CN113296126B - Reliability verification and evaluation method for autonomous navigation software - Google Patents
Reliability verification and evaluation method for autonomous navigation software Download PDFInfo
- Publication number
- CN113296126B CN113296126B CN202110450198.3A CN202110450198A CN113296126B CN 113296126 B CN113296126 B CN 113296126B CN 202110450198 A CN202110450198 A CN 202110450198A CN 113296126 B CN113296126 B CN 113296126B
- Authority
- CN
- China
- Prior art keywords
- constellation
- autonomous navigation
- reliability
- navigation software
- networking mode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3668—Software testing
- G06F11/3672—Test management
- G06F11/3688—Test management for test execution, e.g. scheduling of test suites
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Quality & Reliability (AREA)
- General Engineering & Computer Science (AREA)
- Radio Relay Systems (AREA)
Abstract
A reliability verification and evaluation method for autonomous navigation software is characterized in that the operation characteristics of constellation-level autonomous navigation software are identified, an inter-satellite network interaction section for reliability test of the constellation-level autonomous navigation software is constructed layer by layer from top to bottom, a reliability test case of the constellation-level autonomous navigation software is generated, an operation scene required by the matching case is analyzed, the case is executed, the reliability evaluation verification of the software is performed, if the technical index requirement is met, the reliability test is stopped, otherwise, the failure defect is modified, and the reliability test case is redesigned and generated until the reliability of the software meets the distributed index requirement.
Description
Technical Field
The invention relates to a reliability verification and evaluation method for autonomous navigation software, and belongs to the field of satellite navigation.
Background
The Beidou global satellite navigation system designs inter-satellite links and autonomous navigation, and realizes autonomous navigation by utilizing inter-satellite ranging and data transmission functions in order to ensure safe and reliable operation of the system and avoid paralysis of the whole space system caused by damage or destruction of a ground system due to natural disasters, human errors, war and the like. The autonomous navigation software is used as a core for realizing autonomous navigation functions and performance indexes of a satellite system, the reliability of the autonomous navigation software is an important index of autonomous navigation service, and the autonomous navigation software is a core guarantee means for the safety of a Beidou No. three system, so that the system's time-of-war viability is improved.
Currently, the main operations performed in the autonomous navigation field abroad include GPS, galileo and GLONASS, wherein the GPS system is the only project for realizing constellation autonomous navigation engineering at present. The foreign verification of navigation constellation reliability is not reported, and only the constellation reliability is defined by the American GPS in GPS standard positioning service Performance Standard (2008 edition): reliability of a satellite navigation constellation refers to the ability of a spatial signal to meet a desired function, including continuity, integrity, and system availability, over a specified period of time.
In the development process of domestic models, a series of standard specifications are issued and implemented aiming at the reliability design and evaluation of military software, and the standard specifications mainly comprise national army standards, military software development general requirements, military software reliability evaluation guidelines and the like, aerospace industry standards, aerospace model software development specifications (QJ 3128-2001), aerospace model software reliability and safety design requirements (QJA 297-2014) and the like.
The autonomous navigation software completes product development in strict standard and standard in the development process, completes single-star and star-ground docking test in the factory stage through developer test and third party evaluation, completes on-orbit test and inter-star-ground-star networking test after being transmitted into orbit, and verifies that the software reliability design is primarily satisfactory. At present, the following defects exist in the national reliability verification research of autonomous navigation for navigation constellations: 1) The reliability test verification and evaluation solution of the constellation-level autonomous navigation software is not formed; 2) The use case design is not developed aiming at complex characteristics such as frequent inter-satellite interaction, strict time sequence constraint, various task working conditions and the like of the autonomous navigation software; 3) And continuous check test verification is not carried out aiming at the reliability of continuous long-time running of the autonomous navigation software.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problems of a plurality of defects in the reliability verification research of autonomous navigation for navigation constellations in China in the prior art, the reliability verification and evaluation method for autonomous navigation software is provided.
The invention solves the technical problems by the following technical proposal:
a reliability verification and evaluation method for autonomous navigation software comprises the following steps:
(1) Performing operation characteristic identification of constellation-level autonomous navigation software;
(2) Performing reliability assessment and judgment on constellation-level autonomous navigation software with the identified operation characteristics;
(3) Constructing an inter-planet network interaction section;
(4) According to the inter-satellite network interaction profile constructed in the step (3), constructing a test case for testing;
(5) Matching required operation scenes according to the test cases;
(6) Executing a test case, in the executing process, if the constellation-level autonomous navigation software fails to meet the reliability check judgment condition in the step (2), judging that the reliability test fails once, and recording the failure occurrence time and failure phenomenon;
(7) After the 60-day reliability test is finished, quantitatively evaluating the current constellation-level autonomous navigation software, stopping the test if the current constellation-level autonomous navigation software meets a preset reliability index value, otherwise, carrying out defect modification according to failure occurrence time and failure phenomenon, and redesigning the reliability test case until the preset reliability index value is met.
