CN112558624B - Spacecraft autonomous mission planning verification deployment integrated intelligent computing system - Google Patents
Spacecraft autonomous mission planning verification deployment integrated intelligent computing system Download PDFInfo
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Abstract
The invention discloses an integrated intelligent computing system for autonomous mission planning, verification and deployment of a spacecraft, which comprises the following components: a high-performance mobile workstation unit and a high-performance heterogeneous computing unit; the high-performance mobile workstation unit downloads the compiled target code to the high-performance heterogeneous computing unit, and the compiled target code runs in the high-performance heterogeneous computing unit; a bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft and transmits the state of the spacecraft to the high-performance mobile workstation unit; the high-performance mobile workstation unit stores and interprets the state of the spacecraft to obtain a control instruction, and transmits the control instruction to the high-performance heterogeneous computing unit; and the high-performance heterogeneous computing unit outputs the control instruction to the spacecraft related subsystem. The invention can process large data volume, can meet the algorithm time and space complexity required by intelligent calculation algorithm, has parallel calculation capability and ensures real-time performance.
Description
Technical Field
The invention belongs to the technical field of intelligent computing systems, and particularly relates to an integrated intelligent computing system for autonomous mission planning, verification and deployment of a spacecraft.
Background
The implementation of the autonomous mission planning technology is different from the traditional spacecraft development mode, on one hand, the autonomous mission planning needs to acquire and accumulate large-scale and multi-mode self-orbit state data, and the near real-time high-performance intelligent operation is completed on the large-scale data, so that the planning result is acquired; on the other hand, the on-orbit state mode has huge body quantity and numerous triggering modes, is difficult to effectively simulate and verify by means of the traditional simulation means, cannot meet the timeliness of a task period, and therefore requires that the on-orbit system can adapt to seamless connection of verification, deployment and test processes and iterates repeatedly. However, the current on-board computing system is difficult to meet the requirements in both aspects.
Disclosure of Invention
The invention solves the technical problems that: the intelligent computing system has the advantages that the defects of the prior art are overcome, the intelligent computing system integrated with spacecraft autonomous mission planning verification deployment is provided, large data volume processing can be performed, algorithm time and space complexity required by an intelligent computing algorithm can be met, parallel computing capability is achieved, and real-time performance is guaranteed. Meanwhile, in the use mode, the system can have the functions of verification and deployment, and can be seamlessly connected in the processes of technical verification, deployment test and correction re-verification.
The invention aims at realizing the following technical scheme: an integrated intelligent computing system for spacecraft autonomous mission planning verification deployment, comprising: a high-performance mobile workstation unit and a high-performance heterogeneous computing unit; the high-performance mobile workstation unit downloads the compiled target code to the high-performance heterogeneous computing unit, and the compiled target code runs in the high-performance heterogeneous computing unit; a bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft and transmits the state of the spacecraft to the high-performance mobile workstation unit; the high-performance mobile workstation unit stores and interprets the state of the spacecraft to obtain a control instruction, and transmits the control instruction to the high-performance heterogeneous computing unit; and the high-performance heterogeneous computing unit outputs the control instruction to the spacecraft related subsystem.
In the intelligent computing system for autonomous mission planning, verification and deployment of the spacecraft, a bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft, the high-performance heterogeneous computing unit obtains a control instruction according to the state operation of the spacecraft, and a bus system of the high-performance heterogeneous computing unit outputs the control instruction to related subsystems of the spacecraft; the high-performance mobile workstation unit communicates with the high-performance heterogeneous computing unit or the spacecraft subsystem through wifi, wired Ethernet or thunderbolt buses on the high-performance mobile workstation unit and is used for monitoring data when the high-performance heterogeneous computing unit independently runs the flight control program.
