CN112035227A - Autonomous operation method of agile satellite data transmission subsystem - Google Patents
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Abstract
An autonomous operation method of an agile satellite data transmission subsystem belongs to the technical field of agile satellites. The invention firstly determines five meta-task modes according to the working mode of the data transmission subsystem, and provides content requirements and sending time requirements of the meta-task data blocks; reading a meta task data block from a storage area, analyzing, traversing and judging instructions meeting sending conditions in the instruction pool, generating an instruction sequence, matching with a proper instruction interval, and sending and executing one by one at a specified time; and repeating the steps until all the meta tasks are executed. The method has low implementation complexity, improves the instruction execution efficiency, execution timeliness and use flexibility, and is suitable for agile satellites with more single-track tasks, high requirement on task response timeliness and high requirement on action execution accuracy.
Description
Technical Field
The invention relates to an autonomous operation method of an agile satellite data transmission subsystem, and belongs to the technical field of autonomous operation of agile satellites.
Background
The task of optical remote sensing satellites is to acquire images of the ground area according to the requirements of the user. The traditional optical remote sensing satellite can only realize passive push-broom imaging with single degree of freedom, and along with the continuous development of the aerospace technology and the expansion of user requirements, the research and development of agile satellites are developed in succession in various countries. Agile satellites have more than one degree of freedom in direction, and the view angle can be changed around three axes of roll, pitch and yaw, and the change of the view angle can be parallel with the imaging process, so that the satellite can observe along any direction within the range allowed by the capability. Typical agile satellites include the WorldView satellite in the united states, the Topsat moonlet in the united kingdom, the Pleiades constellation in france, and the like.
The strong mobility enables the number of imaging tasks per orbit of the agile satellite to be remarkably increased compared with the traditional remote sensing satellite. In a traditional mode, each orbit of a satellite is only 1-2 imaging tasks, the number of tasks of each orbit of an agile satellite such as Plieads in France is increased to 20, the quantity of tasks injected by the satellite every day is required to be increased to about 100-120 from 20-30, and a traditional operation control system based on ground task planning and on-satellite instruction template execution cannot meet the use requirement of the monorail multi-mode multi-task of the agile satellite.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method has the advantages that the defects of the prior art are overcome, the autonomous operation method of the agile satellite data transmission subsystem is provided, the on-orbit task is summarized into a five-element task mode, the implementation complexity is reduced through instruction traversal execution, and the execution efficiency and the use flexibility are improved; and realizing accurate sending of the key instruction by means of the whole satellite high-precision time information. The method can be matched with the whole satellite task planning to replace the traditional operation mode based on ground planning and on-satellite instruction template execution, and the use efficiency, the availability and the usability of the satellite are improved.
The technical solution of the invention is as follows: an autonomous operation method of an agile satellite data transmission subsystem comprises the following steps:
step 2, the task planning subsystem transmits the data of the ith meta task to task information D1iAnd a data block transmission time TiSending the data to a satellite affair subsystem; the satellite affair subsystem receives the selection information D2 and D1 of the data transmission equipment on the ground or stored locallyiCombined into data transmission meta task data block DiAt TiThe data transmission subsystem is constantly sent to the data transmission subsystem, and the data transmission subsystem is stored in the meta-task data block storage area; repeating the step 2 until all data blocks of the task are sent and stored;
step 3, the data transmission subsystem executes the received task;
step 4, the task planning subsystem shuts down the data transmission subsystem at the time TeSending the data to the housekeeping subsystem, the housekeeping subsystem being at TeAnd the data transmission subsystem is powered off all the time, and the task is finished.
Further, the starting time T0Satisfy T0≤T1-Tr(ii) a Wherein T is1For the transmission time, T, of the first Meta-task data BlockrAnd starting up the data transmission subsystem to the preparation time for receiving the metadata data block.
Further, the meta-tasks include standby, erase mode, record mode, playback mode, and record-while-play mode.
