals, completing low-orbit remote sensing satellite time and orbit information resolving for whole satellite time and orbit control, and providing camera integration time and radar ranging information for a low-orbit remote sensing satellite payload.
The technical scheme of the invention is as follows: a method for acquiring the multilevel health state of a low-earth-orbit remote sensing satellite navigation positioning system manages the health state of a satellite-borne navigation positioning system through the combination of equipment level and system level, and comprises the acquisition, evaluation, transmission and disposal of the health state, so that the fault of the low-earth-orbit remote sensing satellite navigation positioning system is isolated and eliminated automatically in orbit; the method specifically comprises the following operations:
equipment level health management: the navigation positioning system evaluates the health state of related software or modules by acquiring internal operation and functional characteristic parameters of equipment, if the health state is abnormal, fault elimination treatment is carried out on the abnormal state according to the presetting, the fault elimination treatment comprises reloading of the software and the modules, and abnormal health state information is transmitted to a system level through a telemetering data frame and an event report;
and (3) system level health management: the method comprises the steps that other satellite systems such as a satellite-borne computer, an orbit control system and a payload system evaluate the health state of the satellite-borne navigation positioning system according to abnormal health state information transmitted by equipment levels, the navigation positioning system is subjected to supplementary fault elimination treatment such as restarting or fault isolation treatment by removing reference of navigation receiving system data according to presetting, and the abnormal health information is transmitted to the ground.
The key links of the health management are as follows:
acquiring a health state: acquiring and processing system state parameters;
and (3) health state evaluation: monitoring the acquired health state parameters, and comparing the health state parameters with an expected threshold value to realize system health state identification and evaluation;
and (3) health state transmission: reporting and feeding back according to a system health state result given by health state evaluation, and transmitting a device-level health state evaluation result to a system level as an input parameter acquired by the system-level health state;
health condition treatment: and performing decision handling on the abnormal state according to a system health state result given by the health state evaluation.
And the equipment-level health management represents the health characteristics of the system according to the internal operation characteristic parameters of the equipment and transmits the health characteristics and the management condition to a system level.
The device level health management includes the following aspects:
equipment operation health management;
health management of equipment functions;
the equipment operation health management monitors the software operation state, the internal communication state and the external communication state, if the software or the module is abnormal, the software or the module is reloaded, the abnormal condition of the health state is filled into a telemetering data frame in real time to be transmitted to a system level, and an event report is generated and sent to a satellite-borne computer cache to be continuously broadcasted through a downlink signal;
And the equipment function health management monitors the positioning calculation function realization condition, if the equipment function health management is abnormal, the abnormal condition of the health state information is filled into a zone bit of an output data packet of the navigation positioning system and a telemetering data frame in real time and transmitted to a system level, an event report is generated and sent to a satellite-borne computer cache to be continuously broadcasted through a downlink signal, and corresponding software or modules are reloaded according to a preset abnormal state duration threshold value.
The system level health management comprises the following aspects:
the navigation positioning system runs health management;
managing the function health of a navigation positioning system;
the navigation positioning system operation health management comprises the steps that the satellite-borne computer monitors the operation state, the internal communication state and the external communication state of navigation positioning system software, if the states are abnormal, faults of the navigation positioning system are disposed according to the design state, event reports or fault data packets are generated and stored in a cache, and the faults are continuously broadcasted through downlink signals;
the navigation positioning system function health management comprises the management of the health state information transmitted by the satellite-borne computer to the navigation positioning system equipment function health management, the management of the track control subsystem to the navigation positioning system output time and the track data health state, the management of the payload subsystem to the navigation positioning system output camera integral time and the radar ranging information health state.
The health management of the software running state of the navigation positioning system specifically comprises the following steps:
(a1) monitoring the communication counting telemetering state per second transmitted by the receiver, if the state is abnormal, performing shutdown and restarting or switching on-line operation on the navigation positioning system according to a design state, generating an event report and a fault data packet, storing the event report and the fault data packet into a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal;
(b1) monitoring a software running state treatment result transmitted by the equipment level health management, and if the treatment occurs, generating a fault data packet, storing the fault data packet into a cache, and continuously broadcasting the fault data packet through a downlink signal.