In the spacecraft autonomous mission planning, verifying and deploying integrated intelligent computing system, the high-performance heterogeneous computing unit comprises an image processor, a first central processing unit, a second central processing unit, a programmable gate array, a memory, a high-speed internal bus, a 1553B bus, a hundred/gigabit Ethernet and a data conversion acquisition interface; the first central processing unit acquires the state data of the spacecraft platform through a high-speed internal bus, a 1553B bus, a hundred/gigabit Ethernet and a data conversion acquisition interface; the spacecraft platform state data comprise graphic image data, large-scale time sequence data and event data; the first central processing unit transmits the graphic image data to the image processor through the high-speed internal bus, the image processor operates the graphic image data, and then the image processor returns the operation result to the first central processing unit through the high-speed internal bus; the first central processing unit transmits the large-scale time sequence data to the programmable gate array for processing through the high-speed internal bus, and then the programmable gate array returns the processing result to the first central processing unit through the high-speed internal bus; the first central processing unit transmits event data to the second central processing unit through the high-speed internal bus for processing, and then the second central processing unit returns a processing result to the first central processing unit through the high-speed internal bus; and the first central processing unit completes information processing according to the processing result returned by the second central processing unit, the operation result returned by the image processor and the processing result returned by the programmable gate array.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the invention, through the combined design of the high-performance computing unit and the heterogeneous computing unit, various functions such as a man-machine interaction verification link, a special interface of a quick access system and the like are combined, different working modes under separate and simultaneous conditions are designed, the effect of adapting to different use requirements in a verification stage and a deployment operation stage is achieved, and a foundation is laid for being suitable for an independent intervention system to serve as an autonomous operation planning machine.
(2) The invention achieves the effects of supporting man-machine interaction, synchronizing ground research and development environment, deploying development system, completing large-scale calculation tasks such as training intelligent control or planning model, and completing large-scale test data storage through the high-performance general calculation unit.
(3) The invention can greatly expand the effect of the bus form of the common spacecraft, including 1553B bus, gigE bus, WIFI and the like, through the expandable I/O module of the high-performance heterogeneous computing unit, can perform data communication with other subsystems of the spacecraft, and can perform data interaction with the high-performance general computing unit.
(4) The invention achieves the effect of supporting different application modes through the combined design of the high-performance computing unit and the heterogeneous computing unit, and can simultaneously and separately complete autonomous planning and intelligent control tasks. In the simultaneous mode, the heterogeneous computing unit can be used as an acceleration arithmetic unit of a high-performance general computing unit, an external system 1553B bus and other interface modules; in a discrete form, the heterogeneous computing unit can be used as a high-performance spaceborne computer role, a training and verification planning control application program is deployed on the heterogeneous computing unit, and the heterogeneous computing unit actually performs interactive operation with a sensor and other subsystems to perform deployment operation and verification on algorithms and programs.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is an information flow diagram of an operation state of an integrated intelligent computing system for autonomous mission planning verification and deployment of a spacecraft provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of the use of three operation modes of a spacecraft autonomous mission planning verification deployment integrated intelligent computing system provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of the system software components of a high performance mobile workstation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the components of a high performance heterogeneous computing unit provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of the system software components of a high performance heterogeneous computing unit according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1 is an information flow schematic diagram of an operation state of an integrated intelligent computing system for autonomous mission planning verification and deployment of a spacecraft provided by an embodiment of the invention. As shown in fig. 1, the spacecraft autonomous mission planning verification deployment integrated intelligent computing system includes: a high-performance mobile workstation unit and a high-performance heterogeneous computing unit; the high-performance mobile workstation unit downloads the compiled target code to the high-performance heterogeneous computing unit, and the compiled target code runs in the high-performance heterogeneous computing unit; a bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft and transmits the state of the spacecraft to the high-performance mobile workstation unit; the high-performance mobile workstation unit stores and interprets the state of the spacecraft to obtain a control instruction, and transmits the control instruction to the high-performance heterogeneous computing unit; and the high-performance heterogeneous computing unit outputs the control instruction to the spacecraft related subsystem.
The bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft, the high-performance heterogeneous computing unit calculates according to the state of the spacecraft to obtain a control instruction, and the bus system of the high-performance heterogeneous computing unit outputs the control instruction to the related sub-system of the spacecraft; the high-performance mobile workstation unit communicates with the high-performance heterogeneous computing unit or the spacecraft subsystem through wifi, wired Ethernet or thunderbolt buses on the high-performance mobile workstation unit and is used for monitoring data when the high-performance heterogeneous computing unit independently runs the flight control program.