Further, the data block transmission time T of the ith meta-taskiSatisfy Ti-1＜TiTime (i, act, 1) -Trans (PreType, CurType, Para) is less than or equal to; wherein, Ti-1The sending time of the last meta-task data block is the sending time T of the 1 st meta-task data block1Satisfy T0+Tr≤T1≤Time(i＝1，act，1) -Trans (PreType, CurType, Para), where Time (i ═ 1, act, 1) is the execution Time of the first task action instruction in the 1 st meta task, specified by the task planning subsystem, and Trans (PreType ═ standby, CurType, Para) is the preparation Time of the 1 st meta task; time (i, act, 1) is the execution Time of the first task action instruction in the ith meta task and is specified by the task planning subsystem; trans (PreType, CurType, Para) is the transition time for the previous meta-task to the current meta-task.
Further, the task action command comprises solid memory start recording, solid memory start playback, solid memory start recording while playing, solid memory erasing, solid memory recording stop and solid memory playback stop.
Further, the data transmission subsystem executes the received task, and comprises the following steps:
s31, judging whether the metadata block storage area has the metadata block which is not read and executed, if not, keeping the current state; if so, reading an oldest written unprocessed meta-task data block D from the meta-task data block storage areai；
S32, Slave Meta task data Block DiStarting from a first instruction in the instruction pool, executing all instructions to complete the ith meta task;
s33, repeating the step S31-S32 until all the meta-task data blocks in the storage area are executed.
Further, the executing all instructions comprises the following steps:
judging whether a current instruction meets a sending condition or not according to the content of a current meta-task data block; if yes, executing the step II, otherwise executing the step V.
Judging whether the current instruction is a task action instruction or not; if yes, executing the step IV, otherwise, executing the step III;
step three, sending the current instruction to a target single machine in the subsystem for execution, and executing the step five after waiting for the corresponding delay of the instruction;
judging whether the local time reaches the instruction sending time specified by the current meta-task data block; if not, repeating the step IV after waiting for a preset time t; if yes, executing the step III.
Judging whether all instructions in the current metatask data block instruction pool are traversed, if not, returning to the first step; if yes, the process is ended.
Further, the corresponding delay of the instruction is the interval time between the issue of the instruction and the next instruction.
Further, the sending condition uses the information in the meta-task data block to carry out logic expression, and when the meta-task data block is received, the true value judgment is carried out on the information in the meta-task data block; when the judgment is passed, sending; and when the judgment is failed, the data is not sent.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for autonomous operation of an agile satellite data transmission subsystem.
Compared with the prior art, the invention has the advantages that:
1) the data transmission subsystem autonomous operation scheme based on the sectional traversal execution of the element task is provided, and the use requirements of multiple agile satellite single-track tasks, high requirement on task response timeliness and high requirement on action execution accuracy are met.
2) The satellite operation mode of 'meta-task data block + autonomous execution' is provided, and the satellite operation mode can be matched with the whole satellite task planning, so that the availability and the usability of the satellite are improved, and the dependence on a ground operation control system is reduced; but also can be suitable for the traditional control mode based on the ground planning upper notes, has strong universality and flexibility, and is suitable for various remote sensing satellites.
3) The method has the advantages that the content of the meta-task data block with strong universality and concise expression is provided, only 31 bytes are needed to represent one meta-task, and compared with the traditional remote sensing satellite, the task injection efficiency is improved by 106% to the maximum.
4) The on-orbit tasks of the data transmission subsystem are summarized into five basic element task modes, the implementation complexity is reduced through sectional type instruction traversal execution, the mode can be randomly linked and combined to execute, the mode conversion time does not exceed 46s, and the execution efficiency and the use efficiency of the satellite are improved.
5) The local time high-precision maintaining strategy of the data transmission subsystem is provided, the accurate sending of the key instruction can be realized by means of the whole satellite high-precision time information, the instruction sending precision does not exceed 20ms, and compared with the traditional scheme, the instruction execution precision is improved by one order of magnitude.
Drawings
Fig. 1 is a block diagram of an autonomous operation structure of an agile data transmission subsystem.
FIG. 2 is a flow chart of the task autonomous execution of the data transmission subsystem.