The health management of the internal communication state of the navigation positioning system specifically comprises the following steps:
monitoring an internal communication state treatment result transmitted by equipment level health management, if the fault is not eliminated after treatment, performing shutdown and restart or switching on-line operation on the navigation positioning system according to a design state, generating an event report and a fault data packet, storing the event report and the fault data packet in a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal.
The health management of the navigation positioning system on the external communication state specifically comprises the following steps:
monitoring the external communication state of the navigation positioning system, judging whether the fault is not eliminated after the treatment of equipment-level health management according to the preset abnormal duration, if the fault is not eliminated, performing shutdown and reboot or switching on-line operation on the navigation positioning system according to the design state, generating an event report and a fault data packet, storing the event report and the fault data packet in a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal.
The navigation positioning system function health management comprises the following aspects:
(a2) monitoring health state information transmitted by the navigation positioning system equipment function health management by the satellite-borne computer, judging whether a fault is not eliminated after the equipment level health management treatment according to preset abnormal duration, if the fault is not eliminated, carrying out shutdown and restarting or switching on-line operation on the navigation positioning system according to a design state, generating an event report and storing a fault data packet into a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal;
(b2) the track control subsystem monitors the health state of the time and track data output by the navigation positioning system according to the equipment level health management result and the setting of the data difference threshold of the track control subsystem, and if the state is abnormal, the navigation positioning system is not used for outputting the data, and the internal time and track data of the subsystem are used for extrapolation; presetting an abnormal duration threshold according to the track control subsystem, and automatically reintroducing for use when navigation positioning system data is abnormal only in a short time and the navigation data is recovered to be normal; when the navigation positioning system data is abnormal for a long time, navigation data introduction is completely cut off, the cut navigation data introduction state is filled into a telemetering frame and is downloaded to the ground through an on-board computer, and the navigation data is reintroduced through an instruction after ground analysis;
(c2) When the effective load subsystem uses camera integration time and radar ranging information provided by the navigation positioning system, monitoring effective marks given by the navigation positioning system according to equipment level health management results in data, and if the effective marks of the data are invalid, indicating that the health state of the data output by the navigation positioning system may be abnormal, not using the navigation positioning system to output the data, and using default parameters of the subsystem instead.
Through higher-level health management, fault field information is reserved for treatment of equipment-level health management, failure which cannot be eliminated is subjected to supplementary treatment, and other subsystems with information interaction with the navigation positioning system are introduced to perform multi-party monitoring on the health state of the navigation positioning system, so that diffusion of influences of abnormal health states is avoided.
Compared with the prior art, the invention has the advantages that:
(1) compared with single-level health management, the health management method has the advantages that monitoring means are more diverse, the health state is reflected more comprehensively, the diffusion of fault influence is effectively prevented by introducing the health monitoring of a multi-party correlation subsystem, and the safe operation of the low-orbit remote sensing satellite can be more powerfully guaranteed;
(2) The multistage health management method provided by the invention solves the limitation of fault handling in single-level health management, and can be handled by a higher-level health management means when the fault cannot be autonomously removed by a single-equipment-level health management means, so that the available range of satellite autonomous health management is widened;
(3) according to the method, part of abnormal health conditions can be downloaded to a ground system through event reports and fault data packets which are continuously and circularly broadcasted, so that fault site information can be stored, the ground system can know the health condition of the satellite outside a visible arc section in time when the satellite is visible to the ground, and the information control efficiency of ground manual intervention satellite-borne navigation positioning system fault handling is improved;
(4) the health management method provided by the invention can be effectively applied to the current universal design of the low-orbit remote sensing satellite, and can improve the robustness and the service continuity of the low-orbit remote sensing satellite navigation positioning system.
Drawings
FIG. 1 is a schematic block diagram of a method for acquiring a multi-stage health status of a low-earth-orbit remote sensing satellite navigation positioning system according to the present invention;
FIG. 2 is a schematic block diagram of a low earth orbit remote sensing satellite navigation positioning system according to the present invention, wherein the orbit calculation module is selectable according to the satellite design;
Fig. 3 is a block diagram of basic communication scheduling inside and outside the low earth orbit remote sensing satellite navigation positioning system according to the present invention.
Detailed Description
Hereinafter, the technical solutions of the present invention will be described in further detail with reference to the accompanying drawings, and it should be noted that the specific embodiments described herein are only for explaining the present invention, and the present invention is not limited to the embodiments.
