CN113726415B

CN113726415B - Data transmission method, measurement and control navigation integrated system, electronic equipment and medium

Info

Publication number: CN113726415B
Application number: CN202111020453.7A
Authority: CN
Inventors: 高恩宇; 郇一恒; 刁占林
Original assignee: Beijing MinoSpace Technology Co Ltd
Current assignee: Beijing MinoSpace Technology Co Ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-06-21
Anticipated expiration: 2041-09-01
Also published as: CN113726415A

Abstract

The application provides a data transmission method, a measurement and control navigation integrated system, electronic equipment and a medium, wherein the method comprises the following steps: the plurality of measurement and control modules receive remote control data sent by the ground measurement and control station and send the remote control data to the main control device; aiming at a plurality of pieces of remote control data received in a preset time period, if a plurality of pieces of same remote control data with the same data content exist, the main control device combines the same remote control data into a piece of remote control data; aiming at each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform; the main control device receives the telemetering data sent by the satellite platform, and sends the telemetering data to the corresponding measurement and control module according to the measurement and control state of the measurement and control module, and then sends the telemetering data to the ground measurement and control station. According to the method and the system, the running state of each module can be monitored by utilizing the master control device, the satellite platform interface is simplified by controlling the data interaction between the system and the satellite platform, the autonomous running capability of the system is improved, and the intelligent level and the reliability of the satellite are improved.

Description

Data transmission method, measurement and control navigation integrated system, electronic equipment and medium

Technical Field

The present application relates to the field of satellite communications technologies, and in particular, to a data transmission method, a measurement and control navigation integrated system, an electronic device, and a medium.

Background

With the vigorous development of commercial aerospace, new changes are continuously generated in the technology in the field of satellite measurement and control and navigation. The commercial aerospace requires that the measurement and control navigation system is lower in price on the premise of ensuring the reliability of the system, so that commercial devices are often selected to produce related equipment, and the reliability of the measurement and control navigation system is reduced along with the reduction of the device grade.

In order to improve the reliability of the system in commercial aerospace, a software and hardware redundancy mode is generally adopted, and the processing mode can also bring a series of problems that the interfaces between the satellite measurement and control module and the navigation module as well as the satellite platform are complex, the data interaction is tedious, the control task of the satellite platform is heavy and the like while improving the reliability of the system, and the problems all increase the workload of the satellite platform.

Disclosure of Invention

In view of this, an object of the present application is to provide a data transmission method, a measurement and control navigation integrated system, an electronic device, and a medium, in which a main control device monitors operation states of modules in the measurement and control navigation integrated system, controls data interaction between the measurement and control navigation integrated system and a satellite platform, simplifies a satellite platform interface, improves autonomous operation capability of the system, and improves an intelligent level and reliability of a satellite.

The embodiment of the application provides a data transmission method, which is applied to a measurement and control navigation integrated system, wherein the measurement and control navigation integrated system comprises a plurality of measurement and control modules and a main control device, and the data transmission method comprises the following steps:

the plurality of measurement and control modules respectively receive remote control data sent by a ground measurement and control station and send the remote control data to the main control device;

aiming at a plurality of pieces of remote control data received in a preset time period, if a plurality of pieces of same remote control data with the same data content exist in the plurality of pieces of remote control data, the main control device combines the plurality of pieces of same remote control data into one piece of remote control data;

aiming at each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform based on the type of the piece of remote control data, wherein the remote control instruction comprises an instruction for changing the working state of the satellite;

the main control device receives telemetering data issued by the satellite platform in a fixed period, wherein the telemetering data comprises data used for representing the working state of the satellite;

the main control device sends the telemetering data to the corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules;

and the corresponding measurement and control module sends the received telemetry data to the ground measurement and control station.

Further, the integrated measurement and control navigation system further comprises a navigation module, the navigation module comprises a navigation host and a navigation standby machine, and the data transmission method comprises the following steps:

the navigation host and the navigation standby machine respectively receive a first navigation signal sent by a navigation satellite in a global navigation satellite system;

the navigation host calculates first navigation data according to the first navigation signal and sends the first navigation data to the main control device;

the navigation standby machine calculates second navigation data according to the first navigation signal and sends the second navigation data to the main control device;

the main control device receives the first navigation data and the second navigation data, selects the first navigation data or the second navigation data as a navigation result according to a navigation data index, and sends the navigation result to the satellite platform, wherein the navigation data index comprises at least one or more of the following indexes: continuity of navigation data, accuracy factor of the navigation satellites participating in the solution, signal-to-noise ratio of the navigation satellites participating in the solution, and number of navigation satellites participating in the solution.

Further, the data transmission method further includes:

the main control device receives telemetry requests sent by the satellite platform and respectively forwards the telemetry requests to the plurality of measurement and control modules and the navigation module;

the plurality of measurement and control modules and the navigation module respectively respond to the received telemetry request and send self telemetry data of each module to the main control device;

and the main control device determines comprehensive telemetering data of the measurement and control navigation comprehensive system based on the received self telemetering data of each module, and sends the comprehensive telemetering data to the satellite platform.

Further, when the plurality of measurement and control modules include a beidou satellite measurement and control module, the data transmission method further includes:

the Beidou satellite measurement and control module receives a second navigation signal sent by a Beidou navigation satellite, and based on the second navigation signal, third navigation data are calculated and sent to the main control device;

the main control device receives the first navigation data, the second navigation data and the third navigation data, selects the first navigation data, the second navigation data or the third navigation data as a navigation result according to the navigation data index, and sends the navigation result to the satellite platform.

Further, when the plurality of measurement and control modules include an X communicator measurement and control module and/or a marine satellite measurement and control module, the data transmission method further includes:

the X communication machine measurement and control module and/or the marine satellite measurement and control module receive high-speed uplink data sent by a ground measurement and control station and send the high-speed uplink data to the main control device, wherein the high-speed uplink data comprise program data used for updating programs of a target measurement and control module and/or a target navigation module;

the main control device sends the received high-speed uplink data to the target measurement and control module and/or the target navigation module;

and the target measurement and control module and/or the target navigation module updates a program according to the received high-speed uplink data.

Further, when the plurality of measurement and control modules further include the X communicator measurement and control module and the marine satellite measurement and control module, the data transmission method further includes:

when the main control device determines that the X communication machine measurement and control module works abnormally or determines that a satellite is not in the available measurement and control range of the X communication machine measurement and control module according to the navigation result, the main control device sends a starting-up control instruction to the Beidou satellite measurement and control module and the marine satellite measurement and control module;

the Beidou satellite measurement and control module and the marine satellite measurement and control module respond to the starting control instruction to execute starting operation.