FIG. 3 is a flow chart of local time maintenance in the data transmission subsystem.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
Firstly, the autonomous operation problem of the agile satellite data transmission subsystem is explained. The autonomous operation of the agile satellite data transmission subsystem refers to that under the unified scheduling of the whole satellite task planning system, a data transmission subsystem bus receives a meta task data block sent by the satellite affair subsystem, decomposes the meta task data block into detailed control instructions according to information given by the data block, sends the detailed control instructions to a single machine in the subsystem, and completes on-orbit tasks such as data processing, data recording, data transmission and the like in cooperation with other subsystems on the satellite. The data transmission subsystem is short-term power-on equipment, the on-off time of the data transmission subsystem is also controlled by the satellite service subsystem, and a plurality of meta-tasks can be continuously executed between one on-off time.
The autonomous operation method of the agile satellite data transmission subsystem provided by the embodiment of the present application is further described in detail with reference to the drawings in the specification, and the specific implementation manner may include (as shown in fig. 1):
In the technical solution provided in the embodiment of the present application, the boot time T in step 10Determined by the following equation:
T0≤T1-Tr (1)
wherein T is1For the transmission time, T, of the first Meta-task data BlockrAnd starting up the data transmission subsystem to the preparation time for receiving the metadata data block.
Step 2, the task planning subsystem plans the data transmission task information D1 of the ith meta taskiAnd a data block transmission time TiAnd sending the data to the satellite affair subsystem. The satellite affair subsystem receives the selection information D2 and D1 of the data transmission equipment on the ground or stored locallyiTogether, are combined into a data transmission meta task data block DiAt TiAnd sending the data to a data transmission subsystem at any moment, and storing the data to a meta-task data block storage area by the data transmission subsystem. And (5) repeating the step (2) until all data blocks of the task are sent and stored.
In the technical solution provided in the embodiment of the present application, the meta task in step 2 is a minimum task that can be executed by an autonomous operation function determined according to a working mode of the data transmission subsystem. The data transmission subsystem shares five element task modes of standby mode, erasing mode, recording mode, playback mode and recording and playing mode, wherein the standby mode is only used as the starting point and the end point of the autonomous execution of the flight task and is a virtual element task. The action executed in one-time on-off of the data transmission subsystem is called a one-time task, and the one-time task can comprise a plurality of meta-tasks.
Further, the meta task data block D described in step 2iAnd all information necessary for realizing the autonomous operation of the data transmission subsystem is contained. Each meta-task is represented by one meta-task data block, and can be represented by a plurality of data blocks during continuous recording or continuous playback. The standby mode is 'virtual element task' without data block representation, and the other four element task data blocks adopt phasesAnd the format is the same, so that the data block analysis complexity is simplified.
In a possible implementation manner, the data transmission task information D1 in step 2iThe system is given by a task planning system and comprises task information necessary for realizing autonomous operation of the data transmission subsystem. The following information should be contained in the data block: the method comprises the steps of setting data block sequence number, data transmission antenna selection, front element task mode, current element task mode, back element task mode, whether antenna relay is needed to be carried out by matching the front element task and the back element task, whether compression ratio switching is needed, load type selection, compression ratio selection, recording file number, recording start time, recording stop time, playback file number, playback start time, playback stop time, erasing mode, erasing file number and the like.
Optionally, in a possible implementation manner, the data transmission device selection information D2 in step 2 includes device master backup selection setting information necessary for the data transmission subsystem to implement autonomous operation, and remains unchanged in a task. The data transmission equipment selects information to be stored by the satellite affair subsystem, and the information can be changed by ground comments without comments when not changed.
In the technical solution provided in the embodiment of the present application, the sending time T of the ith meta task described in step 2iDetermined by the following equation:
Ti-1＜Ti≤Time(i，act，1)-Trans(PreType，CurType，Para) (2)
wherein T isi-1The sending time of the last meta-task data block; time (i, act, 1) is the execution Time of the first task action instruction in the ith meta task and is specified by task planning; trans (PreType, CurType, Para) is the connection and conversion time from the previous meta task to the current meta task, is equal to the sum of the time delay of the executed instruction in the connection and conversion period of the meta task, is only related to the previous meta task mode, the current meta task mode and related parameters, and can be determined through simulation. The initial time is the sending time T of the 1 st meta-task data block1Satisfy T0+Tr≤T1No more than Time (i 1, act, 1) -Trans (PreType standby, CurType, Para), where Time (i 1, act, 1) is the 1 st meta-taskThe execution time of the first task action instruction is specified by the task planning subsystem; trans (PreType ═ standby, CurType, Para) is the preparation time for the 1 st meta task, which can be determined by simulation.