The low-orbit remote sensing satellite navigation positioning system acquires navigation observation data by receiving, capturing and tracking a GPS navigation signal, completes resolving time, position and speed information of the low-orbit remote sensing satellite, and provides camera integration time and radar ranging information for a payload of the low-orbit remote sensing satellite. The invention provides a method for acquiring a multilevel health state of a low-orbit remote sensing satellite navigation positioning system, which specifically comprises the following levels as shown in figure 1:
level 1: equipment level health management;
level 2: and (4) system level health management.
The health management comprises the acquisition, evaluation, transmission and treatment of health states.
Specifically, the key links of health management are described as follows:
(1) acquiring a health state: the acquisition of the health state comprises the collection and processing of system state parameters.
(2) And (3) health state evaluation: the health state evaluation mainly refers to monitoring the acquired health state parameters and realizing the identification and evaluation of the health state of the system by comparing with an expected threshold value.
(3) And (3) health state transmission: the health state transmission refers to reporting and feeding back a system health state result given according to the health state evaluation, and according to the multi-stage health management design, the health state evaluation result of the equipment stage is transmitted to the system stage and can be used as an input parameter acquired by the health state of the system stage.
(4) Health condition treatment: the health state treatment refers to decision treatment of abnormal states according to system health state results given by health state evaluation.
Fig. 2 shows a schematic block diagram of a satellite-borne navigation positioning system, in which the navigation receiver generally includes the following modules, except for a navigation receiving antenna and a low noise amplifier at the front end: the channel processing module, the navigation resolving module, the track computing module, the interface communication module and the power supply module are integrated and decomposed according to different specific designs of the receiver.
The channel processing module is used for completing tracking and synchronization of navigation satellite signals, extracting and collecting carrier waves and measurement data of each channel navigation signal, framing the carrier waves and the measurement data, and sending the carrier waves and the measurement data to the navigation resolving module for processing; the navigation resolving module utilizes the measurement data to perform navigation positioning resolving, provides current time, position and speed information of the spacecraft, and sends the information to the orbit interface unit for subsequent filtering processing or packaging distribution; the orbit calculation module carries out smooth filtering processing on the positioning information output by the navigation calculation module, carries out orbit radical calculation and recursion based on an orbit dynamics model, and simultaneously completes the calculation of camera integration time and radar ranging information; the interface communication module packs the specific data generated by each module of the single machine according to the format and the period requirement in the communication protocol, outputs the specific data through an external interface, receives external data input at the same time, and performs corresponding processing and distribution.
According to the function realization principle of the low-orbit remote sensing satellite navigation positioning system, the equipment-level health management comprises the following steps:
(1) managing the running health of the equipment;
(2) and managing the functional health of the equipment.
Two aspects of device level health management are described separately below.
(1) Equipment level health management;
the equipment level health management comprises software running state management, internal communication state management and external communication state management.
(a) Software run state management
The low-orbit remote sensing satellite navigation receiver adopts a one-second task calling mode. In order to monitor whether the software runs overtime or not, a watchdog design is used for carrying out system monitoring, a watchdog operation is carried out when a task is called in one second, if a program is abnormal and the task is overtime in one second, the watchdog sends out a reset signal to reset the system software, abnormal conditions of the health state are filled into a telemetering data frame in real time and transmitted to the satellite borne computer, an event report indicating the processing time is generated and sent to the buffer memory of the satellite borne computer to be continuously broadcast through a downlink signal. The "watchdog" reset time interval is set to 1s < Δ t <2s in the present invention.
(b) Device internal communication state management
The communication between the boards in the navigation positioning system is carried out according to a fixed period. For the current design of a domestic low-earth remote sensing satellite-borne navigation positioning system, when the system operates normally, the internal and external basic communication scheduling block diagrams are generally shown in fig. 3. And monitoring the communication interruption starting condition between boards brought by the communication trigger pulse per second signal through the track interface unit, and if the interruption starting condition is not triggered within a certain continuous time, considering that the communication between the channel processing unit and the track interface unit is abnormal, and resetting the software of the channel processing unit. And if the internal communication state is not recovered to be normal after the resetting is continuously carried out for multiple times, filling the abnormal condition of the health state into a telemetering data frame in real time to be transmitted to the satellite-borne computer, generating an event report indicating the handling time, and transmitting the event report to the cache of the satellite-borne computer to be continuously broadcasted through downlink signals.