The embodiment of the present application further provides a measurement and control navigation integrated system, the measurement and control navigation integrated system includes:

the system comprises a plurality of measurement and control modules, a main control device and a ground measurement and control station, wherein the measurement and control modules are used for receiving a plurality of pieces of remote control data sent by the ground measurement and control station, sending the plurality of pieces of remote control data to the main control device, receiving telemetering data sent by the main control device and sending the received telemetering data to the ground measurement and control station;

the main control device is used for determining remote control instructions based on the received remote control data and sending the remote control instructions to the satellite platform, wherein the remote control instructions comprise control instructions for changing the working state of the satellite and receiving and storing the remote measurement data issued by the satellite platform in a fixed period, wherein the remote measurement data comprise data used for representing the working state of the satellite and are stored according to the measurement and control states of the measurement and control modules.

Further, the measurement and control navigation integrated system further comprises a navigation module, and the navigation module comprises:

the navigation host is used for receiving a first navigation signal sent by a navigation satellite in a global navigation satellite system, resolving first navigation data according to the first navigation signal and sending the first navigation data to the main control device;

the navigation standby machine is used for receiving the first navigation signal, resolving second navigation data according to the first navigation signal and sending the second navigation data to the main control device;

the main control device is further configured to receive the first navigation data and the second navigation data, select the first navigation data or the second navigation data as a navigation result according to a navigation data index, and send the navigation result to the satellite platform, where the navigation data index includes at least one or more of the following indices: continuity of navigation data, accuracy factor of the navigation satellites participating in the solution, signal-to-noise ratio of the navigation satellites participating in the solution, and number of navigation satellites participating in the solution.

Further, the main control device is configured to receive telemetry requests sent by the satellite platform, forward the telemetry requests to the multiple measurement and control modules and the navigation module, determine comprehensive telemetry data of the measurement and control navigation integrated system based on the received telemetry data of each module, and send the comprehensive telemetry data to the satellite platform;

the plurality of measurement and control modules and the navigation module are used for respectively responding to the received telemetry request and sending self telemetry data of each module to the main control device;

further, when the plurality of measurement and control modules include a Beidou satellite measurement and control module, the Beidou satellite measurement and control module is used for receiving a second navigation signal sent by a Beidou navigation satellite, resolving third navigation data based on the second navigation signal and sending the third navigation data to the main control device;

the main control device is used for receiving the first navigation data, the second navigation data and the third navigation data, selecting the first navigation data, the second navigation data or the third navigation data as a navigation result according to the navigation data index, and sending the navigation result to the satellite platform.

Further, when the plurality of measurement and control modules comprise an X communication machine measurement and control module and/or a marine satellite measurement and control module, the X communication machine measurement and control module and/or the marine satellite measurement and control module is used for receiving high-speed uplink data sent by a ground measurement and control station and sending the high-speed uplink data to the main control device, wherein the high-speed uplink data comprises program data used for updating programs of a target measurement and control module and/or a target navigation module;

the main control device is used for sending the received high-speed uplink data to the target measurement and control module and/or the target navigation module;

and the target measurement and control module and/or the target navigation module are used for updating programs according to the received high-speed uplink data.

Further, when the plurality of measurement and control modules further include the X communication machine measurement and control module and the marine satellite measurement and control module, the main control device is configured to send a start-up control instruction to the beidou satellite measurement and control module and the marine satellite measurement and control module when the main control device determines that the X communication machine measurement and control module is abnormal in operation or determines that a satellite is not within an available measurement and control range of the X communication machine measurement and control module according to the navigation result;

the Beidou satellite measurement and control module and the marine satellite measurement and control module are used for responding to the starting control instruction to execute starting operation.

An embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the data transmission method as described above.

Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the data transmission method as described above.

The embodiment of the application provides a data transmission method, measurement and control navigation integrated system, electronic equipment and medium, measurement and control navigation integrated system includes a plurality of measurement and control modules and master control device, the data transmission method includes: the plurality of measurement and control modules respectively receive remote control data sent by a ground measurement and control station and send the remote control data to the main control device; aiming at a plurality of pieces of remote control data received in a preset time period, if a plurality of pieces of same remote control data with the same data content exist in the plurality of pieces of remote control data, the main control device combines the plurality of pieces of same remote control data into one piece of remote control data; for each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform based on the type of the piece of remote control data, wherein the remote control instruction comprises an instruction for changing the working state of the satellite; the main control device receives telemetering data issued by the satellite platform in a fixed period, wherein the telemetering data comprises data used for representing the working state of the satellite; the main control device sends the telemetering data to the corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules; and the corresponding measurement and control module sends the received telemetry data to the ground measurement and control station.

Therefore, compared with a method for controlling data interaction between each module and each satellite platform in the prior art, the method has the advantages that the running state of each module in the measurement and control navigation integrated system can be monitored based on the main control device, the data interaction between the measurement and control navigation integrated system and the satellite platform is controlled, the autonomous running capability of the system is improved while the interface of the satellite platform is simplified, and the intelligent level and the reliability of the satellite are improved.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a flowchart illustrating a data transmission method provided in an embodiment of the present application;

fig. 2 shows one of the structural schematic diagrams of a measurement and control navigation integrated system provided in the embodiment of the present application;

fig. 3 shows a second schematic structural diagram of a measurement and control navigation integrated system according to an embodiment of the present application;

fig. 4 shows a third schematic structural diagram of a measurement and control navigation integrated system provided in the embodiment of the present application;

FIG. 5 illustrates a flow chart of a data distribution method for a telemetry processing module provided by an embodiment of the application;

fig. 6 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. Every other embodiment that one skilled in the art can obtain without inventive effort based on the embodiments of the present application falls within the scope of protection of the present application.

First, an application scenario to which the present application is applicable will be described. The method and the device can be applied to the field of satellite communication, and particularly can be applied to a satellite-borne measurement and control navigation integrated system.

Research shows that in the existing satellite-borne measurement and control navigation integrated system, the measurement and control module of the satellite and the interface between the navigation module and the satellite platform are complex, the data interaction is complicated, the control task of the satellite platform is heavy, and the work load of the satellite platform is increased.

Based on this, the embodiment of the application provides a data transmission method to simplify a satellite platform interface, improve the autonomous operation capability of a system, and improve the intelligent level and reliability of a satellite.

Referring to fig. 1, fig. 1 is a flowchart of a data transmission method according to an embodiment of the present disclosure. As shown in fig. 1, the data transmission method provided in the embodiment of the present application is applied to a measurement and control navigation integrated system, where the measurement and control navigation integrated system includes a plurality of measurement and control modules and a main control device, and the data transmission method includes:

s101, the plurality of measurement and control modules respectively receive remote control data sent by a ground measurement and control station and send the remote control data to the main control device.

In the step, the ground measurement and control station respectively sends remote control data to the plurality of measurement and control modules, each measurement and control module analyzes the received remote control data, and the analyzed remote control data is sent to the master control device.

And S102, aiming at a plurality of pieces of remote control data received in a preset time period, if a plurality of pieces of same remote control data with the same data content exist in the plurality of pieces of remote control data, combining the plurality of pieces of same remote control data into one piece of remote control data by the main control device.