In the step (1), the operation characteristics of the constellation-level autonomous navigation software include constellation networking mode, constellation node distribution mode, continuous navigation task execution process and inter-satellite data interaction characteristic, and operation characteristic identification is performed.
In the step (2), the criterion for reliability assessment and judgment is specifically:
the average URE value of the constellation is more than or equal to 2.85 meters; the reliability verification accumulation of autonomous navigation software under the constellation system level environment is not less than 60 days; the average recovery time of the autonomous navigation service is less than 1h; the availability of the autonomous navigation service is better than 0.995;
and when the constellation-level autonomous navigation software meets all the conditions, the reliability check judgment is passed.
In the step (3), the specific steps of constructing the inter-satellite network interaction profile are as follows:
(3-1) constructing a constellation networking mode profile, wherein:
the constellation networking mode comprises the following steps: basic system and autonomous navigation constellation networking mode, basic system and semi autonomous navigation constellation networking mode, complete system and semi autonomous navigation constellation networking mode;
(3-2) constructing a constellation node distribution profile, which comprises an orbit position distribution and a fault satellite distribution, wherein the orbit position distribution is all distribution conditions of 10 MEO satellites in 3 orbit planes in a basic system constellation networking mode, and the fault satellite distribution comprises all distribution conditions of orbit types, orbit planes and phases of not more than 4 fault satellites in all constellation networking modes;
(3-3) constructing a constellation task flow profile;
(3-4) constructing a constellation task flow operation execution section;
and (3-5) constructing an interaction data section according to interaction data among different satellites, satellite-to-ground interaction data information classification, interaction data types, data value intervals and extraction principles, and completing construction of an inter-satellite network interaction section.
In the step (3-1), 18 satellites are operated in total under a basic system constellation networking mode, namely MEO satellites, and 30 satellites are operated in total under a complete system constellation networking mode, namely 24 MEO satellites, 3 GEO satellites and 3 IGSO satellites;
in the autonomous navigation constellation networking mode, the operation process does not comprise anchoring stations, and in the semi-autonomous navigation constellation networking mode, the operation process comprises 1 anchoring station.
In the step (3-3), the specific steps for constructing the constellation task flow section are as follows:
(3-3-1) acquiring the pointing direction of the phased array antenna of the satellite, calculating epoch reduction time according to autonomous navigation task flows required by autonomous navigation software of different satellites, generating autonomous navigation messages, and completing the identification of constellation task flow section elements;
(3-3-2) establishing a transition relation among different autonomous navigation task flows, wherein:
the transfer relationship is a time sequence transfer relationship and comprises sequential transfer and conditional transfer;
(3-3-3) determining the execution probability of each function of the satellite.
In the step (4), the specific steps of constructing the test case are as follows:
(4-1) according to the constellation networking mode profile, the constellation node distribution profile, the constellation task flow profile and the constellation task flow operation execution profile, carrying out random extraction according to the transfer relation and the execution probability in sequence, and carrying out layer-by-layer extraction from top to bottom until all elements in the inter-satellite interaction profile are covered, so as to complete the extraction work of the software task scene, and according to the transfer relation and the execution probability information, confirming the execution probability of each constellation task scene, and completing the task scene extraction;
and (4-2) determining sequence information of a constellation networking mode section, a constellation node distribution section, a constellation task flow section and a constellation task flow operation execution section which need to be tested in the autonomous navigation software, and determining external input interface data value information and test case execution time required by the reliability test of the autonomous navigation software by utilizing the inter-satellite network interaction section to complete the construction design of the test case.
In the step (4-1), the specific method of random extraction is as follows:
generating a random number eta, eta epsilon (0, 1), observing constellation node distribution configuration of a probability interval of eta, and taking the constellation node distribution configuration as the extracted constellation node distribution configuration;
the method for determining the execution probability of each constellation task scene comprises the following steps:
P＝P 1 ×P 2 ×P 3 ×P 4
wherein P is 1 Representing the operation probability of the extracted constellation networking mode, P 2 Representing the probability of distribution of extracted constellation nodes in a mode of operation for networking, P 3 Representing the execution probability of the selected task flow, P 4 Representing the probability of performance of the operation involved in the selected task flow.