(c) Device external communication state management
As also shown in fig. 3, the external communication of the navigation and positioning system is performed according to a fixed period. And monitoring the bus communication state through the track interface unit, and if the bus polling signal is not received within a certain continuous time, considering that the bus communication is abnormal and resetting the bus communication module. And filling the abnormal condition of the health state into a telemetry data frame in real time to be transmitted to the satellite-borne computer, generating an event report indicating the handling time, and sending the event report to the buffer memory of the satellite-borne computer to be continuously broadcasted through downlink signals.
(2) And managing the function health of the equipment.
The equipment function health management mainly refers to monitoring of the implementation condition of the positioning resolving function.
According to the basic positioning principle of a navigation receiver, the position of the user can be obtained by solving a pseudo-range equation by a least square method, namely, by [ H ]TH]-1HTdρiSolving the difference value delta x between the user position estimation value and the real position, wherein H is an observation matrix, and dp isiThe pseudorange differences between the i navigation satellites and the user satellite are calculated. Least squares correct iteration requirement HTH is reversible, so the navigation positioning system needs to monitor the least square reversible return state in real time.
In addition, in order to identify whether the positioning calculation result deviates from a correct value, a key parameter output by the operation of the calculation module is selected to reflect the effectiveness of the positioning calculation result. In the invention, whether the geometric precision factor (GDOP), time, position and speed parameters exceed a set threshold or not is selected to monitor the effectiveness of the calculation result.
If the monitoring result is abnormal when the positioning resolving function is realized, the navigation receiver software fills abnormal state information which cannot be positioned into a flag bit of an output data packet of the navigation positioning system and a telemetering data frame in real time to be transmitted to a system level, generates an event report marking abnormal time and sends the event report to a satellite borne computer cache to be continuously broadcasted through a downlink signal, resets the channel processing unit software according to a preset abnormal state duration threshold value, generates an event report marking processing time and sends the event report to the satellite borne computer.
Meanwhile, according to the composition of the satellite-borne navigation positioning system shown in fig. 2, the low-orbit remote sensing satellite navigation receiver is also provided with an orbit calculation module for calculating the orbit element of the positioning information output by the navigation calculation module and outputting orbit determination data. And when the filtering calculation performed by the track calculation module cannot be converged, the track is in a real-time orbit determination invalid state. At the moment, the navigation receiver software fills the real-time orbit determination invalid state information into a telemetry data frame of the navigation positioning system to be transmitted to the satellite-borne computer, and generates an event report marking abnormal time to be sent to a buffer memory of the satellite-borne computer to be continuously broadcasted through downlink signals. In this state, according to the orbit determination calculation principle, the implementation steps of the equipment-level health management are as follows:
step 1, under the condition of meeting track calculation conditions, if a real-time orbit determination invalid state lasts for a certain time, resetting channel processing unit software for providing input data;
step 2, after the track calculation condition is satisfied again, if the real-time orbit determination invalid state continues for a certain time, reloading the track calculation module;
and 3, resetting the track interface software if the real-time orbit determination invalid state continues for a certain time after the track calculation condition is satisfied again.
The implementation main body of the system level health management comprises an on-board computer, an orbit control subsystem and an effective load subsystem, wherein the on-board computer is in information interaction with a navigation positioning system in a low-orbit remote sensing satellite.
According to the health state information and navigation data information transmitted by the equipment-level health management, the system-level health management is also divided into two parts, including:
(1) the navigation positioning system runs health management;
the system-level operation health management of the navigation positioning system comprises the step that the satellite-borne computer monitors the operation state, the internal communication state and the external communication state of the navigation positioning system software.
