CN112925480A - Interaction method for important information of satellite house keeping computer - Google Patents
Interaction method for important information of satellite house keeping computer Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0646—Horizontal data movement in storage systems, i.e. moving data in between storage devices or systems
- G06F3/0652—Erasing, e.g. deleting, data cleaning, moving of data to a wastebasket
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
- G06F11/1402—Saving, restoring, recovering or retrying
- G06F11/1446—Point-in-time backing up or restoration of persistent data
- G06F11/1448—Management of the data involved in backup or backup restore
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0602—Interfaces specially adapted for storage systems specifically adapted to achieve a particular effect
- G06F3/0614—Improving the reliability of storage systems
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0602—Interfaces specially adapted for storage systems specifically adapted to achieve a particular effect
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0655—Vertical data movement, i.e. input-output transfer; data movement between one or more hosts and one or more storage devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F5/00—Methods or arrangements for data conversion without changing the order or content of the data handled
- G06F5/06—Methods or arrangements for data conversion without changing the order or content of the data handled for changing the speed of data flow, i.e. speed regularising or timing, e.g. delay lines, FIFO buffers; over- or underrun control therefor
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Abstract
The invention relates to the technical field of satellite house keeping computers, and provides an interaction method of important information of a satellite house keeping computer, which comprises the following steps: setting an important data storage in the single machine to store the important information; and the application software is operated by two single machines in an interactive mode. The problem that dependence on third-party equipment and abnormal ' seamless ' cutting can not be achieved when writing-in of the FIFO is not completed after information is emptied is solved, safe and reliable double-computer interaction of important information is guaranteed, seamless ' switching of double computers can be achieved, and safety and reliability of a satellite are guaranteed.
Description
Technical Field
The invention relates to the technical field of satellite house keeping computers, in particular to an interaction method of important information of a satellite house keeping computer.
Background
The satellite is difficult to maintain when in orbit, so that the in orbit task can be completed only by meeting certain reliability. The equipment of the satellite generally adopts double-machine backup, and meanwhile, the equipment mostly adopts cold backup in consideration of the service life requirement. When the equipment is abnormal, the double-machine switching is needed, and the seamless switching is also required for the equipment with control output. For satellite affair computers controlled by a satellite in a centralized way, in order to realize seamless switching, a fault single machine is required to deliver important information including the state and control information before abnormality to a backup single machine. Therefore, the success or failure of the two-computer important information interaction directly determines whether the satellite is safe or not.
In the prior art, the method for the information interaction of the satellite house service computer dual machines mainly comprises a serial port communication method, a third party single machine backup method and an FIFO interaction method, and the method is introduced below under the condition that the dual machines are an A machine and a B machine.
The serial port communication method adopts a GJB1198 synchronous serial port or a standard asynchronous serial port communication interface to carry out information interaction. When a GJB1198 synchronous serial port is adopted, when the machine A and the machine B carry out double-machine interaction, each single machine needs a synchronous serial port sending port to send data and needs a synchronous serial port receiving port to receive data; when a standard asynchronous serial communication interface is adopted, when the A machine and the B machine carry out double-machine interaction, information interaction is generally completed by adopting an asynchronous serial transceiver integrated by a CPU.
The third party single machine backup method comprises the following steps: important information is sent to a normally powered stand-alone machine when a task of a numerical control computer is idle through a satellite system bus (comprising a CAN or 1553B bus), and the stand-alone machine comprises a power supply controller; after the satellite affair subsystem is abnormally switched off, the stored important information is retrieved through the satellite system bus so as to complete information interaction.
The double-machine FIFO method adopts a half-duplex interaction method: the machine A and the machine B of the house computer are respectively provided with an FIFO, for the FIFO of the machine A, the machine A can only write information in, and the machine B can read the information after being electrified; for the FIFO of the B machine, the B machine can only write information into the FIFO, and the A machine can read the information after being powered on.
To the cold backup unit of high reliable long-life housekeeping, the generator tripping can only take place when the unit trouble of class in general when the operation on orbit: when a hardware watchdog bites, the system cannot normally run, and software cannot feed the hardware dog, so that the hardware watchdog is cut.