It should be noted that the master control device may receive multiple pieces of remote control data within a preset time period, and the multiple pieces of remote control data may include the same data content, because the ground measurement and control station may respectively send the same data content to the multiple measurement and control modules in order to ensure that the remote control data is successfully sent to the satellite. Therefore, the master control device needs to screen and merge multiple pieces of remote control data received within a preset time period, and if multiple pieces of same remote control data with the same data content exist in the multiple pieces of remote control data, the master control device merges the multiple pieces of same remote control data into one piece of remote control data. Illustratively, the preset time period may be 1 second.

S103, aiming at each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform based on the type of the piece of remote control data.

It should be noted that the remote control command includes a command for changing the working state of the satellite, and the satellite platform, after receiving the remote control command, will respond to the command to adjust the working state. Here, the operating state includes the power-on state, the operating state, and the like of each system in the satellite and each device in the system.

In this step, for each piece of remote control data, the master control device first determines the correctness of the piece of remote control data. After the remote control data is correctly interpreted, the main control device can judge the type of the remote control data, and aiming at the remote control data containing the direct instruction, the main control device can drive the OC circuit to send the corresponding OC instruction to the satellite platform. For remote control data containing indirect instructions or data blocks, the main control device forwards the indirect instructions or data blocks to the satellite platform through the RS-422 interface.

By the method, the main control device merges the received remote control data, removes repeated remote control data and outputs the remote control instruction corresponding to each piece of remote control data to the satellite platform. Therefore, data processing work of the satellite platform can be reduced, and computing resources of the satellite platform are saved.

And S104, the main control device receives the telemetering data issued by the satellite platform in a fixed period.

It should be noted that the telemetry data includes data for characterizing the working state of the satellite, and the satellite platform, after receiving the remote control command, adjusts the working state in response to the command, so that the telemetry data changes accordingly.

In the step, the satellite platform sends the telemetering data to the main control device at a fixed period, and the main control device receives the telemetering data. Illustratively, the fixed period may be 1 second.

And S105, the main control device sends the telemetering data to the corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules.

In the step, the master control device checks the data frame after receiving the telemetering data, the telemetering data can be cached after the check is passed, and then the cached telemetering data is sent to the corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules.

Specifically, the master control device can judge the starting condition of each measurement and control module and the starting condition of a measurement and control channel in each measurement and control module, send the telemetering data to the started measurement and control module, and send the data to the ground measurement and control station through the measurement and control channel started in the started measurement and control module.

And S106, the corresponding measurement and control module sends the received telemetry data to the ground measurement and control station.

In the step, the corresponding measurement and control module sends the received telemetering data to the ground measurement and control station through the opened measurement and control channel.

By the method, the satellite platform only needs to send the telemetering data to be sent to the main control device, and the main control device selects the specific measurement and control module and the measurement and control channel to send the telemetering data. Therefore, the integrated measurement and control navigation system comprises a plurality of measurement and control modules, the reliability is improved through hardware redundancy, meanwhile, the data processing work of the satellite platform is further reduced, the complexity and the data interaction process of the satellite platform interface are simplified, and the autonomous operation capability of the system is improved.

The data transmission method provided by the embodiment of the application is applied to a measurement and control navigation integrated system, the measurement and control navigation integrated system comprises a plurality of measurement and control modules and a main control device, and the data transmission method comprises the following steps: the plurality of measurement and control modules respectively receive remote control data sent by a ground measurement and control station and send the remote control data to the main control device; aiming at a plurality of pieces of remote control data received in a preset time period, if a plurality of pieces of same remote control data with the same data content exist in the plurality of pieces of remote control data, the main control device combines the plurality of pieces of same remote control data into one piece of remote control data; for each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform based on the type of the piece of remote control data, wherein the remote control instruction comprises an instruction for changing the working state of the satellite; the main control device receives telemetering data issued by the satellite platform in a fixed period, wherein the telemetering data comprises data used for representing the working state of the satellite; the main control device sends the telemetering data to the corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules; and the corresponding measurement and control module sends the received telemetry data to the ground measurement and control station.

Compared with the method for controlling the data interaction between each module and each module by the satellite platform in the prior art, the method can monitor the running state of each module in the measurement and control navigation integrated system based on the main control device, control the data interaction between the measurement and control navigation integrated system and the satellite platform, improve the autonomous running capability of the system while simplifying the interface of the satellite platform, and improve the intelligent level and the reliability of the satellite.

As an optional embodiment, the integrated measurement, control and navigation system further includes a navigation module, the navigation module includes a navigation host and a navigation backup, and the data transmission method includes:

s201, the navigation host and the navigation standby machine respectively receive a first navigation signal sent by a navigation satellite in a global navigation satellite system.

The global navigation satellite system comprises a global positioning system GPS and a Beidou satellite navigation system BDS.

And S202, the navigation host computer calculates first navigation data according to the first navigation signal and sends the first navigation data to the main control device.

And S203, the navigation standby machine calculates second navigation data according to the first navigation signal and sends the second navigation data to the main control device.

The first navigation data and the second navigation data comprise time, position, speed, orbit data information and hardware second pulse signals (PPS signals) of the satellite.

And S204, the main control device receives the first navigation data and the second navigation data, selects the first navigation data or the second navigation data as a navigation result according to a navigation data index, and sends the navigation result to the satellite platform.

It should be noted that the navigation data index includes at least one or more of the following indexes: continuity of navigation data, dilution of precision (DOP) of the navigation satellites participating in the solution, signal-to-noise ratio of the navigation satellites participating in the solution, and number of navigation satellites participating in the solution.

In this step, the main control device selects navigation data with better data accuracy from the first navigation data or the second navigation data as a navigation result according to the navigation data index. Furthermore, the navigation host and the navigation backup host adopt a hot backup mode, and the two can be switched seamlessly. In order to avoid frequent switching between the first navigation data and the second navigation data, the first navigation data of the navigation host can be used as a navigation result by default, a certain interval is set for data comparison, for example, according to an index of the number of the navigation satellites participating in resolving, and only when the navigation standby machine performs navigation data resolving, the number of the navigation satellites participating in resolving is 3 or more than 3 more than the number of the navigation satellites participating in resolving when the navigation host performs navigation data resolving, the accuracy of the second navigation data is judged to be superior to that of the first navigation data.

Therefore, the reliability of the system is improved through the hardware redundancy mode of the navigation host and the navigation standby machine. The navigation data are compared and screened by the main control device, so that the data processing work of the satellite platform is further reduced, the complexity of the satellite platform interface and the data interaction process are simplified, and the autonomous operation capability of the system is improved.

As an optional embodiment, the data transmission method further includes:

s301, the main control device receives telemetry requests sent by the satellite platform and respectively forwards the telemetry requests to the plurality of measurement and control modules and the navigation module.