The high-performance mobile workstation unit and the high-performance heterogeneous computing unit are combined and connected through a mechanical interface and a high-speed bus interface. Under different application modes, autonomous planning and intelligent control tasks can be simultaneously and separately completed, and a research and development test mode, a research and development verification mode and a deployment operation mode are realized.
When the system is in a research and development test mode, an intelligent algorithm and an autonomous program prototype are researched and developed or simulated by mainly utilizing a development environment such as MATLAB, visualStudio, labVIEW and the like which is installed in a high-performance mobile workstation unit, and an autonomous control model is formed; meanwhile, the high-performance heterogeneous computing unit is in the role of an expansion interface between the coprocessor and an external system, is responsible for assisting the mobile workstation unit in accelerating computation and providing data communication capacity, and the workstation unit provides a man-machine interface for intervention operation of astronauts.
When the system is in a research and development verification mode, a development deployment program in the high-performance mobile workstation unit is utilized, a compiled target code can be downloaded to the heterogeneous computing unit, the target code runs in the heterogeneous computing unit, meanwhile, the mobile workstation unit can run monitoring software to communicate with the heterogeneous computing unit, the state of a spacecraft is acquired through a bus interface on the high-performance heterogeneous computing unit, test data is acquired, the high-performance mobile workstation unit stores, transmits and interprets the test result, a control instruction is obtained, and the high-performance mobile workstation unit outputs the output control instruction to a related subsystem of the spacecraft through a bus system of the high-performance heterogeneous computing unit. The workstation unit provides a man-machine interface for the intervention operation of the astronaut.
When the system is in a deployment operation mode, the high-performance heterogeneous computing unit and the high-performance mobile workstation unit are in discrete states. The high-performance heterogeneous computing unit is provided with an actual autonomous flight program after compiling and optimizing, and the heterogeneous computing unit is in data communication with each subsystem of the spacecraft through a data bus to conduct actual autonomous planning and intelligent control. The control instruction is output to the related sub-system of the spacecraft through the bus system of the high-performance heterogeneous computing unit, and in this case, the high-performance mobile workstation unit can communicate with the heterogeneous computing unit or the related sub-system of the spacecraft through a wifi or a wired Ethernet or a thunderbolt bus on the high-performance mobile workstation unit, so as to monitor data when the heterogeneous computing unit independently runs the flight control program.
The high-performance mobile workstation unit is a high-performance computing platform and a main man-machine interaction interface of the system, can be supported by an IA64 Intel architecture platform, is provided with a virtual machine system, can flexibly deploy Windows or Linux operating systems, can run development environments consistent with the ground development environment, such as Matlab, visual Studio, GCC and the like, and can be synchronously matched with the ground test environment; supporting development libraries such as Caffe, tensorflow, CUDA and the like for carrying out test verification works such as large-scale data fusion calculation, machine learning, intelligent control model training and the like; the system has a large-capacity solid state disk and can store process data. The high-performance mobile workstation is in data communication with the high-performance heterogeneous computing unit through the Thunderbolt bus, the bandwidth is 40Gbps, so that operation acceleration resources are expanded, I/O resources (such as 1553B, AD, DA and the like) are expanded, meanwhile, the autonomous flight control program after calculation verification can be deployed into the heterogeneous computing unit through a development environment, the heterogeneous computing unit is used for independently bearing tasks, the workstation is used as a monitoring upper computer, and is in communication with the heterogeneous computing unit, a digital management subsystem and a remote measurement subsystem through wifi or a wired Ethernet or the Thunderbolt bus, so that data when the flight control program is independently operated by the heterogeneous computing unit can be monitored.