The serial port communication method adopting the standard asynchronous serial port communication interface has the advantage of simple interface circuit. However, when the single machine fails, the CPU cannot feed dogs or update serial port contents, cannot complete the interaction of important information of the two machines, and can only be applied to the two machines without failure, for example, when a command is issued to switch the machine. Therefore, the star computers adopt the method to exchange less important information nowadays.
In order to solve the problem that the satellite cannot drive an interface to complete information interaction when a single computer is abnormal, most of the existing satellite computers adopt a third-party single computer backup method: when the single machine normally operates, important information is transmitted to a third-party single machine for storage through a satellite system bus, and when the single machine is switched off, the backup single machine does not need to acquire information from a fault single machine, but acquires information from the third-party single machine so as to realize the interaction of the important information.
However, the third party stand-alone backup method requires the cooperation of equipment outside the house keeping system and needs to ensure the safety and reliability of the communication interface and data, so that the reliability of the third party stand-alone is at least required to be not lower than that of the house keeping computer. In addition, the debugging and testing of the important information of the two computers require the participation of a single computer of a third party, so that the debugging and testing process is complicated. Therefore, the third-party single-computer backup method has too strong dependence on equipment outside the satellite affair system, and is not beneficial to ensuring the reliability of information interaction;
another method commonly adopted at present is a dual-machine FIFO method: when the single machine normally operates, important information is transmitted to the local FIFO for storage through a satellite system bus, and the backup single machine acquires important data written by the fault single machine during normal operation from the fault single machine during the machine switching so as to realize the interaction of the important information of the two machines. The method has the advantages of avoiding that the interface cannot be driven to complete information writing when the single machine is abnormal and avoiding the dependence on the third-party equipment caused by obtaining information from the third-party single machine. The serial port communication method adopting the synchronous serial port has similar advantages to the dual-machine FIFO method.
However, important information in the local FIFO is cold backup, and the opposite single machine cannot read when not powered on, and the local FIFO needs to be emptied when the local FIFO is full. If the important information is written in but is not written in after the FIFO is emptied, the backup machine is switched off, the backup machine cannot read the important information, the important data cannot be transmitted to the standby machine, the seamless switching-off cannot be finished, and the satellite enters an uncertain state to directly influence the safety of the satellite.
Disclosure of Invention
In view of the above problems in the prior art, the present invention provides a method for interacting important information of a satellite house keeping computer, wherein the satellite house keeping computer comprises two single computers, and the two single computers are configured to be the same, the method comprising:
setting an important data storage in the single machine to store the important information; and
the application software is operated by two single machines in an interactive way.
In one embodiment of the invention, the storage capacity of the vital data storage is 8 Kbytes; and the important data store is configured to:
writing data by a single machine;
a single machine cannot read data in the important data memory;
performing a read operation by a single machine to clear said written data; and
the data in the important data memory is read by another single machine.
In one embodiment of the invention, the vital data store further comprises a memory configured as a first-in-first-out.
In one embodiment of the invention, the vital data store is a seal GA memory.
In one embodiment of the invention, the important data memory is a FIFO memory.
In one embodiment of the invention, the application software is operated by two stand-alone interaction, comprising the following steps:
determining a start-up mode and running application software by a single machine, comprising:
when the starting mode is cold starting, reading important information in an important data memory of another stand-alone machine so as to provide input information for the application software and run the application software; and
when the starting mode is hot starting, running application software;
writing important information of a single machine into an important data storage in the software period of application software by the single machine; and
the important information of a single machine written into the important data storage in the software period of the last application software is cleared by the single machine.
In one embodiment of the invention, the method comprises the steps of:
organizing important information into N frames of double-machine interactive frames by a single machine, wherein each frame of double-machine interactive frame comprises one important information;
one single machine sends the double-machine interaction frame to another single machine through a double-machine interaction channel; and
and reading the double-computer interaction frame by another single computer, and updating the same-frame important information stored by the single computer according to the double-computer interaction frame when the double-computer interaction frame is inconsistent with the same-frame important information stored by the single computer.