In the step, the satellite platform sends a telemetering request to the main control device at a fixed period, and the main control device receives the telemetering request and respectively forwards the telemetering request to each of the measurement and control modules and the navigation module.

S302, the plurality of measurement and control modules and the navigation module respectively respond to the received telemetry request and send self telemetry data of each module to the main control device.

In the step, each measurement and control module and each navigation module respond to the received telemetry request and send the telemetry data of each module to the main control device. Here, the self telemetry data includes operation state data of each module, such as an operation temperature, an operation voltage, a power-on time period, and the like.

And S303, the main control device determines comprehensive telemetering data of the measurement and control navigation comprehensive system based on the received self telemetering data of each module, and sends the comprehensive telemetering data to the satellite platform.

In the step, the main control device receives self telemetering data sent by each module, summarizes the self telemetering data to form comprehensive telemetering data of a measurement and control navigation comprehensive system, and sends the comprehensive telemetering data to the satellite platform.

Therefore, the satellite platform can acquire the comprehensive telemetering data of the measurement and control navigation comprehensive system comprising a plurality of modules only by sending a telemetering request to the main control device once, and the occupation of the satellite platform resources is reduced.

As an optional embodiment, when the plurality of measurement and control modules include a beidou satellite measurement and control module, the data transmission method further includes:

s401, the Beidou satellite measurement and control module receives a second navigation signal of a Beidou navigation satellite, and third navigation data are calculated and sent to the main control device based on the third navigation signal.

It should be noted that the Beidou satellite measurement and control module realizes data interaction with the ground measurement and control station through the Beidou satellite, namely, the Beidou satellite is used for transmitting and transferring uplink remote control data and downlink remote control data. Because the positioning function of the Beidou satellite, the Beidou satellite measurement and control module also has the navigation positioning function besides the measurement and control function.

Specifically, the Beidou satellite measurement and control module receives a second navigation signal of a Beidou navigation satellite, and based on the second navigation signal, third navigation data are calculated and sent to the main control device. The third navigation data includes time, position, velocity, orbit data information, and hardware second pulse signal (PPS signal) of the satellite.

S402, the main control device receives the first navigation data, the second navigation data and the third navigation data, selects the first navigation data, the second navigation data or the third navigation data as a navigation result according to the navigation data index, and sends the navigation result to the satellite platform.

In this step, the main control device may first select navigation data with better data performance from the first navigation data and the second navigation data as an initial navigation result according to the method of S204, and then select navigation data with better data performance from the initial navigation result and the third navigation data as a navigation result according to the method of S204.

As an optional embodiment, when the plurality of measurement and control modules include an X communicator measurement and control module and/or a marine satellite measurement and control module, the data transmission method further includes:

s501, the X communication machine measurement and control module and/or the marine satellite measurement and control module receive high-speed uplink data sent by a ground measurement and control station and send the high-speed uplink data to the main control device.

It should be noted that the high-speed uplink data includes program data for updating a program of the target measurement and control module and/or the target navigation module.

In the step, the X communication machine measurement and control module and/or the marine satellite measurement and control module receive high-speed uplink data sent by the ground measurement and control station and send the high-speed uplink data to the main control device through a high-speed uplink channel. The addition of the function greatly improves the reliability of the on-orbit operation of the satellite, and when the program of a certain module is found to be abnormal or the function needs to be updated, the program can be updated through the high-speed uplink channel.

S502, the main control device sends the received high-speed uplink data to the target measurement and control module and/or the target navigation module.

In this step, if the high-speed uplink data is used for program update of a certain target module in the measurement and control navigation integrated system, the main control device may directly send the received high-speed uplink data to the target measurement and control module and/or the target navigation module.

Here, if the high-speed uplink data includes a program update for another system in the satellite or an in-orbit reconfigurable task for realizing a satellite load, the main control device transmits the high-speed uplink data to the satellite platform.

And S503, the target measurement and control module and/or the target navigation module updates a program according to the received high-speed uplink data.

Therefore, the measurement and control navigation system has high-speed data uplink capacity, can update programs of modules with abnormal programs or functions needing to be updated in the system in time, and improves the reliability of in-orbit operation of the satellite.

As an optional embodiment, when the plurality of measurement and control modules include the X-communicator measurement and control module, the maritime satellite measurement and control module, and the beidou satellite measurement and control module, the data transmission method further includes:

s601, when the main control device determines that the X communication machine measurement and control module works abnormally or determines that the satellite is not in the available measurement and control range of the X communication machine measurement and control module according to the navigation result, the main control device sends a starting-up control instruction to the Beidou satellite measurement and control module and the marine satellite measurement and control module.

It should be noted that, because the area covered by the measurement and control arc of the ground measurement and control station is limited, the available measurement and control range of the measurement and control module of the X-ray communication machine is also limited. The Beidou satellite and the maritime satellite can approximately realize global coverage, so that the Beidou satellite and the maritime satellite are used as transfer of data transmission, the time and space limitations of conventional satellite measurement and control are expanded through the Beidou satellite measurement and control module and the maritime satellite measurement and control module, the problem of regional measurement and control depending on a ground measurement and control station is solved, and the satellite measurement and control basically can achieve the all-weather and global coverage target.

In the step, when the main control device determines that the X communication machine measurement and control module is abnormal in work and cannot normally transmit data, or determines that a satellite is not in an available measurement and control range of the X communication machine measurement and control module according to a navigation result, and the measurement and control requirements for remote control data and remote measurement data interaction with a ground measurement and control station exist currently, the main control device sends a starting control instruction to the Beidou satellite measurement and control module and the maritime satellite measurement and control module. The X communication machine measurement and control module is in abnormal working condition, wherein the abnormal working condition comprises that the X communication machine measurement and control module cannot normally send remote control data to the main control device and has no response to a control instruction sent by the main control device;

and S602, responding to the starting control instruction by the Beidou satellite measurement and control module and the marine satellite measurement and control module to execute starting operation.

In the step, the Beidou satellite measurement and control module and the marine satellite measurement and control module respond to the starting-up control instruction to execute starting-up operation so as to complete a measurement and control task of interaction of remote control data and remote measurement data.

Referring to fig. 2 and fig. 3, fig. 2 is a first schematic structural diagram of a measurement and control navigation integrated system provided in the embodiment of the present application, and fig. 3 is a second schematic structural diagram of the measurement and control navigation integrated system provided in the embodiment of the present application. As shown in fig. 2, the measurement and control navigation integrated system 200 includes: the system comprises a plurality of measurement and control modules A1 and A2 … … An and a main control device B, wherein n is a positive integer larger than 1. The plurality of measurement and control modules A1 and A2 … … An are respectively connected with a main control device B, and the main control device B is connected with a satellite platform C.