In the step (4-2), the method for determining the value information of the external input interface data specifically comprises the following steps:
(4-2-1) performing interaction data separation according to the continuous condition of input variable assignment;
wherein the input variables include continuous input variables, discrete input variables;
(4-2-2) describing the order and contents in which the operations receive the data of the different input variables according to the operation procedure. In the step (4-2), the method for determining the execution time of the test case is as follows:
Te＝Ta×P
in the formula, ta is the software reliability verification accumulated time in the technical requirement, and P is the execution probability of the selected scene.
In the step (5), under the basic system constellation networking mode, a real in-orbit operation environment scene is adopted, and under the complete system constellation networking mode, an engineering semi-physical simulation operation environment scene is adopted.
Compared with the prior art, the invention has the advantages that:
the invention provides a reliability verification and evaluation method for autonomous navigation software, which provides a software reliability test verification method for profile construction, and by means of an inter-satellite network interaction profile construction step of constellation-level autonomous navigation software reliability test, a constellation networking mode profile, a constellation node distribution profile, a constellation task flow profile, an operation execution profile and an interaction data profile are gradually constructed by utilizing constellation-level autonomous navigation software reliability assessment criteria, so that a stable, reliable and high-quality continuous autonomous navigation service can be provided for a constellation, and the problem of a plurality of defects in reliability verification research on autonomous navigation of navigation constellations in China is solved.
Drawings
FIG. 1 is a flow chart of a method for verifying and evaluating the reliability of autonomous navigation software provided by the invention;
FIG. 2 is a flow chart for constructing an inter-satellite network interaction profile provided by the invention;
FIG. 3 is a schematic cross-sectional view of an autonomous navigation software constellation networking mode provided by the invention;
FIG. 4 is a schematic cross-sectional view of the task flow of the autonomous navigation software provided by the invention;
FIG. 5 is a schematic cross-sectional view of an autonomous navigation software operation;
Detailed Description
Aiming at the on-orbit networking operation flow of autonomous navigation under different constellation networking modes, typical operation environments such as inter-satellite node distribution, inter-satellite interaction abnormality, constellation reconstruction and the like are considered, a constellation-level autonomous navigation software reliability test case is generated, an operation scene required by the matching case is analyzed, the case is executed, and the software reliability evaluation verification is carried out, wherein the specific flow is as follows:
(1) Performing operation characteristic identification of constellation-level autonomous navigation software;
the operation characteristics of the constellation-level autonomous navigation software comprise constellation networking mode, constellation node distribution mode, continuous navigation task execution process and inter-satellite data interaction characteristic, and operation characteristic identification is carried out;
(2) Performing reliability assessment and judgment on constellation-level autonomous navigation software with the identified operation characteristics;
the criterion for reliability assessment and judgment is specifically as follows:
the average URE value of the constellation is more than or equal to c meters; the reliability verification accumulation of autonomous navigation software under the constellation system-level environment is not less than d days; the average recovery time of the autonomous navigation service is less than e hours; the availability of the autonomous navigation service is better than f;
when the constellation-level autonomous navigation software meets all the conditions, the reliability check and judgment are passed;
(3) Constructing an inter-planet network interaction section;
the specific steps for constructing the inter-satellite network interaction profile are as follows:
(3-1) constructing a constellation networking mode profile, wherein:
the constellation networking mode comprises the following steps: basic system and autonomous navigation constellation networking mode, basic system and semi autonomous navigation constellation networking mode, complete system and semi autonomous navigation constellation networking mode;
specifically, 18 satellites are operated in total in the basic system constellation networking mode, namely MEO satellites, and 30 satellites are operated in total in the complete system constellation networking mode, namely 24 MEO satellites, 3 GEO satellites and 3 IGSO satellites;
in the autonomous navigation constellation networking mode, the operation process does not comprise anchoring stations, and in the semi-autonomous navigation constellation networking mode, the operation process comprises 1 anchoring station;