In a possible implementation manner, the task action instruction refers to: and instructions with execution time requirements, such as solid memory starting recording, solid memory starting playback, solid memory starting recording while recording, solid memory erasing, solid memory recording stopping, solid memory playback stopping and the like, wherein the execution time is determined by the mission planning according to the mission.
And 3, the data transmission subsystem autonomously executes the meta task.
In the technical solution provided in the embodiment of the present application, the flowchart is shown in fig. 2, and the data transmission subsystem autonomously performs the meta task, including the following steps:
s31, judging whether the metadata block storage area has the metadata block which is not read and executed, if not, keeping the current state; if so, reading an oldest written unprocessed meta-task data block D from the meta-task data block storage areai。
S32, independently executing the ith meta task from the first instruction in the instruction pool;
in a possible implementation manner, the specific steps are as follows:
judging whether the current instruction meets the sending condition or not according to the content of the meta-task data block, if so, executing the step II, and if not, executing the step V.
Judging whether the current instruction is a task action instruction or not, if not, executing the step III, and if so, executing the step IV.
Sending an instruction, and executing a fifth step after waiting for corresponding delay of the instruction;
judging whether the local time reaches the instruction sending time appointed by the data block, if not, waiting for tms and then repeating the step, and if so, executing the step.
Judging whether all instructions in the instruction pool are traversed or not, if not, repeating the step I to judge the next instruction; if yes, the step is ended.
S33, repeating the step S31-S32 until all the meta-task data blocks in the storage area are executed.
Further, in a possible implementation manner, the instruction pool in step 3 is a set in which the data transmission subsystem autonomously runs all instructions that need to be sent. The instructions are uniformly ordered in the pool, and the positions are only fixed. The command in the pool comprises a subsystem equipment starting command, a state setting command, a task action command and a subsystem equipment shutdown command from front to back in sequence, and the command sequence meets the requirement of the controlled equipment (namely other equipment of the data transmission subsystem) on the command sending sequence.
Optionally, the instruction in step 3 is divided into a subsystem device power-on instruction, a state setting instruction, a task action instruction, and a subsystem device power-off instruction according to functions.
In a possible implementation manner, the instruction sending condition in step 3 refers to a condition to be satisfied for sending the instruction, and is expressed by using information in the meta-task data block. When the meta task is executed in a linked manner, in order to improve the execution efficiency, the power on/off instruction and the state setting instruction of part of the equipment are combined, that is, the sending conditions of the equipment power on instruction, the state setting instruction and the equipment power off instruction are optimized. The device starting instruction and the state setting instruction which are sent by the former task are not required to be sent repeatedly; for the devices which are not needed in the metatask, a shutdown instruction can be sent in advance. Judging the current meta-task working mode (erasing mode, recording mode, playback mode and recording and playing modes) of the subsystem according to the 'current meta-task mode' of the meta-task data block, judging the meta-task ending state (standby, erasing ending, recording ending, playback ending and recording and playing modes) on the subsystem according to the 'previous meta-task mode' and judging the meta-task starting state (standby, erasing mode, recording mode, playback mode and recording and playing modes) of the subsystem according to the 'next meta-task mode', and then combining 'data transmission equipment selection information' of the meta-task data block to give all possible sending conditions of each instruction.
In a possible implementation manner, the delay in step 3 is a time that needs to be waited after the instruction is sent, that is, an interval time between the instruction and the next instruction, and the instruction interval is guaranteed to meet the constraint requirement of the controlled device by delaying after the instruction is sent.