Specifically, the health management of the running state of the system level navigation positioning system software comprises the following steps:
(a) when the navigation positioning receiver software calls the one-second task, the updated one-second Task (TIC) is counted into a telemetry frame and is transmitted to the spaceborne computer through the bus. And if the TIC count is not updated normally, the operation of the navigation positioning receiver software is abnormal. Monitoring a TIC counting telemetering updating state transmitted by a receiver by the spaceborne computer, if the state is kept abnormal within a certain continuous time, performing shutdown and restarting or switching on-duty operation on the navigation positioning system according to a design state, generating an event report marking the handling time, storing the event report into a cache, and continuously broadcasting the event report by downlink signals, and meanwhile, storing health parameter packets of the navigation positioning system 3min before and 1min after the handling as fault data packets into the cache and continuously broadcasting by downlink signals;
(b) Monitoring a software running state processing result transmitted by the equipment level health management through a telemetry frame, namely monitoring a software resetting counting condition of the navigation positioning system, if the counting is increased by 1, representing that the equipment level software running state health management is processed, and storing the health parameter packets of the navigation positioning system for 3min before and 1min after the processing as fault data packets into a cache and continuously broadcasting the fault data packets through a downlink signal.
Specifically, the internal communication state health management of the system level navigation positioning system comprises the following steps:
according to the equipment-level internal communication state health management design, if the internal communication state is still not recovered to be normal after the channel processing unit software is reset for a plurality of times continuously, the state is transmitted to a satellite-borne computer through a telemetering frame, the satellite-borne computer monitors the telemetering, if the telemetering display is abnormal, the internal communication fault at the equipment level is not eliminated, the navigation positioning system is powered off and restarted or switched to be on duty according to the design state, an event report indicating the handling time is generated, and meanwhile, the navigation positioning system health parameter packages 3min before and 1min after the handling occurs are stored in a cache and are continuously broadcasted through a downlink signal as fault data packages;
Specifically, the system-level navigation positioning system manages the external communication state healthily as follows:
according to the design of the equipment-level external communication state health management, when the track interface unit software does not receive the bus polling signal within a certain continuous time, the bus communication is considered to be abnormal, and the bus communication module is reset. For the satellite-borne computer, if bus communication faults exceeding a device-level monitoring time length threshold value can be monitored on the basis, the faults are not eliminated after the fault is processed through device-level health management, if the faults are not eliminated, the navigation positioning system is powered off and restarted or switched to be operated on the line according to a design state, an event report marking processing time is generated, and meanwhile, health parameter packets of the navigation positioning system 3min before and 1min after the processing occurs are used as fault data packets and are stored in a cache to be continuously broadcasted through downlink signals;
(2) and managing the functional health of the navigation positioning system.
The system level navigation positioning system function health management comprises the following aspects:
(a) and the satellite-borne computer monitors health state information (including a real-time positioning state and a real-time orbit determination state) transmitted by the functional health management of the navigation positioning system equipment:
For the real-time positioning state, when the state is abnormal, the equipment-level health management resets the channel processing unit software according to a preset abnormal state duration time threshold, therefore, when the satellite borne computer can monitor the real-time positioning abnormal state exceeding the equipment-level monitoring duration time threshold, the equipment-level health management treatment does not take effect or the fault is not eliminated after the treatment, the satellite borne receiver shuts down and restarts the navigation positioning system or switches the operation of the satellite borne receiver on the line according to the design state, generates an event report marking the treatment time, and simultaneously stores the navigation positioning system health parameter packets before and after 3min of treatment as fault data packets in a cache and continuously broadcasts the fault data packets through downlink signals;
for the real-time orbit determination state, when the state is abnormal, the equipment level health management executes the steps to treat the fault according to the preset abnormal state duration time threshold, therefore, when the satellite borne computer can monitor the real-time orbit determination abnormal state which exceeds the sum of the monitoring time thresholds of all the equipment level treatment steps, the equipment level health management treatment is not effective or the fault is not eliminated after the treatment, the satellite borne receiver carries out shutdown and restart or on-the-flight switching operation on the navigation positioning system according to the design state, generates an event report for marking the treatment time, and simultaneously stores the navigation positioning system health parameter packages which are treated for 3min and 1min before and after the occurrence as fault data packages into a cache and continuously broadcasts the fault data packages through downlink signals.
(b) And the orbit control subsystem uses the time service data and the orbit data provided by the navigation positioning system to carry out high-precision orbit calculation and time correction. If the data of the navigation positioning system is abnormal, the satellite orbit and attitude control may be abnormal, therefore, the orbit control subsystem monitors the time and orbit data output by the navigation positioning system before using the data of the navigation positioning system, and the monitoring method comprises the following steps:
for time data, judging an effective identifier given by a navigation positioning system in the time data according to an equipment-level health management result, and judging whether a time difference value latched by the navigation positioning system per se exceeds a threshold value;
and for the orbit data, judging effective marks given by the navigation positioning system in the orbit data according to the equipment-level health management result, and judging whether the difference value of the orbit data extrapolated from the navigation positioning system in the orbit data exceeds a threshold value.