(3-2) constructing a constellation node distribution profile, which comprises an orbit position distribution and a fault satellite distribution, wherein the orbit position distribution is all distribution conditions of 10 MEO satellites in 3 orbit planes in a basic system constellation networking mode, and the fault satellite distribution comprises all distribution conditions of orbit types, orbit planes and phases of not more than 4 fault satellites in all constellation networking modes;
(3-3) constructing a constellation task flow profile;
specifically, the specific steps for constructing the constellation task flow profile are as follows:
(3-3-1) acquiring the pointing direction of the phased array antenna of the satellite, calculating epoch reduction time according to autonomous navigation task flows required by autonomous navigation software of different satellites, generating autonomous navigation messages, and completing the identification of constellation task flow section elements;
(3-3-2) establishing a transition relation among different autonomous navigation task flows, wherein:
the transfer relationship is a time sequence transfer relationship and comprises sequential transfer and conditional transfer;
(3-3-3) determining the execution probability of each function of the satellite;
(3-4) constructing a constellation task flow operation execution section;
(3-5) constructing an interaction data section according to interaction data among different satellites, satellite-to-ground interaction data information classification, interaction data types, data value intervals and extraction principles, and completing construction of an inter-satellite network interaction section;
(4) According to the inter-satellite network interaction profile constructed in the step (3), constructing a test case for testing;
the specific steps for constructing the test case are as follows:
(4-1) according to the constellation networking mode profile, the constellation node distribution profile, the constellation task flow profile and the constellation task flow operation execution profile, carrying out random extraction according to the transfer relation and the execution probability in sequence, and carrying out layer-by-layer extraction from top to bottom until all elements in the inter-satellite interaction profile are covered, so as to complete the extraction work of the software task scene, and according to the transfer relation and the execution probability information, confirming the execution probability of each constellation task scene, and completing the task scene extraction;
specifically, the specific method for random extraction is as follows:
generating a random number eta, eta epsilon (0, 1), observing constellation node distribution configuration of a probability interval of eta, and taking the constellation node distribution configuration as the extracted constellation node distribution configuration;
the method for determining the execution probability of each constellation task scene comprises the following steps:
P＝P 1 ×P 2 ×P 3 ×P 4
wherein P is 1 Representing the operation probability of the extracted constellation networking mode, P 2 Representing the probability of distribution of extracted constellation nodes in a mode of operation for networking, P 3 Representing the execution probability of the selected task flow, P 4 Representing the execution probability of the operation involved in the selected task flow;
(4-2) determining sequence information of constellation networking mode sections, constellation node distribution sections, constellation task flow sections and constellation task flow operation execution sections required to be tested in the autonomous navigation software, and determining external input interface data value information and test case execution time required by the reliability test of the autonomous navigation software by utilizing the inter-satellite network interaction sections to complete the construction design of the test cases;
specifically, the method for determining the value information of the external input interface data specifically comprises the following steps:
(4-2-1) performing interaction data separation according to the continuous condition of input variable assignment;
wherein the input variables include continuous input variables, discrete input variables;
(4-2-2) describing the order and contents of the operations to receive the data of the different input variables according to the operation procedure; the method for determining the execution time of the test case is as follows:
Te＝Ta×P
in the formula, ta is software reliability verification accumulated time in technical requirements, and P is execution probability of a selected scene;
(5) Matching required operation scenes according to the test cases;
the system comprises a basic system constellation networking mode, a real in-orbit operation environment scene, a complete system constellation networking mode and an engineering semi-physical simulation operation environment scene;
(6) Executing a test case, in the executing process, if the constellation-level autonomous navigation software fails to meet the reliability check judgment condition in the step (2), judging that the reliability test fails once, and recording the failure occurrence time and failure phenomenon;
(7) After the 60-day reliability test is finished, quantitatively evaluating the current constellation-level autonomous navigation software, stopping the test if the current constellation-level autonomous navigation software meets a preset reliability index value, otherwise, carrying out defect modification according to failure occurrence time and failure phenomenon, and redesigning the reliability test case until the preset reliability index value is met.