Further, the local time in step 3 is realized by receiving high-precision time information (second pulse, second-to-second broadcast) provided by the whole satellite and matching with a local millisecond timer. The maintenance flow is shown in fig. 3. A local time in minutes and milliseconds value. The maintenance method of millisecond time comprises the following steps: the millisecond time is generated by a local millisecond timer interrupt, with a millisecond value of +1 for each run. When the pulse per second comes, the millisecond value is cleared; when the millisecond value has accumulated to 999, the millisecond value is cleared. The maintenance method of the whole second time comprises the following steps: when the second pulse comes, the local second value is + 1; when the whole second broadcast arrives, the whole second time is compared with the local second value, if the whole second broadcast arrives, the local second value is kept unchanged, and the whole second time of the package broadcast is latched; comparing the whole second of the next packet with the local second value after the whole second arrives, if the whole second arrives, considering that the whole second time in the previous packet is wrong, and still maintaining the local time; if the local second value is continuous, the local second value is considered to be wrong, and the current broadcast second time is used for assigning the local second value.
Step 4, the task planning subsystem plans the shutdown time T of the data transmission subsystemeIs sent to the satellite affair subsystem TeAnd the data transmission subsystem is powered off all the time, and the task is finished.
In the technical solution provided in the embodiment of the present application, the shutdown time T in step 4eDetermined by the following equation:
Te≥Time(last,act,end)-Trans(CurType,Stdby,Para) (3)
wherein, the Time (last, act, end) is the execution Time of the last task action instruction in the last meta task and is specified by task planning; trans (CurType, Stdby, Para) is the transition time of the current meta-task to the standby mode, and the function is the same as in formula (2), and is only related to the current meta-task mode and related parameters, and can be determined through simulation.
Examples
The method provided by the invention is used on a certain satellite data transmission subsystem, the autonomous operation function is realized in a digital transmission lower computer, the hardware is an LSMEU01 SIP module, an 8051 processor LC801E is used as an inner core, a data memory SRAM32K, a program memory adopts a 64KB CPU off-chip FLASH, and the crystal oscillator frequency is 16 MHz. Except the lower computer, the data transmission subsystem has 10 base band devices (4 backup devices), 10 active channel devices (4 backup devices) and 2 data transmission antennas. The meta-task data block and the whole second broadcast (frequency 1Hz) are received through the CAN bus, and the whole star second pulse is received through the RS422 interface. The implementation examples are typical in-orbit tasks of a low-orbit agile satellite in one day, including imaging recording, imaging while recording, playback, erasing, and the like.
The algorithm takes the length of a task injection data block, the task preparation time, the task connection execution capacity and the timing instruction execution precision as evaluation indexes, and the running method based on the instruction template in use is compared with the method in the text. The following table shows the task injection data block length, task preparation time, task connection execution capacity and timing instruction execution precision of the two methods.
The method divides the meta-task data block into two parts of 'task information' and 'equipment selection information', the equipment selection information does not change along with the task, the equipment selection information can be stored by the satellite affair subsystem without frequent upper notes, and if a ground upper note and satellite autonomous execution mode is adopted, only the task information is upper notes. Compared with the traditional method, the method has the advantages that the recording task injection efficiency is improved by 3%, and the playback task injection efficiency is improved by 106% while recording and playing. The method adopts an instruction execution strategy based on an instruction pool, can optimize the on-off and task linking conversion logic according to the current task information, the front meta-task information and the rear meta-task information in the meta-task data block, and realizes the high-efficiency execution of the on-orbit task. As can be seen from the above table, compared with the conventional method, the method has the function of randomly and continuously executing the tasks, and improves the use flexibility; the preparation time of task starting is greatly shortened, and the execution efficiency is improved.
The execution precision of the timing instruction in the method is not more than 20 ms. This error is primarily due to the millisecond timing mechanism. On one hand, the timer is executed in the interrupt with lower priority, and the precision of the timer cannot be guaranteed; on the other hand, limited by hardware conditions, no high-stability crystal oscillator provides a clock source, so that the timing precision is limited. Even if the method is adopted, the second-level instruction execution precision is still greatly improved compared with the traditional method due to the introduction of the high-precision time information of the whole star. The test data are integrated to verify that the autonomous operation method of the agile satellite data transmission subsystem can improve the use efficiency and the use flexibility of the satellite.