The high-performance heterogeneous computing unit comprises an image processor, a first central processing unit 1, a second central processing unit 2, a programmable gate array, a memory, a high-speed internal bus, a 1553B bus, a hundred/gigabit Ethernet and a data conversion acquisition interface; wherein,,
the high-performance mobile workstation unit is operated with a compiling and synthesizing software combination, and after the compiling and synthesizing software combination compiles and synthesizes programs, a central processor machine code file operated on the central processor 1 and the central processor 2, a time sequence logic file operated on the programmable gate array and a machine code file operated on the image processor are respectively generated; and then the files are transmitted to a high-performance heterogeneous computer through a thunderbolt bus, the files are respectively stored in a memory by the unit, the storage positions of the memory correspond to a storage area of a central processing unit 1, a storage area of a central processing unit 2, a programmable gate array storage area and an image processor storage area, and after each component in the high-performance heterogeneous computing unit is powered on or restarted, the files are respectively loaded from the corresponding areas.
The central processing unit 1 runs programs in a storage area of the central processing unit, and a 1553 bus interface chip, a hundred/kilomega Ethernet and a data conversion acquisition interface circuit which are mounted on the central processing unit 1 are finished to acquire spacecraft platform state data.
After the central processing unit 1 acquires data, graphic image data are transmitted to the image processor through a high-speed internal bus, the image processor operates the image, and then the image processor returns an operation result to the central processing unit 1 through the high-speed internal bus; the large-scale time sequence data is transmitted to the programmable gate array for processing through the high-speed internal bus, and then the programmable gate array transmits the operation result to the central processing unit 1 through the high-speed internal bus; the event data is transmitted to the central processing unit 2 for processing through the high-speed internal bus, and then the central processing unit 2 returns the operation result to the central processing unit 1 through the high-speed internal bus; finally, the central processing unit 1 completes the comprehensive calculation of the return data of the central processing unit 2, the image processing unit and the programmable gate array, thereby completing the information processing.
The high-performance heterogeneous computing unit is provided with a central processing unit 1/2, a high-performance image processor, a large-scale FPGA resource and an expandable I/O interface capability. In the simultaneous operation mode, the system is combined with the workstation unit through a mechanical interface, is electrically connected through a Thunderbolt bus and is in data communication with the mobile workstation, and the system is used as parallel computing resources. Under the independent working mode, the system can be used as a future high-performance heterogeneous satellite-borne computer, and an autonomous system with high concurrency, large-scale data and complex parallel real-time characteristics can be deployed. The central processing unit is used for deploying a running library, a file system and a driving program used by the running program; the high-performance image processor module is mainly used for accelerating calculation and large-scale high-performance operation, such as: the experimental verification process of the algorithm can train a deep learning model on a high-performance mobile workstation by using a DIGITS interface, and then deploy the trained model to a high-performance image processor by using a JetPack-carried high-performance reasoning engine TensorRT. The high-performance image processor is used for operating in cooperation with the central processing unit 1 to finish the acceleration of calculation and large-scale high-performance operation; the field programmable gate array is used for specific arithmetic logic, specific acceleration arithmetic units and the like, and the loading time sequence is uniformly managed by the central processing unit 2, so that the field programmable gate array is a large-scale and high-performance field programmable gate array product. The extensible I/O module can extend I/O interface resources required by tasks, particularly bus I/O required by communication with an external system, such as 1553B interface, high-performance gigabit Ethernet interface with custom protocol and WIFI, and can realize data communication between a mobile workstation and a heterogeneous computing unit with the extended I/O in a point-to-point mode at high speed and high bandwidth.
As shown in fig. 1, the spacecraft autonomous mission planning verification deployment integrated intelligent computing system consists of a high-performance general computing unit and a high-performance heterogeneous computing unit, wherein the high-performance general computing unit and the high-performance heterogeneous computing unit are connected in a combined manner through a mechanical interface and a high-speed bus interface, and autonomous intelligent control supporting software is operated on the high-performance general computing unit and the high-performance heterogeneous computing unit, as shown in fig. 1. Under the drive of software, the spacecraft autonomous mission planning, verification and deployment integrated intelligent computing system can expand buses meeting the use requirements of the spacecraft through the high-performance heterogeneous computing unit, complete data communication with each subsystem of the spacecraft, acquire the system states of the spacecraft sensor, the spacecraft actuating mechanism and related subsystems, send the system states to the autonomous planning and intelligent control system for operation, conduct autonomous mission planning, convert planning results into spacecraft related instruction sequences and output control signals to the related subsystems of the spacecraft through the bus system. In addition, the spacecraft autonomous task planning verification deployment integrated intelligent computing system can receive the command of a spacecraft through the high-performance general computing unit, realize man-machine interaction, synchronize ground research and development environment and deploy a development system, complete large-scale computing tasks such as intelligent control training or planning model training, and complete large-scale test data storage.