Further description of specific embodiments follows:
in this embodiment, as shown in fig. 1, the specific steps of the reliability verification and evaluation method of the constellation-level autonomous navigation software are as follows:
(1) Constellation-level autonomous navigation software operation feature identification
Constellation autonomous navigation mainly has the characteristics of multiple constellation networking modes, multiple constellation node distribution modes, continuous navigation task execution process, inter-satellite data interaction frequency and the like;
(2) Autonomous navigation software reliability assessment criterion establishment
The criterion for passing the reliability test and verification of the constellation-level autonomous navigation software is formulated as follows:
1) The average URE value of the constellation is more than or equal to 2.85 meters;
2) The reliability verification accumulation of autonomous navigation software under the constellation system level environment is not less than 60 days;
3) The average recovery time of the autonomous navigation service is less than 1h;
4) The availability of the autonomous navigation service is better than 0.995;
(3) Inter-satellite network interaction profile construction
The inter-satellite network interaction profile construction is based on the thought of layer-by-layer construction from top to bottom, as shown in fig. 2;
(3-1) constellation networking mode profile construction
The constellation networking mode profile is a set of constellation-level autonomous navigation system operation modes and occurrence probabilities thereof. According to the construction planning of the Beidou navigation global system, networking modes can be divided into two main types according to construction progress: basic system and complete system. Under the basic system networking mode and the complete system networking mode, the autonomous navigation working mode of the Beidou navigation global system is further subdivided into an autonomous navigation networking mode and a semi-autonomous navigation networking mode. According to the above analysis, constellation networking modes in the running process of the autonomous navigation system can be divided into the following four types:
1) Constellation networking mode 1: basic system+autonomous navigation
2) Constellation networking mode 2: basic system+semi-autonomous navigation
3) Constellation networking mode 3: complete system+autonomous navigation
4) Constellation networking mode 4: complete system+semi-autonomous navigation
According to the construction planning of the Beidou navigation global system, 18 satellites are operated in a basic system networking mode, and the satellites are MEO satellites; in the "complete system networking" mode, a total of 30 satellites are operated, of which there are 24 MEO satellites, 3 GEO satellites and 3 IGSO satellites. In the autonomous navigation networking mode, the system does not contain an anchor station (1) in the running process; in the semi-autonomous navigation networking mode, the system comprises 1 anchoring station in the running process.
Finally, combining with the actual possible use condition in orbit, determining the transition probability information of various constellation networking modes, wherein the profile of the constellation networking mode of the autonomous navigation software constructed is shown in figure 3;
(3-2) constellation node distribution profile construction
The constellation node distribution profile is a set of the constellation node distribution and its occurrence probability. For a constellation-level autonomous navigation system, for different constellation networking modes, the distribution modes and the distribution probability of constellation nodes such as different orbit planes, different orbit types, fault isolation states and the like of satellite nodes are described. The constellation node distribution profile can be used for analyzing and verifying the reliability of the constellation satellite capable of completing autonomous navigation tasks under different distribution conditions (including orbit position distribution, fault satellite distribution and the like).
The orbit position distribution is mainly used for constructing the profile of 10 MEO satellites in a possible distribution condition of 3 orbit planes in the basic system networking mode.
The distribution of the fault satellites is mainly constructed according to the possible distribution conditions of the track types, track surfaces and phases of the fault satellites (less than or equal to 4) in four networking modes;
(3-3) constellation task flow Profile construction
1) Identifying constellation task flow profile elements
The constellation task flow section mainly describes autonomous navigation task flows required to be executed by autonomous navigation software on different satellites under the conditions of different networking modes and node distribution, and consists of execution sequences such as acquisition of the satellite phased array antenna pointing, calculation of epoch reduction time, autonomous navigation message generation and the like;
2) Establishing a transfer relationship between task flows
The constellation task flow profile is a dynamic logical relationship description. The time sequence transfer relation between different task functions is shown and is divided into two types of sequential transfer and conditional transfer.
And (3) sequential transfer: representing two function transfer relations with a certain sequence relation, wherein after the operation of the front function is finished, the front function can only be transferred to the following function;
conditional transfer: indicating that the current function may be shifted to a plurality of other functions;
3) Determining probability of function execution
After the transfer relation between the functions is established, the execution probability of each function needs to be defined. And providing input for subsequent test case design, failure probability calculation and other works.
The task flow profile construction is shown in FIG. 4;
(3-4) operation execution section construction
Corresponding operation execution sections are further constructed aiming at all functions in the constellation task flow.
The operation execution section is the bottom independent task logic unit of the autonomous navigation software, mainly describes the operation and transition probability among logic units of each function (or sub-function) in the software task flow section, and the operation execution section construction is shown in fig. 5;
(3-5) Interactive data Profile construction
The interactive data section mainly describes interactive data among different satellites, information classification of interactive data among satellites, data types, value intervals, extraction principles and the like in a set running period time slot;
(4) Construction of test cases
Based on the section constructed in the step (3), the design of the reliability test case is specifically as follows:
(4-1) task scene extraction
And performing layer-by-layer extraction from top to bottom, namely performing random extraction according to the transfer relation and the execution probability in sequence according to the constellation networking mode profile, the constellation node distribution profile, the constellation task flow profile and the operation execution profile until all elements and road strength in the inter-satellite interaction profile are covered, and then completing the extraction work of the software task scene. And meanwhile, determining the execution probability of each task scene according to the transition probability information of the constructed section.