If the navigation positioning system data is identified to be abnormal, the track control subsystem does not use the navigation positioning system to output the data. When the navigation positioning system data is abnormal only in a short time, the track control subsystem extrapolates the internal time and track data of the subsystem according to a preset abnormal duration threshold, and automatically reintroduces the navigation positioning system data for use after the navigation positioning system data is recovered to be normal; when the navigation positioning system data is abnormal for a long time, the navigation data introduction is completely cut off when the data exceeds a preset abnormal duration threshold value by the channel control subsystem, the internal time and orbit data of the subsystem are used for extrapolation, the cut navigation data introduction state is filled into a telemetering frame and is downloaded to the ground through an on-board computer, and the navigation data is reintroduced through instructions after ground analysis.
(c) The low-orbit remote sensing satellite navigation positioning system can complete the calculation of the integral time of the camera type effective load and the distance measurement information of the radar type effective load by matching the satellite attitude according to the orbit position calculated in real time, and can improve the imaging effect and the measurement precision of an effective load subsystem. The effective load subsystem monitors effective marks given by the navigation positioning system according to the equipment level health management result in data when using camera integral time and radar ranging information provided by the navigation positioning system, and if the effective marks of the data are invalid, the health state of the data output by the navigation positioning system is abnormal, the navigation positioning system is not used for outputting the data, and default parameters of the subsystem are used instead.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are not particularly limited to the specific examples described herein.
Claims (1)
1. A low-orbit remote sensing satellite navigation positioning system multistage health state acquisition method is characterized by comprising the following steps:
the health state of the satellite-borne navigation positioning system is managed by combining the equipment level and the system level, the health state is acquired, evaluated, transmitted and treated, fault field information is preserved for the treatment of the equipment level health management through the health management of a higher level, the fault which cannot be eliminated after the equipment level is treated is supplemented and treated, other subsystems with information interaction with the navigation positioning system are introduced to carry out multi-party monitoring on the health state of the navigation positioning system, the diffusion of the influence of the abnormal health state is avoided, and the fault on-orbit autonomous isolation and elimination of the low-orbit remote sensing satellite navigation positioning system are realized; the method specifically comprises the following operations:
Equipment level health management: representing the health characteristics of the system according to the internal operation characteristic parameters of the equipment, and transmitting the health characteristics and the management condition to a system level; the navigation positioning system evaluates the health state of related software or modules by acquiring internal operation and functional characteristic parameters of equipment, if the health state is abnormal, fault elimination treatment is carried out on the abnormality according to the presetting, including reloading of the software and the modules, and abnormal health state information is transmitted to a system level through a telemetry data frame and an event report, including the condition that the abnormal health state information is not recovered to be normal after treatment;
and (3) system level health management: the satellite navigation positioning system health state is evaluated by other satellite systems including a satellite computer, an orbit control system and a payload system according to abnormal health state information transmitted by equipment levels, when the abnormal state indicates that equipment level health management treatment is not effective or the fault is not eliminated after the treatment, the satellite navigation positioning system is restarted according to preset supplementary fault elimination treatment or fault isolation treatment is carried out on the satellite navigation positioning system by removing reference of navigation receiving system data, and the abnormal health information is transmitted to the ground;
The key links of the health management are as follows:
acquiring a health state: acquiring and processing system state parameters;
and (3) health state evaluation: monitoring the acquired health state parameters, and comparing the health state parameters with an expected threshold value to realize system health state identification and evaluation;
and (3) health state transmission: reporting and feeding back according to a system health state result given by health state evaluation, and transmitting a device-level health state evaluation result to a system level as an input parameter acquired by the system-level health state;
health condition treatment: performing decision handling on the abnormal state according to a system health state result given by the health state evaluation;
the device level health management includes the following aspects:
equipment operation health management;
health management of equipment functions;
the equipment operation health management monitors the software operation state, the internal communication state and the external communication state, if the software or the module is abnormal, the software or the module is reloaded, the abnormal condition of the health state is filled into a telemetering data frame in real time to be transmitted to a system level, and an event report is generated and sent to a satellite-borne computer cache to be continuously broadcasted through a downlink signal;