As shown in fig. 2, the high-performance general-purpose computing unit and the high-performance heterogeneous computing unit can be combined or can separately complete autonomous planning and intelligent control tasks, and can cope with three application modes:
(1) research and development test mode: the system is in a research and development test mode, and mainly utilizes a development environment installed in a high-performance general-purpose computing unit to research and develop an intelligent algorithm and an autonomous program prototype or simulate the autonomous program prototype and an autonomous control model; meanwhile, the high-performance heterogeneous computing unit is in the role of an expansion interface between the coprocessor and an external system, and is responsible for assisting the high-performance general computing unit in accelerating computation and providing data communication capacity, and the workstation unit provides a man-machine interface for intervention operation of astronauts.
(2) Research and development verification mode: when the system is in a research and development verification mode, the high-performance heterogeneous computing unit is regarded as a high-performance spaceborne computer. The high-performance general-purpose computing unit can run monitoring software to communicate with the heterogeneous computing unit to acquire test data, store, transmit and interpret test results, and the workstation unit provides a man-machine interface for intervention operation of astronauts.
(3) Deployment of the operational mode: when the system is in a deployment operation mode, the high-performance heterogeneous computing unit and the high-performance spaceborne computer are in a discrete state. The heterogeneous computing unit is deployed with the compiled and optimized actual autonomous flight program, and performs data communication with each subsystem through a data bus to perform actual autonomous planning and intelligent control.
As shown in fig. 3, the high-performance mobile workstation is mainly used for on-line deployment and development environments and supporting test verification tasks, and is characterized by running non-real-time, large-scale and high-performance operation tasks, deploying development environments required by test and verification processes and running program deployment environments required by heterogeneous computing platforms.
The virtual machine system is deployed on the platform support through an IA64 Intel architecture platform, and the shelf type mature operating system is flexibly deployed; a development library consistent with the ground development platform is deployed, and is synchronously matched with a ground test environment, so that test verification works such as large-scale data fusion calculation, machine learning, intelligent control model training and the like are carried out; a mass memory is provided to store process data; data communication is carried out between the high-performance heterogeneous computing unit and the internal high-speed bus, so that operation acceleration resources and expansion I/O resources (such as 1553B, AD, DA and the like) are expanded through the heterogeneous computing unit; deploying the autonomous flight control program after calculation verification into a heterogeneous computing unit through a development environment, and independently bearing tasks by the heterogeneous computing unit; the data when the heterogeneous computing unit independently runs the flight control program is monitored by communicating with the heterogeneous computing unit and each subsystem through a high-speed bus; the high-performance mobile workstation is mainly divided into two working states, namely an on-orbit running state and a ground cooperative state.
On-track operating state
In the on-orbit running state, the high-performance mobile working station mainly runs application programs, and basic items including an operating system, files and storage are required to be equipped;
application program: deploying a test program, verifying a program and running a non-real-time autonomous program.
Operating system: the method mainly deploys an operating system which can be used for supporting a necessary operation library and an operation environment for the operation of application software, and the design adopts a Windows system as the operating system software.
And (3) files and storage: a database for data storage is deployed.
Ground cooperative state
In the ground collaboration state, in addition to the basic items required in the on-orbit operation stage, the installation and development of compiling software is required, including virtualization, development environment, operation library, program development framework and the like.
And (3) virtualization: the system deploys virtualized base software to run a more extensive development of the desired ecosoftware system.
Development environment: and deploying a software platform required by development processes such as intelligent autonomous algorithm development, heterogeneous computing unit embedded program development and the like.
The operation library: deploying virtualization software, developing environment software, a storage system, a program framework and support library software required by application program running.