The random extraction method is described as follows:
a random number η, η e (0, 1) is generated. And observing the probability interval of which constellation node distribution configuration the eta falls in, namely, the constellation node distribution configuration extracted at this time.
The method for determining the execution probability P of each scene is described as follows:
P＝P 1 ×P 2 ×P 3 ×P 4
wherein P is 1 Representing the operation probability of the extracted constellation networking mode, P 2 Representing the probability of distribution of extracted constellation nodes in a mode of operation for networking, P 3 Representing the execution probability of the selected task flow, P 4 Representing the execution probability of the operation involved in the selected task flow;
(4-2) test case design
The specific method comprises the following steps: and (3) determining the execution content of each software reliability test case, namely the required information such as constellation networking mode, constellation node distribution, constellation task flow, operation execution sequence and the like, and determining the external input interface data value information and the case execution time required by each software reliability test case according to the interactive data section constructed in the step (3) to complete the design of the reliability test case.
The method for determining the value information of the external input interface data comprises the following steps:
1) And (5) classifying the interaction data. Input variables can be classified into continuous input variables (i.e., input variable assignments are continuous, uninterrupted) and discrete input variables (i.e., input variable assignments are countable, discrete) based on the continuity of the input variable assignments. Discrete input variables typically describe system operating state parameters or control commands; while continuous input variables generally describe the various continuous input business data received by the system.
2) According to the operation process, the sequence and the content of the operation receiving different input variable data are described. For example, a "U matrix time update" operation receives both input variable data of "ephemeris Zhong Guocheng noise parameters" and "anchor station coordinates". Therefore, it is necessary to configure the two input variable data in the "input distribution profile" of the operation. Finally, according to a certain extraction principle (such as uniform extraction of full value range, extraction of score range conditions, and the like), random extraction is performed in the value range of each configuration input variable, so that the assignment of the input variable on the operation is realized.
The method for determining the use case execution time comprises the following steps:
Te＝Ta×P
ta represents the software reliability verification accumulated time in technical requirements, and P is the scene execution probability;
(5) Matching the operation scene needed by the use case
Two types of scenes are designed, and use case operation requirements in two constellation networking modes are correspondingly covered, wherein the use case operation requirements are (1) basic systems and real on-orbit operation environments; (2) complete system, engineering semi-physical simulation running environment;
(6) Use case execution and test verification data record
Running the software one by one under the support of the corresponding running environment and running condition, if any situation which does not accord with the assessment criterion in the step (2) occurs in the execution process of the constellation-level autonomous navigation software reliability test case, judging that the software reliability test has one failure, and recording the information of failure occurrence time, failure phenomenon and the like;
(7) Reliability assessment
After the software reliability test for 60 days is finished, the reliability index value of the current constellation-level autonomous navigation software is quantitatively evaluated. If the reliability index value of the current software meets the technical index requirement, stopping the software reliability test; otherwise, the defects corresponding to the software failure are modified, and the reliability test case is redesigned and generated until the software reliability meets the allocated index requirements.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (6)
1. A reliability verification and evaluation method for autonomous navigation software is characterized by comprising the following steps:
(1) Performing operation characteristic identification of constellation-level autonomous navigation software;
(2) Performing reliability assessment and judgment on constellation-level autonomous navigation software with the identified operation characteristics;
(3) Constructing an inter-planet network interaction section;
(4) According to the inter-satellite network interaction profile constructed in the step (3), constructing a test case for testing;
(5) Matching required operation scenes according to the test cases;
(6) Executing a test case, in the executing process, if the constellation-level autonomous navigation software fails to meet the reliability check judgment condition in the step (2), judging that the reliability test fails once, and recording the failure occurrence time and failure phenomenon;
(7) After the required reliability test duration is finished, quantitatively evaluating the current constellation-level autonomous navigation software, stopping the test if the current constellation-level autonomous navigation software meets a preset reliability index value, otherwise, carrying out defect modification according to failure occurrence time and failure phenomenon, and redesigning the reliability test case until the current constellation-level autonomous navigation software meets the preset reliability index value;
in the step (1), the operation characteristics of the constellation-level autonomous navigation software include constellation networking mode, constellation node distribution mode, continuous navigation task execution process and inter-satellite data interaction characteristic, and operation characteristic identification is performed;