The system comprises a plurality of measurement and control modules A1 and A2 … … An, a master control device B and a ground measurement and control station, wherein the measurement and control modules A1 and A2 … … An are used for receiving a plurality of pieces of remote control data sent by the ground measurement and control station, sending the plurality of pieces of remote control data to the master control device B, receiving telemetering data sent by the master control device B and sending the received telemetering data to the ground measurement and control station;

master control unit B for based on received many remote control data confirm remote control command, and will remote control command sends to satellite platform C, wherein, remote control command is including the control command who is used for changing the operating condition of satellite to and receive and save satellite platform C is with the telemetering measurement data that fixed cycle was issued, wherein, telemetering measurement data is including being used for the characterization the operating condition's of satellite data, and according to the observing and controlling state of a plurality of observing and controlling modules A1, A2 … … An, will save telemetering measurement data sends to corresponding observing and controlling module.

Further, as shown in fig. 3, the integrated system 200 for measurement and control navigation further includes a navigation module D, the navigation module D is connected to the main control device B, and the navigation module D includes:

the navigation host is used for receiving a first navigation signal sent by a navigation satellite in a global navigation satellite system, resolving first navigation data according to the first navigation signal and sending the first navigation data to the main control device B;

the navigation standby machine is used for receiving the first navigation signal, resolving second navigation data according to the first navigation signal and sending the second navigation data to the main control device B;

the main control device B is further configured to receive the first navigation data and the second navigation data, select the first navigation data or the second navigation data as a navigation result according to a navigation data index, and send the navigation result to the satellite platform C, where the navigation data index includes at least one or more of the following indexes: continuity of navigation data, accuracy factor of the navigation satellites participating in the solution, signal-to-noise ratio of the navigation satellites participating in the solution, and number of navigation satellites participating in the solution.

Further, the main control device B is configured to receive a telemetry request sent by the satellite platform C, forward the telemetry request to the multiple measurement and control modules and the navigation module, determine comprehensive telemetry data of the measurement and control navigation integrated system 200 based on the received telemetry data of each module, and send the comprehensive telemetry data to the satellite platform C;

the plurality of measurement and control modules and the navigation module are used for respectively responding to the received telemetry request and sending self telemetry data of each module to the main control device B;

further, when the plurality of measurement and control modules include a Beidou satellite measurement and control module, the Beidou satellite measurement and control module is used for receiving a second navigation signal sent by a Beidou navigation satellite, resolving third navigation data based on the second navigation signal and sending the third navigation data to the main control device B;

and the main control device B is used for receiving the first navigation data, the second navigation data and the third navigation data, selecting the first navigation data or the second navigation data or the third navigation data as a navigation result according to the navigation data index, and sending the navigation result to the satellite platform C.

Further, when the plurality of measurement and control modules include an X communication machine measurement and control module and/or a marine satellite measurement and control module, the X communication machine measurement and control module and/or the marine satellite measurement and control module is used for receiving high-speed uplink data sent by a ground measurement and control station and sending the high-speed uplink data to the main control device B, wherein the high-speed uplink data includes program data for updating a program of a target measurement and control module and/or a target navigation module;

the main control device B is used for sending the received high-speed uplink data to the target measurement and control module and/or the target navigation module;

Further, when the plurality of measurement and control modules further include the X communicator measurement and control module and the marine satellite measurement and control module, the main control device B is configured to send a start-up control instruction to the beidou satellite measurement and control module and the marine satellite measurement and control module when the main control device B determines that the X communicator measurement and control module is abnormal in operation or determines that a satellite is not within an available measurement and control range of the X communicator measurement and control module according to the navigation result;

Referring to fig. 4, fig. 4 is a third schematic structural diagram of a measurement and control navigation integrated system provided in the embodiment of the present application. As shown in fig. 4, the measurement and control navigation integrated system 200 includes: the system comprises an X communicator measurement and control module 210, a UV communicator measurement and control module 220, a Beidou satellite measurement and control module 230, a maritime satellite measurement and control module 240, a navigation module 250, a main control device 260 and a satellite platform 270. The X-communication machine measurement and control module 210, the UV-communication machine measurement and control module 220, the Beidou satellite measurement and control module 230, the maritime satellite measurement and control module 240 and the navigation module 250 are respectively connected with a main control device 260, and the main control device 260 is connected with a satellite platform 270.

The X-communicator measurement and control module 210 comprises an X-communicator host 211, an X-communicator standby 212, a network box 213, an X-communicator transceiver antenna 214-1 and an X-communicator transceiver antenna 214-2.

The X communication machine host 211 and the X communication machine standby machine 212 respectively comprise a remote control uplink channel, a high-speed uplink channel and a remote measurement downlink channel, the remote control uplink channel and the high-speed uplink channel adopt the same set of hardware, and the remote control uplink channel and the high-speed uplink channel are multiplexed in a time-sharing manner through software. The remote measurement and the remote control both adopt an incoherent spread spectrum system, the adopted frequency band is an X frequency band, and the remote measurement and the remote control are both 16384 bps. BPSK modulation is adopted in the high-speed uplink channel, and the uplink rate is 1 Mbps. The interaction of the whole satellite telemetering and remote control data is carried out between the X communication machine main machine 211 and the X communication machine standby machine 212 and the main control device 260 through RS-422 interfaces, and the telemetering data of the single machine and the remote control instruction sent to the X communication machine main machine 211 and the X communication machine standby machine 212 by the main control device 260 are transmitted through a double CAN bus between the two. The high-speed uplink channel operates in a high-speed mode, and the communicator receives high-speed uplink data and transmits the high-speed uplink data to the main control device 260 through the LVDS interface.

The X-communicator measurement and control module 210 is equipped with two measurement and control antennas for transmitting and receiving, namely an X-communicator transceiver antenna 214-1 and an X-communicator transceiver antenna 214-2. By reasonable arrangement of the two antennas, near 360-degree omnidirectional beam coverage can be realized, and the problem that a single-antenna measurement and control system cannot effectively measure and control when the satellite attitude is turned over is avoided. A network box 213 is connected between the antenna and the communication machine, a duplexer and an electric bridge are arranged in the network box 213, and the X communication machine host 211 and the X communication machine standby machine 212 can be communicated with an X communication machine transceiver antenna 214-1 and an X communication machine transceiver antenna 214-2. The design further improves the reliability of the X communication machine system, and the system can still work normally when a certain antenna or a single machine is abnormal.

The UV communicator test and control module 220 includes a UV communicator 221, a UV communicator receiving antenna 222, and a UV communicator transmitting antenna 223.

The UV communication machine 221 defaults to adopting a BPSK modulation mode, and the remote control and remote measurement uplink and downlink rates are 4096 bps. The interaction of whole satellite telemetering and remote control data is carried out between the UV communicator 221 and the main control device through an RS-422 interface, and the telemetering data of the single machine and the remote control instruction sent to the UV communicator by the main control device 260 are transmitted through a double CAN bus between the single machine telemetering and remote control data and the remote control instruction. The UV communicator 221 employs a linearly polarized antenna in the form of a tape measure, which radiates radio frequency signals outwardly in the form of a sphere.