Program development framework: development frameworks required for artificial intelligence, machine vision, machine learning, and the like are deployed.
As shown in fig. 4, the high-performance heterogeneous computing unit has high-performance GPU, large-scale FPGA resources and expandable I/O interface capability, and is composed of GPU, FPGA and expandable I/O module.
The expandable I/O module can expand the interfaces of 1553B bus, gigE bus, WIFI and the like for controlling and exchanging data with external systems.
In the simultaneous operation mode, the system is combined with the workstation unit through a mechanical interface, is electrically connected with the high-speed internal bus, and is in data communication with the high-performance general-purpose computing unit, and the system is used as parallel computing resources.
Under the independent working mode, the system can be used as a future high-performance heterogeneous satellite-borne computer, and an autonomous system with high concurrency, large-scale data and complex parallel real-time characteristics can be deployed.
As shown in fig. 5, the high-performance heterogeneous computing unit mainly performs high-performance real-time operation for running a flight verification program and a real intelligent autonomous flight program. The system software in the heterogeneous computing unit is divided into three parts, and the allocation of the three parts is completed by a development program running in the workstation unit.
The real-time application program is decomposed into a CPU part, a GPU part and an FPGA part according to the operation characteristics.
CPU part: the CPU is a multi-core ARM architecture A53 series, a real-time Linux operating system is operated on the CPU, and a running library, a file system and a driving program for running programs are deployed on the CPU.
GPU part: the program of the GPU part is a program part which is identified in the development or compiling process of the workstation development program and can be subjected to parallelization processing through a general GPU, and the program part is compiled into a specific format and operates in cooperation with ARM.
FPGA part: in the development and design process of the autonomous intelligent flight program, the FPGA part is designed into a specific operation logic, a specific acceleration operation unit, an IP soft core and the like, and after the program is compiled and synthesized through the combination of compiling and synthesizing software, the program is downloaded into a configuration chip of the FPGA, and the ARM uniformly manages the loading time sequence.
The three are deployed respectively, and the subsequent operation is communicated through the PCIe bus to perform data synchronous operation.
According to the invention, through the combined design of the high-performance computing unit and the heterogeneous computing unit, various functions such as a man-machine interaction verification link, a special interface of a quick access system and the like are combined, different working modes under separate and simultaneous conditions are designed, the effect of adapting to different use requirements in a verification stage and a deployment operation stage is achieved, and a foundation is laid for being suitable for an independent intervention system to serve as an autonomous operation planning machine.
The invention achieves the capability of the computing system to adapt to different spacecraft systems by designing a reconfigurable interface mode with expansion capability of software, thereby having the practical capability of responding to the multi-category spacecraft systems and developing and expanding the continuous autonomous task planning related technology on the multi-category spacecraft systems.
The invention achieves the effects of supporting man-machine interaction, synchronizing ground research and development environment, deploying development system, completing large-scale calculation tasks such as training intelligent control or planning model, and completing large-scale test data storage through the high-performance general calculation unit.
The invention can greatly expand the effect of the bus form of the common spacecraft, including 1553B bus, gigE bus, WIFI and the like, through the expandable I/O module of the high-performance heterogeneous computing unit, can perform data communication with other subsystems of the spacecraft, and can perform data interaction with the high-performance general computing unit.