The equipment function health management monitors the positioning calculation function realization condition, if the equipment function health management is abnormal, the abnormal condition of the health state information is filled into a navigation positioning system output data packet zone bit and a telemetering data frame in real time to be transmitted to a system level, an event report is generated and sent to a satellite-borne computer cache to be continuously broadcasted through a downlink signal, and corresponding software or a module is reloaded according to a preset abnormal state duration threshold;
the system level health management comprises the following aspects:
the navigation positioning system runs health management;
managing the functional health of a navigation positioning system;
the navigation positioning system operation health management comprises the steps that the satellite-borne computer monitors the operation state, the internal communication state and the external communication state of navigation positioning system software, if the states are abnormal, faults of the navigation positioning system are disposed according to the design state, event reports or fault data packets are generated and stored in a cache, and the faults are continuously broadcasted through downlink signals;
the navigation positioning system function health management comprises the management of health state information transmitted by the satellite-borne computer to the navigation positioning system equipment function health management, the management of the track control subsystem to the navigation positioning system output time and the track data health state, the management of the payload subsystem to the navigation positioning system output camera integral time and the radar ranging information health state;
The health management of the software running state of the navigation positioning system specifically comprises the following steps:
(a1) monitoring the communication counting and telemetering state transmitted by a receiver every second, if the state is abnormal, performing shutdown and reboot or switching on-duty operation on a navigation positioning system according to a design state, generating an event report and a fault data packet, storing the event report and the fault data packet into a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal;
(b1) monitoring a software running state disposal result transmitted by equipment-level health management, and if the disposal occurs, generating a fault data packet, storing the fault data packet into a cache, and continuously broadcasting the fault data packet through a downlink signal;
the health management of the internal communication state of the navigation positioning system specifically comprises the following steps:
monitoring the disposal result of the internal communication state transmitted by the equipment-level health management, if the failure is not eliminated after the disposal, performing shutdown and reboot or switching on-duty operation on the navigation positioning system according to the design state, generating an event report and a failure data packet, storing the event report and the failure data packet into a cache, and continuously broadcasting the event report and the failure data packet through a downlink signal;
the health management of the navigation positioning system on the external communication state specifically comprises the following steps:
monitoring an external communication state of the navigation positioning system, judging whether a fault is not eliminated after the treatment of equipment-level health management according to a preset abnormal duration, if the fault is not eliminated, performing shutdown and reboot or switching on-line operation on the navigation positioning system according to a design state, generating an event report and a fault data packet, storing the event report and the fault data packet in a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal;
The navigation positioning system function health management comprises the following aspects:
(a2) monitoring health state information transmitted by the navigation positioning system equipment function health management by the satellite-borne computer, judging whether a fault is not eliminated after the equipment level health management treatment according to preset abnormal duration, if the fault is not eliminated, carrying out shutdown and restarting or switching on-line operation on the navigation positioning system according to a design state, generating an event report and storing a fault data packet into a cache, and continuously broadcasting the event report and the fault data packet through a downlink signal;
(b2) the track control subsystem monitors the health state of the time and track data output by the navigation positioning system according to the equipment level health management result and the setting of the data difference threshold of the track control subsystem, and if the state is abnormal, the navigation positioning system is not used for outputting the data, and the internal time and track data of the subsystem are used for extrapolation; presetting an abnormal duration threshold according to the track control subsystem, and automatically reintroducing for use when navigation positioning system data is abnormal only in a short time and the navigation data is recovered to be normal; when the navigation positioning system data is abnormal for a long time, navigation data introduction is completely cut off, the cut navigation data introduction state is filled into a telemetering frame and is downloaded to the ground through an on-board computer, and the navigation data is reintroduced through an instruction after ground analysis;
(c2) The effective load subsystem monitors effective marks given by the navigation positioning system according to the equipment level health management result in data when using camera integral time and radar ranging information provided by the navigation positioning system, and if the effective marks of the data are invalid, the health state of the data output by the navigation positioning system is abnormal, the navigation positioning system is not used for outputting the data, and default parameters of the subsystem are used instead.
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