Compared with an X communication machine, the UV communication machine has the advantages of small size, light weight, low power consumption, large beam angle and the like, but has the problems of low information rate, high error rate, easiness in environmental interference and the like. The UV communication machine and the X communication machine are matched for use, so that the UV communication machine and the X communication machine can make up for the deficiencies of the UV communication machine and the X communication machine, and the performance of the satellite measurement and control system is greatly improved. The UV communication machine 221 of the integrated measurement and control navigation system 200 is a dynamically configurable chip, which can be configured to MSK/FSK modulation mode according to the requirement through an instruction, and can also be used as an inter-satellite communication product in multi-satellite measurement and control.

The Beidou satellite measurement and control module 230 includes a Beidou communicator 231 and a Beidou communicator transceiver antenna 232.

The Beidou satellite measurement and control module 230 is compatible with the regional short message mode and the global short message mode of the third generation Beidou, and has a navigation positioning resolving function. When the regional short message mode is adopted, the S-band short message data is received, and the L-band short message data is transmitted. When the global short message mode is adopted, the BDS-B2B signal transmission short message data are received, and the short message data are sent through the L frequency band.

The service range supported by the Beidou third-generation regional short message system covers China and surrounding areas, and is far larger than the region covered by the measurement and control arc section when the domestic measurement and control station is adopted to carry out single-station measurement and control, so that the single-station time length and frequency of measurement and control are improved. The global short message system can be approximately and completely covered in the global range, global continuous measurement and control can be realized by using the global short message system, real-time monitoring of satellite states and task uploading can be realized, and the efficiency of the measurement and control navigation integrated system 200 is greatly improved. The Beidou satellite measurement and control module 230 receives the navigation signal for receiving the short message data, and simultaneously performs positioning calculation, outputs relevant information of the satellite such as time, position, speed and the like in real time, and provides navigation data for the satellite platform 270 as the supplement of the navigation host 251 and the navigation standby 252.

The whole satellite telemetering and remote control information transmitted by the Beidou satellite measuring and controlling module 230 in a message form is interacted with the main control device 260 through an RS-422 interface, and the telemetering information, the navigation positioning information and the control information of the main control device 260 to the main control device are interacted through a double CAN bus.

The marine satellite observe and control module 240 includes a marine communicator 241 and a marine communicator transceiver antenna 242.

The marine communication device 241 communicates with a marine satellite, and provides services for telemetry downlink, remote control uplink, and high-speed data uplink of the satellite by using a BGAN (terrestrial broadband system) service of the marine satellite. The maritime communication device 241 needs navigation data to assist it in performing beam switching work when it is working, so it needs the main control device 260 to transmit navigation results in real time through the RS-422. Other data interaction between the marine communicator 241 and the main control device 260 is performed through the ethernet, and the exchanged data comprises a remote control instruction, a remote control data block and high-speed uplink data which are sent to the main control device 260 by the ground measurement and control station through the marine communicator 241; the main control device 260 transmits satellite telemetering data and load data to the ground through the maritime communication machine 241; the remote measurement data of the marine communication device 241 itself and the control command transmitted from the main control device 260 to the marine communication device 241. The global coverage rate of the maritime satellite for the low-orbit satellite is better than 95%, and the uplink and downlink rates are both better than 120 kbps. The measurement and control system introduces a marine satellite as a supplementary means of conventional measurement and control, can meet the global high-speed measurement and control requirement of the satellite, and greatly improves the flexibility and efficiency of measurement and control.

The navigation module 250 comprises a navigation host 251, a navigation standby 252, a network box 253, a navigation receiving antenna 254-1 and a navigation receiving antenna 254-2.

The navigation module 250 receives GPS L1/BDS B1 dual-frequency point navigation signals and adopts a GPS/BDS dual-navigation system compatible positioning mode. The navigation module 250 adopts a dual antenna design, and can ensure a receiving range of approximately all directions of the day through a reasonable antenna layout design. The stable receiving of the navigation signals can be still ensured in the process of establishing the satellite attitude at the initial satellite orbit-in stage or the process of maneuvering the satellite attitude, and then the position and speed information and the orbit parameters of the satellite are stably output. The main navigation unit 251 and the auxiliary navigation unit 252 are compatible with a dual-GPS/BDS navigation system, and can use the acquired navigation signals sent by the navigation satellites in the two systems to jointly position, so that the robustness of the system is further improved, and the stable and reliable operation of the main navigation unit 251 and the auxiliary navigation unit 252 is ensured. The main navigation unit 251 and the auxiliary navigation unit 252 have an orbit determination function, that is, they use the existing positioning information and satellite orbit model to resolve the orbit data of the receiver, and when the navigation signal is interrupted or lost, they can continuously output the time, position and speed information of the satellite by using the orbit extrapolation method, so as to ensure the continuous and stable output of the data.

The navigation host 251 and the navigation backup 252 will output a hardware second pulse signal (PPS signal) in the positioning process, which is a TTL level pulse signal and is directly output to the main control device 260. The data of the satellite time, position, speed, orbit parameters, etc. obtained by the main navigation unit 251 and the auxiliary navigation unit 252 through the resolving are sent to the main control unit 260 through the RS-422 interface, and the main control unit 260 also sends a control command to the main navigation unit 251 and the auxiliary navigation unit 252 through the interface.

The main control device 260 of the satellite is the core of the integrated measurement and control navigation system 200, and undertakes the data interaction between the modules in the system, the monitoring of the working state of each single machine, the implementation of the single machine switching strategy, and the like. Power, control, and data interaction between the system and the satellite platform 270 are also performed by the master control device 260. The main control device 260 includes a telemetry processing module, a remote control processing module, a high-speed uplink data processing module, a measurement and control management module, a navigation management module, an interface and a power supply module.

And the main control device and the satellite platform carry out interaction of whole satellite telemetering data and remote control data through an RS-422 interface. The integrated electronic system in the satellite platform collects the self telemetering data of each subsystem, assembles the self telemetering data of each subsystem into telemetering data, and sends the telemetering data to the master control device after framing. The telemetry processing module in the main control device is responsible for receiving and distributing telemetry data, the telemetry processing module issues the telemetry data to each measurement and control channel at the starting time of every second, the sending time of the telemetry data is judged according to the navigation data received by the main control device 260, and if no navigation data exists, the sending time depends on the time when the main control device 260 clocks independently. To accommodate the 16384bps rate of X-ray communications, the telemetry data is 2048 bytes per second, 16384 bits. The 2048-byte telemetering data is divided into 4 frames, each frame is 512-byte telemetering data, the first two frames are real-time telemetering data, the second two frames are delayed telemetering data, and each frame of telemetering data is divided into fixed telemetering data and common telemetering data. The main control device checks the frame head and the frame length of the data frame after receiving the telemetering data sent by the integrated electronic system, and stores the data in the telemetering buffer area after the check is passed. Then, aiming at each measurement and control module, the telemetering processing module firstly judges whether the measurement and control module is started, if so, judges the starting condition of each measurement and control channel in the measurement and control module, and determines the mode of sending telemetering data according to the starting condition of the measurement and control channel.