in the step (2), the criterion for reliability assessment and judgment is specifically:
the average URE value of the constellation is more than or equal to 2.85 meters; the reliability verification accumulation of autonomous navigation software under the constellation system level environment is not less than 60 days; the average recovery time of the autonomous navigation service is less than 1h; the availability of the autonomous navigation service is better than 0.995;
when the constellation-level autonomous navigation software meets all the conditions, the reliability check and judgment are passed;
in the step (3), the specific steps of constructing the inter-satellite network interaction profile are as follows:
(3-1) constructing a constellation networking mode profile, wherein:
the constellation networking mode comprises the following steps: basic system and autonomous navigation constellation networking mode, basic system and semi autonomous navigation constellation networking mode, complete system and semi autonomous navigation constellation networking mode;
(3-2) constructing a constellation node distribution profile, which comprises an orbit position distribution and a fault satellite distribution, wherein the orbit position distribution is all distribution conditions of 10 MEO satellites in 3 orbit planes in a basic system constellation networking mode, and the fault satellite distribution comprises all distribution conditions of orbit types, orbit planes and phases of not more than 4 fault satellites in all constellation networking modes;
(3-3) constructing a constellation task flow profile;
(3-4) constructing a constellation task flow operation execution section;
(3-5) constructing an interaction data section according to interaction data among different satellites, satellite-to-ground interaction data information classification, interaction data types, data value intervals and extraction principles, and completing construction of an inter-satellite network interaction section;
in the step (3-3), the specific steps for constructing the constellation task flow section are as follows:
(3-3-1) acquiring the pointing direction of the phased array antenna of the satellite, calculating epoch reduction time according to autonomous navigation task flows required by autonomous navigation software of different satellites, generating autonomous navigation messages, and completing the identification of constellation task flow section elements;
(3-3-2) establishing a transition relation among different autonomous navigation task flows, wherein:
the transfer relationship is a time sequence transfer relationship and comprises sequential transfer and conditional transfer;
(3-3-3) determining the execution probability of each function of the satellite;
in the step (4), the specific steps of constructing the test case are as follows:
(4-1) according to the constellation networking mode profile, the constellation node distribution profile, the constellation task flow profile and the constellation task flow operation execution profile, carrying out random extraction according to the transfer relation and the execution probability in sequence, and carrying out layer-by-layer extraction from top to bottom until all elements in the inter-satellite interaction profile are covered, so as to complete the extraction work of the software task scene, and according to the transfer relation and the execution probability information, confirming the execution probability of each constellation task scene, and completing the task scene extraction;
and (4-2) determining sequence information of a constellation networking mode section, a constellation node distribution section, a constellation task flow section and a constellation task flow operation execution section which need to be tested in the autonomous navigation software, and determining external input interface data value information and test case execution time required by the reliability test of the autonomous navigation software by utilizing the inter-satellite network interaction section to complete the construction design of the test case.
2. The method for reliability verification and evaluation of autonomous navigation software according to claim 1, wherein:
in the step (3-1), 18 satellites are operated in total under a basic system constellation networking mode, namely MEO satellites, and 30 satellites are operated in total under a complete system constellation networking mode, namely 24 MEO satellites, 3 GEO satellites and 3 IGSO satellites;
in the autonomous navigation constellation networking mode, the operation process does not comprise anchoring stations, and in the semi-autonomous navigation constellation networking mode, the operation process comprises 1 anchoring station.
3. The method for reliability verification and evaluation of autonomous navigation software according to claim 1, wherein:
in the step (4-1), the specific method of random extraction is as follows:
generating a random number eta, eta epsilon (0, 1), observing constellation node distribution configuration of a probability interval of eta, and taking the constellation node distribution configuration as the extracted constellation node distribution configuration;
the method for determining the execution probability of each constellation task scene comprises the following steps:
P＝P 1 ×P 2 ×P 3 ×P 4
wherein P is 1 Representing the operation probability of the extracted constellation networking mode, P 2 Representing the probability of distribution of extracted constellation nodes in a mode of operation for networking, P 3 Representing the execution probability of the selected task flow, P 4 Representing the probability of performance of the operation involved in the selected task flow.
4. The method for reliability verification and evaluation of autonomous navigation software according to claim 1, wherein:
in the step (4-2), the method for determining the value information of the external input interface data specifically comprises the following steps:
(4-2-1) performing interaction data separation according to the continuous condition of input variable assignment;
wherein the input variables include continuous input variables, discrete input variables;
(4-2-2) describing the order and contents in which the operations receive the data of the different input variables according to the operation procedure.