The invention achieves the effect of supporting different application modes through the combined design of the high-performance computing unit and the heterogeneous computing unit, and can simultaneously and separately complete autonomous planning and intelligent control tasks. In the simultaneous mode, the heterogeneous computing unit can be used as an acceleration arithmetic unit of a high-performance general computing unit, an external system 1553B bus and other interface modules; in a discrete form, the heterogeneous computing unit can be used as a high-performance spaceborne computer role, a training and verification planning control application program is deployed on the heterogeneous computing unit, and the heterogeneous computing unit actually performs interactive operation with a sensor and other subsystems to perform deployment operation and verification on algorithms and programs.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (2)
1. An integrated intelligent computing system for autonomous mission planning, verification and deployment of a spacecraft is characterized by comprising: a high-performance mobile workstation unit and a high-performance heterogeneous computing unit; wherein,,
the high-performance mobile workstation unit downloads the compiled object code to the high-performance heterogeneous computing unit, and the compiled object code runs in the high-performance heterogeneous computing unit;
a bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft and transmits the state of the spacecraft to the high-performance mobile workstation unit; the high-performance mobile workstation unit stores and interprets the state of the spacecraft to obtain a control instruction, and transmits the control instruction to the high-performance heterogeneous computing unit; the high-performance heterogeneous computing unit outputs a control instruction to the spacecraft related subsystem; wherein,,
the high-performance heterogeneous computing unit comprises an image processor, a first central processing unit, a second central processing unit, a programmable gate array, a memory, a high-speed internal bus, a 1553B bus, a hundred/gigabit Ethernet and a data conversion acquisition interface; wherein,,
the first central processing unit acquires the state data of the spacecraft platform through a high-speed internal bus, a 1553B bus, a hundred/gigabit Ethernet and a data conversion acquisition interface; the spacecraft platform state data comprise graphic image data, large-scale time sequence data and event data;
the first central processing unit transmits the graphic image data to the image processor through the high-speed internal bus, the image processor operates the graphic image data, and then the image processor returns the operation result to the first central processing unit through the high-speed internal bus;
the first central processing unit transmits the large-scale time sequence data to the programmable gate array for processing through the high-speed internal bus, and then the programmable gate array returns the processing result to the first central processing unit through the high-speed internal bus;
the first central processing unit transmits event data to the second central processing unit through the high-speed internal bus for processing, and then the second central processing unit returns a processing result to the first central processing unit through the high-speed internal bus; the first central processing unit completes information processing according to the processing result returned by the second central processing unit, the operation result returned by the image processor and the processing result returned by the programmable gate array;
the high-performance mobile workstation unit and the high-performance heterogeneous computing unit can be simultaneously and separately used for completing autonomous planning and intelligent control tasks, and the three application modes are treated:
(1) research and development test mode: the system is in a research and development test mode, and mainly utilizes a development environment installed in a high-performance mobile workstation unit to research and develop an intelligent algorithm and an autonomous program prototype or simulate the autonomous program prototype and an autonomous control model; meanwhile, the high-performance heterogeneous computing unit is in the role of an expansion interface between the coprocessor and an external system, and is responsible for assisting the high-performance mobile workstation unit in accelerating computation and providing data communication capacity, and the workstation unit provides a man-machine interface for intervention operation of astronauts;
(2) research and development verification mode: when the system is in a research and development verification mode, the high-performance heterogeneous computing unit is regarded as a high-performance spaceborne computer; the method comprises the steps that a development deployment program in a high-performance mobile workstation unit is utilized, compiled target codes can be downloaded to a high-performance heterogeneous computing unit, the target codes run in the high-performance heterogeneous computing unit, meanwhile, monitoring software run by the high-performance mobile workstation unit is communicated with the high-performance heterogeneous computing unit, test data are obtained, the test data are stored, transmitted and interpreted, and a human-computer interface is provided for a spaceman to intervene in operation;
(3) deployment of the operational mode: when the system is in a deployment operation mode, the high-performance heterogeneous computing unit and the high-performance mobile workstation unit are in a discrete state; the high-performance heterogeneous computing unit is provided with an actual autonomous flight program after compiling optimization, and performs data communication with each subsystem of the spacecraft through a data bus to perform actual autonomous planning and intelligent control.
2. The spacecraft autonomous mission planning verification deployment integrated intelligent computing system of claim 1, wherein: the bus interface on the high-performance heterogeneous computing unit acquires the state of the spacecraft, the high-performance heterogeneous computing unit calculates according to the state of the spacecraft to obtain a control instruction, and the bus system of the high-performance heterogeneous computing unit outputs the control instruction to the related sub-system of the spacecraft;
the high-performance mobile workstation unit communicates with the high-performance heterogeneous computing unit or the spacecraft subsystem through wifi, wired Ethernet or thunderbolt buses on the high-performance mobile workstation unit and is used for monitoring data when the high-performance heterogeneous computing unit independently runs the flight control program.
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