Referring to fig. 5, fig. 5 is a flowchart of a data distribution method of a telemetry processing module according to an embodiment of the present disclosure.

The telemetry processing module receives telemetry data of a certain period issued by the satellite platform, wherein the telemetry data is telemetry data of the whole satellite, namely data used for representing the working state of each system in the whole satellite.

For the X communicator measurement and control module 210, it is first determined whether the X communicator measurement and control module 210 is turned on, and if the X communicator measurement and control module 210 is turned on, it is then sequentially determined whether downlink channels of the X communicator host 211 and the X communicator standby 212 are in an on state. And for the X communication machine with the downlink channel opened, the telemetry processing module reads 2048 bytes of telemetry data from the telemetry cache region and sends the telemetry data. Here, since the satellite platform and the master control device interact through an RS-422 interface, which is an asynchronous interface, and the satellite platform transmits telemetry data based on its own clock, there may be a clock offset between the two. That is, there is a case that the clock of the satellite platform is slower than the clock of the main control device, that is, when the telemetry processing module needs to send data to the opened downlink measurement and control channel, the telemetry buffer area has no data, and at this time, the telemetry data is sent down by adopting a form of sending a 0x55 empty frame. When the telemetry processing module carries out data interpretation on telemetry data sent by the satellite platform, the problem can occur if the interpretation is not passed, and the processing method is consistent with the strategy. If the satellite platform clock is faster than the master control device clock, the data received by the master control device is more than 2048 bytes per second, at this time, the telemetry processing module caches the telemetry data, the space of the cache area is 8192 bytes (namely 4 frames), and the cache area is emptied when the cache area is full.

After the state judgment and the telemetering data transmission of the X communicator measurement and control module 210 are completed, the main control device continues to perform the state judgment and the telemetering data transmission of the UV communicator measurement and control module 220.

Aiming at the UV communication machine measurement and control module 220, firstly, whether the UV communication machine measurement and control module 220 is started is judged, when the UV communication machine measurement and control module 220 is monitored to be in a starting state, a first frame of telemetering data in 2048 bytes of telemetering data is sent to the UV communication machine 221 through an RS-422 interface, and the length of the telemetering frame is 512 bytes, namely 4096 bits.

After the state judgment and the telemetering data transmission of the UV communicator measurement and control module 220 are completed, the main control device continues to perform the state judgment and the telemetering data transmission of the Beidou satellite measurement and control module 230.

For the Beidou satellite measurement and control module 230, whether the Beidou satellite measurement and control module 230 is started or not is judged firstly, and when the Beidou satellite measurement and control module 230 is started, the main control device judges whether the operation mode is a global short message mode or a regional short message mode according to self telemetering data of the Beidou communication machine 231. When the device operates in a global short message mode, the telemetry processing module sends fixed telemetry data of 20 bytes in the first frame of telemetry data to the Beidou communication machine 231; when the Beidou communication machine operates in the regional short message mode, the telemetry processing module sends 1024 bytes of first frame telemetry data and second frame telemetry data to the Beidou communication machine 231 through the RS-422 interface.

After the state judgment and the telemetering data transmission of the Beidou satellite measurement and control module 230 are completed, the main control device continues to perform the state judgment and the telemetering data transmission on the maritime satellite measurement and control module 240.

For the marine satellite measurement and control module 240, it is first determined whether the marine satellite measurement and control module 240 is turned on, and when the marine satellite measurement and control module 240 is turned on, the main control device sends all 2048 bytes to the marine communicator 241 through the ethernet. When the telemetry buffer has no data, null frame data of 0x55 will be sent. Because the downlink rate of the downlink measurement and control channel of the marine communication machine 241 is high, part of the load data of the satellite load can also be transmitted to the ground measurement and control station through the downlink measurement and control channel, at this time, the telemetry processing module in the main control device bears the transparent transmission function, the load data transmission adopts the transparent transmission mode, namely, the load data is not interpreted and processed, and the related data is directly transmitted to the marine satellite measurement and control module 240 through the ethernet.

At this point, the telemetry processing module completes the distribution of the telemetry data in the period, and clears the telemetry data (total 2048 bytes) in the period from the telemetry cache region, and the data which is not sent away in the period is discarded.

The remote control processing module is responsible for processing remote control data which are uplink through each measurement and control channel, the uplink remote control data comprise two types of data, one type is a direct instruction, and the other type is an indirect instruction and a data block. Although the lengths of the various instructions and data blocks are different, the instructions and data blocks all comprise four parts, namely satellite synchronous words, data type codes, data and check codes. After receiving the remote control data, each single measurement and control machine firstly needs to check the synchronous words, the data types and the data lengths of the data, and then checks the correctness of the data and judges the correctness after the check is passed. The data checked correctly in the checking area is sent to the main control device 260 through the remote measurement and control interaction interface between the single measurement and control unit and the main control device 260.

The high-speed uplink data processing module is used for processing high-speed uplink data, and the X communication machine measurement and control module 210 and the maritime satellite measurement and control module 240 both have a high-speed uplink function. The main control device 260 interprets the correctness and integrity of the high-speed uplink data after receiving the high-speed uplink data, and sends the high-speed uplink data to the target module after the interpretation is passed.

The measurement and control management module is used for state detection and operation control of the X communication machine measurement and control module 210, the UV communication machine measurement and control module 220, the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240.

The navigation management module is configured to process navigation data transmitted by the navigation host 251, the navigation standby 252, and the beidou communicator 231 in the navigation module 250, and output a PPS signal and satellite time, position, and speed information to the satellite platform 270. The module monitors the running states of the main navigation unit 251 and the standby navigation unit 252 and controls the main navigation unit 251 and the standby navigation unit 252 according to the running states.

The interface and power supply module is mainly responsible for data interaction between the integrated measurement and control navigation system 200 and the satellite platform 270 and power supply and distribution of the whole machine. The external interfaces of the integrated measurement and control navigation system 200 comprise an RS-422 bus interface for transmitting whole satellite remote measurement and control information, a CAN bus interface for transmitting remote measurement data of the system, a PPS signal interface for external output, an OC interface for outputting direct instructions to a satellite platform 270, and an OC interface for inputting system power-on and power-off signals. The power supply interface is a 28V primary bus of the system input, and the voltage is converted into the power supply voltage required by each measurement and control module and the navigation module through the power supply and distribution circuit in the module.

The following describes a use method and a use flow of the integrated measurement and control navigation system 200 by taking a remote sensing satellite as an example, and mainly describes functions and operation mechanisms of a measurement and control management module and a navigation management module in the main control device 260.