In one embodiment of the present invention, the important information includes: ephemeris data, orbit data, task instruction sequence data, time data, and state quantity data.
In an embodiment of the present invention, when the startup state of another stand-alone machine is cold startup and the important information included in the read dual-machine interactive frame is time data, the cold startup time is added to the time data to update the time data stored in the stand-alone machine.
The method of the invention at least has the following beneficial effects: the problem that dependence on third-party equipment and abnormal ' seamless ' cutting can not be achieved when writing-in of the FIFO is not completed after information is emptied is solved, safe and reliable double-computer interaction of important information is guaranteed, seamless ' switching of double computers can be achieved, and safety and reliability of a satellite are guaranteed.
Drawings
To further clarify the advantages and features that may be present in various embodiments of the present invention, a more particular description of various embodiments of the invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
FIG. 1 is a logic block diagram illustrating a two-machine backup of a star computer in an embodiment of the present invention.
Fig. 2 is a schematic block diagram of hardware for performing high-reliability important information dual-computer interaction in an embodiment of the present invention.
FIG. 3 illustrates software execution flow in one embodiment of the invention.
Fig. 4 shows a process of dual-machine information interaction in an embodiment of the present invention.
Detailed Description
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The "important information" in the present invention includes: the total data amount of the current satellite time system, the current attitude control attitude determination mode and control mode, the power-on and power-off states of each important device of the current satellite, the satellite orbit and the ephemeris is not more than 2 Kbytes.
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
In one embodiment of the invention:
fig. 1 shows a logic block diagram of the backup of the two computers of the satellite computer in this embodiment.
The invention sets important data memory for storing important information in the star computer system, which is different from the SRAM or EEPROM used commonly, and sets an 8 Kx8 bit memory space on the CPU system bus: the important data memory reads and writes the same address space, the processor accesses in an 8-bit mode, the local processor directly writes information in the running process, and the backup processor reads the information.
The important data memory is configured to be written in bytes, the content of the important data memory cannot be read by a local machine but can be read, and the data written firstly in the important data memory is cleared by the local machine every time the important data memory is read; the other single machine can read the effective data of the important data memory of the local machine after being powered on; the memory has the first-in first-out function and is realized by adopting an FPGA or an FIFO memory.
Fig. 2 shows a hardware schematic block diagram of the high-reliability important information dual-computer interaction in the present embodiment. The two machines A and B are designed to be completely symmetrical and identical, the machine A or the machine B is not required to be distinguished, the design is simple and reliable, and the reliability of hardware is improved.
Fig. 3 shows a software operation flow in the present embodiment. After the software initialization is completed, the application software starts to run, and the method comprises the following steps:
judging a starting mode, comprising:
if the mobile phone is in cold start, reading important information in a special storage area of the opposite mobile phone for providing input for application software; and
if the hot start is carried out, the application software is directly operated without reading the important data of the opposite single machine;
writing important data of the local computer into a special storage area of the local computer in each software period, wherein the important data does not exceed 2Kbytes, and the capacity of the special storage area of the local computer is 8K, so that the storage space of the special storage area cannot be exceeded after the important data is written; and
the software clears the old critical data written periodically into the native.
The software design of the double-machine A machine and the single-machine B machine is completely symmetrical and identical, the machine A or the machine B does not need to be distinguished, the design is simple and reliable, and the reliability of the software is improved. Through the software operation flow, new data is written first and then the data is cleared, so that effective important data can be guaranteed to exist at any time in a special storage area of the computer, the safe and reliable seamless switching of the two computers is guaranteed, the safe reliability of the satellite is improved, and the risk of satellite failure caused by abnormal switching is avoided.
In another embodiment of the invention:
on the basis of the hardware design of a special storage area, the interaction of the high-reliability important information of the satellite is realized by combining the same or similar mode with the software control flow, and the interaction of the important information of the satellite can also be realized by combining the method with a third-party single machine backup method.
The interaction method for realizing the important information in the embodiment comprises the following steps:
all the continuous state quantities of the system are classified and organized, and each type of data is formed into one frame, and N frames are organized in total. The main control computer sends N frame data through the dual-computer interaction channel every M software periods (the size of M is selected according to needs). Besides the delayed telemetry data with very large data volume can not be framed, the ephemeris data, orbit data, task instruction sequence data, time data and state data can be framed and sent to a backup machine. If the backup machine is in the hot backup state, reading the interactive data frame sent by the main control machine, comparing the interactive data frame with the same frame data stored by the backup machine, and if the interactive data frame is not consistent, duplicating the interactive data frame, and if the interactive data frame is consistent, not processing the interactive data frame. If the backup machine is in a cold backup state at present, reading the latest double-machine interaction data from the double-machine interaction channel after starting, starting to operate as the latest state, adding the starting time delta T to the time data T to compensate the starting time when receiving the time frame and synchronizing, so as to obtain more accurate time and further reduce the gap of double-machine switching.
Fig. 4 shows a process of dual-computer information interaction in this embodiment, and by the above method for interacting important information, when the system is switched, the backup computer can seamlessly and smoothly take over the task based on the latest state of the master controller, and meanwhile, the task is continuously implemented according to the task instruction sequence, so that the task is continuously run.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (9)
1. A method for interacting important information of a satellite house keeping computer, the satellite house keeping computer comprising two single computers, wherein the two single computers are configured to be identical, characterized in that the method comprises:
setting an important data storage in the single machine to store the important information; and
the application software is operated by two single machines in an interactive way.
2. The method of interacting important information of a satellite house service computer as claimed in claim 1, wherein the storage capacity of the important data storage is 8 Kbytes; and
the important data store is configured to:
writing data by a single machine;
a single machine cannot read data in the important data memory;
performing a read operation by a single machine to clear said written data; and
the data in the important data memory is read by another single machine.
3. The method of interacting critical information of a satellite house keeping computer of claim 2, wherein the critical data storage further comprises a first-in first-out configuration.
4. The method for interacting important information of a satellite house service computer as claimed in claims 1-3, wherein the important data storage is FPGA storage.
5. The method for interacting important information of satellite house computers according to claims 1-3, wherein the important data memory is a FIFO memory.
6. The method for interacting important information of satellite house service computers according to claim 3, wherein the application software operated by two standalone interaction comprises the following steps:
determining a start-up mode and running application software by a single machine, comprising:
when the starting mode is cold starting, reading important information in an important data memory of another stand-alone machine so as to provide input information for the application software and run the application software; and
when the starting mode is hot starting, running application software;
writing important information of a single machine into an important data storage in the software period of application software by the single machine; and
the important information of a single machine written into the important data storage in the software period of the last application software is cleared by the single machine.
7. A method for interacting important information of a satellite house keeping computer, the satellite house keeping computer comprising two single computers, wherein the two single computers are configured to be identical, characterized in that the method comprises the following steps:
organizing important information into N frames of double-machine interactive frames by a single machine, wherein each frame of double-machine interactive frame comprises one important information;
one single machine sends the double-machine interaction frame to another single machine through a double-machine interaction channel; and
and reading the double-computer interaction frame by another single computer, and updating the same-frame important information stored by the single computer according to the double-computer interaction frame when the double-computer interaction frame is inconsistent with the same-frame important information stored by the single computer.
8. The method of interacting important information of a satellite house keeping computer according to claim 7, wherein the important information includes: ephemeris data, orbit data, task instruction sequence data, time data, and state quantity data.
9. The method of claim 8, wherein reading the dual-server interaction frame by another stand-alone machine, and updating the same-frame important information stored by the stand-alone machine according to the dual-server interaction frame when the dual-server interaction frame is inconsistent with the same-frame important information stored by the stand-alone machine comprises:
when the starting state of another single computer is cold starting and the important information included in the read double computer interaction frame is time data, adding cold starting time to the time data to update the time data stored in the single computer.
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