A computer-readable storage medium having stored thereon computer instructions which, when executed on a computer, cause the computer to perform the method of fig. 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. An autonomous operation method of an agile satellite data transmission subsystem is characterized by comprising the following steps:
step 1, the task planning subsystem transmits the starting time T of the data transmission subsystem0Sending the data to the housekeeping subsystem, the housekeeping subsystem being at T0Starting the data transmission subsystem at any time, and enabling the data transmission subsystem to enter a standby state;
step 2, the task planning subsystem transmits the data of the ith meta task to task information D1iAnd a data block transmission time TiSending the data to a satellite affair subsystem; the satellite affair subsystem receives the selection information D2 and D1 of the data transmission equipment on the ground or stored locallyiCombined into data transmission meta task data block DiAt TiThe data transmission subsystem is constantly sent to the data transmission subsystem, and the data transmission subsystem is stored in the meta-task data block storage area; repeating the step 2 until all data blocks of the task are sent and stored;
step 3, the data transmission subsystem executes the received task;
step 4, the task planning subsystem shuts down the data transmission subsystem at the time TeSending the data to the housekeeping subsystem, the housekeeping subsystem being at TeAnd the data transmission subsystem is powered off all the time, and the task is finished.
2. The autonomous operation method of the agile satellite data transmission subsystem according to claim 1, wherein: the starting-up time T0Satisfy T0≤T1-Tr(ii) a Wherein T is1For the transmission time, T, of the first Meta-task data BlockrAnd starting up the data transmission subsystem to the preparation time for receiving the metadata data block.
3. The autonomous operation method of the agile satellite data transmission subsystem according to claim 1, wherein: the meta-tasks include standby, erase mode, record mode, playback mode, and record-while-play mode.
4. The autonomous operation method of the agile satellite data transmission subsystem according to claim 1, wherein: the sending time T of the data block of the ith meta taskiSatisfy Ti-1＜TiTime (i, act, 1) -Trans (PreType, CurType, Para) is less than or equal to; wherein, Ti-1The sending time of the last meta-task data block is the sending time T of the 1 st meta-task data block1Satisfy T0+Tr≤T1Time (i ═ 1, act, 1) -Trans (PreType ═ standby, CurType, Para), wherein Time (i ═ 1, act, 1) is the execution Time of the first task action instruction in the 1 st meta task, and is specified by the task planning subsystem, and Trans (PreType ═ standby, CurType, Para) is the preparation Time of the 1 st meta task; time (i, act, 1) is in the ith metataskThe execution time of the first task action instruction is specified by the task planning subsystem; trans (PreType, CurType, Para) is the transition time for the previous meta-task to the current meta-task.
5. The autonomous operation method of the agile satellite data transmission subsystem according to claim 4, wherein: the task action command comprises solid memory starting recording, solid memory starting playback, solid memory starting recording and playing, solid memory erasing, solid memory recording stopping and solid memory playback stopping.
6. The method of claim 1, wherein the data transmission subsystem performs the received task, and comprises the steps of:
s31, judging whether the metadata block storage area has the metadata block which is not read and executed, if not, keeping the current state; if so, reading an oldest written unprocessed meta-task data block D from the meta-task data block storage areai；
S32, Slave Meta task data Block DiStarting from a first instruction in the instruction pool, executing all instructions to complete the ith meta task;
s33, repeating the step S31-S32 until all the meta-task data blocks in the storage area are executed.
7. The method of claim 6, wherein said executing all instructions comprises the steps of:
judging whether a current instruction meets a sending condition or not according to the content of a current meta-task data block; if yes, executing the step II, otherwise executing the step V.
Judging whether the current instruction is a task action instruction or not; if yes, executing the step IV, otherwise, executing the step III;
step three, sending the current instruction to a target single machine in the subsystem for execution, and executing the step five after waiting for the corresponding delay of the instruction;
judging whether the local time reaches the instruction sending time specified by the current meta-task data block; if not, repeating the step IV after waiting for a preset time t; if yes, executing the step III.
Judging whether all instructions in the current metatask data block instruction pool are traversed, if not, returning to the first step; if yes, the process is ended.
8. The autonomous operation method of the agile satellite data transmission subsystem according to claim 7, wherein: the corresponding delay of the instruction is the interval time between the instruction sending and the next instruction.
9. The method as claimed in claim 7, wherein the sending condition is logically expressed by using information in the meta-mission data block, and when the meta-mission data block is received, the information in the meta-mission data block is subjected to true value judgment; when the judgment is passed, sending; and when the judgment is failed, the data is not sent.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 9.
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