5. The method for reliability verification and evaluation of autonomous navigation software according to claim 1, wherein:
in the step (4-2), the method for determining the execution time of the test case is as follows:
Te＝Ta×P
in the formula, ta is the software reliability verification accumulated time in the technical requirement, and P is the execution probability of the selected scene.
6. The method for reliability verification and evaluation of autonomous navigation software according to claim 1, wherein:
in the step (5), under the basic system constellation networking mode, a real in-orbit operation environment scene is adopted, and under the complete system constellation networking mode, an engineering semi-physical simulation operation environment scene is adopted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450198.3A CN113296126B (en) | 2021-04-25 | 2021-04-25 | Reliability verification and evaluation method for autonomous navigation software |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450198.3A CN113296126B (en) | 2021-04-25 | 2021-04-25 | Reliability verification and evaluation method for autonomous navigation software |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113296126A CN113296126A (en) | 2021-08-24 |
| CN113296126B true CN113296126B (en) | 2023-06-30 |
Family
ID=77320283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110450198.3A Active CN113296126B (en) | 2021-04-25 | 2021-04-25 | Reliability verification and evaluation method for autonomous navigation software |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113296126B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115827453B (en) * | 2022-12-01 | 2023-09-08 | 中国兵器工业信息中心 | Reliability test section structure and test case generation method of networked software system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912465B (en) * | 2016-04-05 | 2018-05-18 | 上海航天计算机技术研究所 | The test method of spaceborne rail control Guidance ＆ Navigation software |
| KR101983770B1 (en) * | 2017-11-20 | 2019-05-29 | 한국항공우주연구원 | Satellite software verification system |
| CN109917431B (en) * | 2019-04-02 | 2021-03-23 | 中国科学院空间应用工程与技术中心 | Method for realizing GNSS satellite autonomous navigation by utilizing DRO orbit and inter-satellite measurement |
| CN110795352B (en) * | 2019-10-29 | 2024-02-27 | 中国科学院微小卫星创新研究院 | Method for establishing and using fine granularity test case system for structured star software |
| CN111209219B (en) * | 2020-04-21 | 2020-09-01 | 中国人民解放军国防科技大学 | Satellite navigation simulation model consistency verification method and system |
-
2021
- 2021-04-25 CN CN202110450198.3A patent/CN113296126B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113296126A (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111209219B (en) | Satellite navigation simulation model consistency verification method and system | |
| CN111291504B (en) | Global satellite navigation simulation test system and establishment method | |
| McManus et al. | 3.4. 1 A framework for understanding uncertainty and its mitigation and exploitation in complex systems | |
| Knotts | Civil aircraft maintenance and support Fault diagnosis from a business perspective | |
| CN103731221A (en) | Space and ground integrated network system availability determining method | |
| CN113296126B (en) | Reliability verification and evaluation method for autonomous navigation software | |
| Zhai et al. | ARAIM with more than two constellations | |
| Joerger et al. | ARAIM continuity and availability assertions, assumptions, and evaluation methods | |
| Hölzel et al. | Cost-benefit analysis of prognostics and condition-based maintenance concepts for commercial aircraft considering prognostic errors | |
| CN111310337B (en) | Analysis method for on-orbit interruption frequency of navigation satellite signal | |
| Newman et al. | Nasa conjunction assessment risk analysis updated requirements architecture | |
| US7436295B2 (en) | Method and apparatus for analyzing surveillance systems using a total surveillance time metric | |
| Раза | Mathematical maintenance models of vehicles’ equipment | |
| Jackson et al. | Chronology of continuous improvement of the world’s best FMECA standard | |
| Mizukami et al. | Automated spacecraft operations during soil moisture active passive prime mission | |
| McIntyre et al. | The boeing 777 fault tolerant air data and inertial reference system-a new venture in working together | |
| Conlon | Test and evaluation of system reliability, availability, maintainability: a primer | |
| Muirhead et al. | Managing space system faults: Coalescing NASA's views | |
| Monteiro et al. | Proposal of Risk Tolerance Factor for Optimizing Risk Management, based on the system context-Nanosatellite Case Studies | |
| Peckjian et al. | Maturation of GPS III Signal Integrity Improvements | |
| Chamberlain | A space mission success evaluation model | |
| Dawson | Use and Misuse of Reliability Analyses for Unmanned Spacecraft Missions | |
| Yang et al. | Reliability Engineering of BeiDou Navigation Satellite | |
| McQuay et al. | J-MASS in the EW test and evaluation process | |
| Brumbaugh et al. | A risk management plan for CubeSats |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |