CN112925480B - Method for interacting important information of satellite service computer - Google Patents
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- CN112925480B CN112925480B CN202110227052.2A CN202110227052A CN112925480B CN 112925480 B CN112925480 B CN 112925480B CN 202110227052 A CN202110227052 A CN 202110227052A CN 112925480 B CN112925480 B CN 112925480B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000003993 interaction Effects 0.000 claims abstract description 37
- 238000013500 data storage Methods 0.000 claims description 11
- 230000005856 abnormality Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 8
- 230000002452 interceptive effect Effects 0.000 description 7
- 230000009977 dual effect Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
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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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- G—PHYSICS
- 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
-
- 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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- 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
- G06F3/062—Securing storage systems
-
- 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
- G06F3/0655—Vertical data movement, i.e. input-output transfer; data movement between one or more hosts and one or more storage devices
-
- 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 service computers in general, and provides an interaction method of important information of a satellite service computer, which comprises the following steps: setting an important data memory in a stand-alone machine to store the important information; and running the application software interactively by two single machines. The problem that the dependence on third-party equipment and the fact that the FIFO cannot be cut off in a seamless mode due to abnormality when writing is not completed after the information is emptied is avoided, safe and reliable double-machine interaction of important information is guaranteed, seamless switching of the double machines can be achieved, and safety and reliability of satellites are guaranteed.
Description
Technical Field
The invention relates to the technical field of satellite service computers, in particular to an interaction method of important information of a satellite service computer.
Background
Satellites are difficult to maintain during in-orbit operation, and therefore certain reliability needs to be met to complete in-orbit tasks. The satellite equipment generally adopts dual-machine backup, and meanwhile, considering the service life requirement, the equipment mostly adopts cold backup. A two-machine switch is required when the device is abnormal, and a "seamless" switch is also required for a device with a control output. For a satellite computer with centralized control of satellites, to achieve "seamless" switching, a failed stand-alone machine is required to transmit important information including state and control information before an anomaly to a backup stand-alone machine. Therefore, the success or failure of important information interaction of the two machines directly determines whether the satellite is safe or not.
In the prior art, the method for information interaction of the satellite service computer double machines mainly comprises a serial port communication method, a third party single machine backup method and a FIFO interaction method, and the method is introduced under the condition that the double machines are A machines and B machines.
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 the GJB1198 synchronous serial port is adopted, each single machine needs a synchronous serial port transmitting port to transmit data and a synchronous serial port receiving port to receive data when the A machine and the B machine perform double-machine interaction; when a standard asynchronous serial port communication interface is adopted, when the A machine and the B machine are used for double-machine interaction, a CPU integrated asynchronous serial port transceiver is generally adopted for completing information interaction.
The third party single machine backup method comprises the following steps: transmitting important information to a normally powered stand-alone machine when a task of a digital computer is idle through a satellite system bus (comprising a CAN or 1553B bus), wherein the stand-alone machine comprises a power supply controller; after the satellite subsystem is cut off abnormally, the stored important information is retrieved through a satellite system bus, so that information interaction is completed.
The dual-machine FIFO method adopts a half-duplex interaction method: the A machine and the B machine of the star computer are respectively provided with a FIFO, and for the FIFO of the A machine, the A machine can only write information inwards, and the B machine reads the information after being powered on; for the FIFO of the B machine, the B machine can only write information in, and the A machine can read the information after being powered on.
For a highly reliable and long-life cold backup single machine, the machine is generally cut only when the work single machine fails during on-orbit operation: the hardware watchdog bites, the system cannot normally run, and software cannot feed the hardware watchdog, so that the cutter is caused.
The serial port communication method adopting the standard asynchronous serial port communication interface has the advantage of simple interface circuit. However, when the office machine fails, the CPU cannot feed dogs and update serial port content, interaction of important information of the two machines cannot be completed, and the method can only be applied to the situation that the two machines have no failure, for example, when the machine is cut by instructions. Therefore, the current star computer adopts the method to exchange less important information.
In order to solve the problem that the satellite can not drive the interface to complete information interaction when the single machine is abnormal, most of the current satellite computers adopt a third party single machine backup method: and when the single machine normally operates, the 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 needs equipment cooperation outside the star service system, and needs to ensure the safety and reliability of the communication interface and the data, so that at least the reliability of the third party stand-alone is required to be not lower than that of the star service computer. In addition, the debugging and testing of the important information of the double machines all need the participation of a third party single machine, so that the debugging and testing process is complicated. Therefore, the third party single machine backup method has strong dependence on equipment outside the star system, which is not beneficial to guaranteeing the reliability of information interaction;
another method currently in common use is the dual machine FIFO method: and when the single machine normally operates, important information is transmitted to the local FIFO for storage through the satellite system bus, and when the single machine is switched off, the backup single machine acquires the important data written by the fault single machine during normal operation from the fault single machine so as to realize interaction of the important information of the double machines. The method has the advantages that the problem that the interface cannot be driven to complete information writing when the single machine is abnormal is avoided, and the dependence on third party equipment caused by obtaining information from the third party single machine is avoided. The serial communication method using synchronous serial port has similar advantages as the dual FIFO method.
However, the important information in the local FIFO adopts cold backup, the other party cannot read when the other party is not powered on, and the local FIFO needs to be emptied when the local FIFO is full. If the FIFO is emptied and the important information is being written but not written, the important information cannot be read by the machine-switching backup machine at the moment, and the important data cannot be transmitted to the machine-switching backup machine, so that the seamless machine-switching cannot be completed, the satellite enters an uncertain state, and the safety of the satellite is directly influenced.
Disclosure of Invention
In view of the foregoing problems in the prior art, the present invention provides a method for interacting important information of a satellite service computer, where the satellite service computer includes two units, and the two units are configured to be identical, and the method includes:
setting an important data memory in a stand-alone machine to store the important information; and
the application software is run interactively by two single machines.
In one embodiment of the invention, the storage capacity of the vital data memory is 8Kbytes; and the vital data store is configured to:
writing data by a single unit;
a single machine cannot read the data in the important data storage;
performing a read operation by a single machine to erase the written data; and
the data in the critical data storage is read by another stand-alone.
In one embodiment of the invention, the critical data storage further comprises a memory configured as a first-in first-out memory.
In one embodiment of the invention, the critical data store is a stamp GA store.
In one embodiment of the invention, the critical data storage is a FIFO memory.
In one embodiment of the invention, the interactive running of the application software by two standalone machines comprises the steps of:
judging the starting mode and running the application software by a single machine, wherein the method comprises the following steps:
when the starting mode is cold starting, reading important information in an important data memory of another single machine 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, by a stand-alone, important information of the stand-alone into an important data storage in a software cycle of an application software; and
the important information of the single machine written in 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:
the important information is organized into N frames of double-machine interaction frames by a single machine, wherein each frame of double-machine interaction frame comprises an important information;
transmitting the double-computer interaction frame to another single machine through a double-computer interaction channel by the single machine; and
and reading the double-machine interaction frame by another single machine, and updating the same-frame important information stored by the single machine according to the double-machine interaction frame when the double-machine interaction frame is inconsistent with the same-frame important information stored by the single machine.
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 one embodiment of the present invention, when the start-up state of another stand-alone is cold start and the important information included in the read two-machine interactive frame is time data, the cold start time is added to the time data to update the time data stored in the stand-alone.
The method of the invention has at least the following beneficial effects: the problem that the dependence on third-party equipment and the fact that the FIFO cannot be cut off in a seamless mode due to abnormality when writing is not completed after the information is emptied is avoided, safe and reliable double-machine interaction of important information is guaranteed, seamless switching of the double machines can be achieved, and safety and reliability of satellites are guaranteed.
Drawings
To further clarify the advantages and features present in various embodiments of the present invention, a more particular description of various embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, for clarity, the same or corresponding parts will be designated by the same or similar reference numerals.
FIG. 1 illustrates a logical block diagram of a dual computer backup of a star computer in one embodiment of the invention.
FIG. 2 is a block diagram of the hardware for performing highly reliable dual-machine interaction of important information in one embodiment of the invention.
FIG. 3 illustrates a software flow in one embodiment of the invention.
FIG. 4 illustrates a process of dual machine information interaction in one embodiment of the invention.
Detailed Description
It should be noted that the components in the figures may be shown exaggerated for illustrative purposes and are not necessarily to scale. In the drawings, identical or functionally identical components are provided with the same reference numerals.
In the present invention, unless specifically indicated otherwise, "disposed on …", "disposed over …" and "disposed over …" do not preclude the presence of an intermediate therebetween. Furthermore, "disposed on or above" … merely indicates the relative positional relationship between the two components, but may also be converted to "disposed under or below" …, and vice versa, under certain circumstances, such as after reversing the product direction.
In the present invention, the embodiments are merely intended to illustrate the scheme of the present invention, and should not be construed as limiting.
In the present invention, the adjectives "a" and "an" do not exclude a scenario of a plurality of elements, unless specifically indicated.
It should also be 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 the components or assemblies may be added as needed for a particular scenario under the teachings of the present invention. In addition, features of different embodiments of the invention may be combined with each other, unless otherwise specified. For example, a feature of the second embodiment may be substituted for a corresponding feature of the first embodiment, or may have the same or similar function, and the resulting embodiment would fall within the disclosure or scope of the disclosure.
It should also be noted herein that, within the scope of the present invention, the terms "identical", "equal" and the like do not mean that the two values are absolutely equal, but rather allow for some reasonable error, that is, the terms also encompass "substantially identical", "substantially equal". By analogy, in the present invention, the term "perpendicular", "parallel" and the like in the table direction also covers the meaning of "substantially perpendicular", "substantially parallel".
The numbers of the steps of the respective methods of the present invention are not limited to the order of execution of the steps of the methods. The method steps may be performed in a different order unless otherwise indicated.
The "important information" in the present invention includes: the total data of the current satellite time system, the current attitude control attitude determination mode and control mode, the power-on and power-off states of all important equipment of the current satellite, the satellite orbit and the ephemeris are not more than 2KBytes.
The invention is further elucidated below in connection with the embodiments with reference to the drawings.
In one embodiment of the invention:
fig. 1 shows a logical block diagram of a dual computer backup of a star computer in this embodiment.
In the invention, an important data memory for storing important information is arranged in a star computer system, and an 8K x 8bit memory space is arranged on a CPU system bus unlike a common SRAM or EEPROM: 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 storage is configured to be capable of writing in bytes, the local machine can not read the content but can perform read operation, and the data written in the storage first can be cleared by the local machine once read; the other single machine can read the effective data of the local important data memory after being powered on; the memory has a first-in first-out function and is realized by adopting an FPGA or a FIFO memory.
Fig. 2 shows a block diagram of the hardware principle of the highly reliable two-machine interaction of important information in the present embodiment. The single machine design of the double machine A machine and the single machine B machine are completely symmetrical and completely identical, the machine A machine or the machine B machine 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 initialization of the software is completed, the application software starts to run, and the method comprises the following steps:
judging a starting mode, comprising:
if the start is cold, reading important information in a special storage area of the opposite machine, and providing input for application software; and
if the operation is hot start, the application software directly starts to run without reading important data of the other party single machine;
writing the local important data into a special storage area of the local machine in each software period, wherein the important data does not exceed 2KBytes, and the capacity of the special storage area of the local machine is 8K, so that the storage space of the special storage area is not exceeded after the important data is written; and
the software clears the old important data written in the local machine in the upper period.
The design of the single machine software of the double machine A machine and the single machine B machine is completely symmetrical and completely the same, and the machine A machine or the machine B machine does not need to be distinguished, so that the design is simple and reliable, and the reliability of the software is improved. Through the software operation flow, new data are written first and then old data are cleared, so that effective important data are guaranteed in a local special storage area at any time, safe and reliable seamless switching of double computers is guaranteed, the safety and reliability of satellites are 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 the special storage area, the interaction of the satellite high-reliability important information is realized by combining the same or similar mode with the software control flow, and the interaction of the double-machine important information can also be realized by combining a 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 quantity classification organization of the system is concerned, each type of data forms a frame, and N frames are organized together. And the main control machine transmits the N frame data through the double-machine interaction channel every M (the size of M is selected according to the requirement) software periods. Besides the very large amount of delayed telemetry data being incapable of framing, ephemeris data, orbit data, task instruction sequence data, time data and state quantity data may be framed to a backup machine. If the backup machine is in the hot backup state currently, the interactive data frame sent by the main control machine is read and compared with the same frame data stored by the main control machine, if the interactive data frame is inconsistent, the interactive data frame is rewritten, and if the interactive data frame is consistent, the interactive data frame is not processed. If the backup machine is in a cold backup state at present, the latest dual-machine interaction data is read from the dual-machine interaction channel after the backup machine is started and is started to operate as the latest state, and when a time frame is received and synchronization is carried out, starting time delta T is added on the basis of time data T to carry out starting time compensation, so that more accurate time is obtained, and the gap of dual-machine switching is further reduced.
Fig. 4 shows a process of dual information interaction in this embodiment, by using the above-mentioned interaction method of important information, when a system is switched, a backup machine can seamlessly and smoothly take over a task based on the latest state of a main control machine, and simultaneously continue to implement the task according to a task instruction sequence, so as to realize uninterrupted operation of the task.
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 those skilled in the relevant art that various combinations, modifications, and variations can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention as 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 (5)
1. A method of interacting important information of a satellite service computer, the satellite service computer comprising two units, wherein the two units are configured identically, the method comprising:
setting an important data memory in a stand-alone machine to store the important information; and
the application software is interactively operated by two single machines;
wherein the storage capacity of the vital data memory is 8Kbytes, the vital data memory is configured to:
data is written by a single unit:
the single machine for writing data cannot read the data in the important data storage;
performing a read operation by a single unit for writing data to clear the written data; and
the data in the critical data storage is read by another stand-alone.
2. The method for interacting the vital information of the satellite computer of claim 1, wherein the vital data store further includes a first-in first-out configuration.
3. The method for interacting the vital information of the satellite service computer of claim 2, wherein the vital data memory is an FPGA memory.
4. The method for interacting the vital information of the satellite service computer of claim 2, wherein the vital data memory is a FIFO memory.
5. The method for interacting important information of a satellite service computer according to claim 2, wherein the interaction of the application software by two stand-alone comprises the steps of:
judging the starting mode and running the application software by a single machine, wherein the method comprises the following steps:
when the starting mode is cold starting, reading important information in an important data memory of another single machine 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, by a stand-alone, important information of the stand-alone into an important data storage in a software cycle of an application software; and
the important information of the single machine written in the important data storage in the software period of the last application software is cleared by the single machine.
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