The satellite is launched in a power-off mode, the satellite is powered up after the satellite and the satellite are separated, at the moment, because the attitude of the satellite is not established yet, the working states of a navigation host machine 251 and a navigation standby machine 252 in a navigation module 250 are not stable, the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 are not started at the moment, and the X communication machine measurement and control module 210 and the UV communication machine measurement and control module 220 are used as the main measurement and control at the moment. The X communication machine measurement and control module 210 defaults that the X communication machine main unit 211 is started, whether the downlink telemetry channel is started or not depends on the energy state of the whole satellite, if the energy of the whole satellite is sufficient, the downlink channel is started, and if the energy is insufficient, the downlink channel can be started through program control or the downlink channel can be started through an instruction uplink. The UV communicator 221 adopts a tape antenna, which is programmed to expand after the whole satellite is powered on, so that the UV communicator 221 is powered on after the antenna is expanded, and the default state of the UV communicator is that both the uplink channel and the downlink channel are opened.

The measurement and control management module monitors the running state of each measurement and control module in real time and adjusts the working state of each measurement and control module according to the state of the whole satellite. First, the measurement and control management module obtains the unfolding state of the UV communicator receiving antenna 222 and the UV communicator transmitting antenna 223, and if the antennas are unfolded normally, the UV communicator 221 is in a continuous startup state. If the ultrahigh frequency UHF band antenna fails to be unfolded, the measurement and control management unit closes the telemetering downlink channel of the UV communication machine 221, because when the ultrahigh frequency UHF band antenna is not unfolded, the relevant signals cannot be received even if the UV communication machine 221 opens the downlink telemetering channel, and the telemetering channel is damaged in this state. The measurement and control management module times the operation duration of the UV communicator 221 during long-term operation. In order to avoid the abnormal operation caused by the influence of the space environment in the long-term operation process, the measurement and control management module resets or turns on or off the UV communication machine 221 after the UV communication machine 221 continuously operates for a specified time. Whether periodic resets or periodic power on and off and the frequency of operations are performed for the telemetry satellite depends on the requirements of the satellite and the robustness of the UV communicator 221 itself. The X-communicator measurement and control module 210 is significantly more robust than the UV-communicator measurement and control module 220 due to the dual antenna and main and standby modes. And the default X communication host 211 works in the initial stage of the track entry, the measurement and control management module monitors the working state of the X communication host 211 in real time, and if the working state is abnormal, the X communication host is switched to a standby host, and vice versa. If the switching of the main machine and the standby machine exceeds 5 times in 3 minutes, the X communication machine measurement and control module 210 is judged to have abnormal work, and the main machine switching machine and the standby machine switching machine are both recorded as 1 switching process. After the X communication machine measurement and control module 210 is judged to be abnormal, the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 are started to perform emergency measurement and control. The X-communicator measurement and control module 210 and the UV-communicator measurement and control module 220 serve as main measurement and control modules, and in order to prevent the satellite from receiving an instruction sent by a non-satellite user, the two measurement and control modules must send a remote control channel opening instruction through a direct instruction before receiving an indirect instruction and a data block. The command is similar to a secret key for opening a remote control uplink channel, the remote control forwarding function can be opened after the command is received by the measurement and control management module, and only the indirect command and the data block can be forwarded to the satellite platform in the state that the function is opened. The function can be closed in a non-measurement and control arc section, so that a legal user of the satellite can be prevented from sending instructions by mistake, and the satellite can be prevented from being attacked by an unidentified user. In addition, the measurement and control management module records the receiving time of the remote control uplink instruction of the X communication machine measurement and control module 210 and the UV communication machine measurement and control module 220, if the measurement and control management module does not receive any uplink instruction in 24 hours or 48 hours, an uplink remote control channel may be abnormal, and the UV communication machine 221 needs to be reset or turned on or off, and for the X communication machine host 211 and the X communication machine standby machine 212, current working stand-alone reset, turning on or off operation can be adopted, and switching operation of the master and standby communication machines can also be adopted.

Therefore, the introduction of the related strategies can greatly improve the stability and reliability of the long-term operation of the X communicator measurement and control module 210 and the UV communicator measurement and control module 220.

After the remote sensing satellite enters the orbit, the attitude control system starts to work, and the satellite attitude is gradually stabilized. At this time, the navigation module 250 receiver can continuously and stably output positioning information, and the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 can be started to work. At this time, the measurement and control channels of the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 can be opened according to the requirement of the whole satellite. And the measurement and control management module receives the navigation data and judges the availability of each measurement and control module according to the satellite orbit information in the navigation data. If the satellite is not in the UV and X measurement and control visible arc section in the interior and the remote measurement and control requirements exist, the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 need to be started. The measurement and control management mode monitors the Beidou satellite measurement and control module 230 and the marine satellite measurement and control module 240 which are in the starting state in real time, and comprehensively considers the measurement and control modules of the dynamic scheduling measurement and control navigation integrated system according to the availability of the measurement and control modules and the requirements of the type, the data volume, the measurement and control arc section and the like of the remote measurement and control task. It should be noted that, as described above, when the satellite attitude is not established yet, if it is determined that the X-ray communication machine measurement and control module 210 is abnormal in operation, the Beidou satellite measurement and control module 230 and the maritime satellite measurement and control module 240 may also be started in advance for emergency measurement and control.

The navigation management module is responsible for managing part of navigation functions of the main navigation machine 251, the standby navigation machine 252 and the Beidou communication machine 231. The navigation host 251 and the navigation standby machine 252 work in a dual-machine hot backup mode, and the navigation host 251 and the navigation standby machine 252 are started up under program control after the satellite enters the orbit. The navigation management module receives navigation data output by the main navigation unit 251 and the standby navigation unit 252, the navigation data includes time, position, speed, orbit data and hardware Pulse Per Second (PPS), compares the relevant data, selects navigation data of a single unit with better performance as a navigation result, and outputs the navigation result to the satellite platform 270. The performance comparison may comprehensively consider parameters such as continuity of navigation data sent by the main navigation machine 251 and the auxiliary navigation machine 252, accuracy factors of the navigation satellites participating in the solution, signal-to-noise ratios of the navigation satellites participating in the solution, and the number of the navigation satellites participating in the solution. Because the navigation host 251 and the navigation backup 252 adopt the hot backup mode, the two can be switched seamlessly. In order to avoid frequent switching between the two, a certain interval set by performance comparison is determined, for example, only when the number of navigation satellites participating in calculation is more than 3 and more than 3 than that of the navigation host when the navigation host is performing navigation data calculation, the accuracy of the second navigation data is determined to be better than that of the first navigation data. In an extreme case, if both the main navigation unit 251 and the auxiliary navigation unit 252 cannot work normally, the beidou satellite measurement and control module 230 needs to be turned on, and the navigation data output by the beidou satellite measurement and control module is output to the satellite platform 270 as a navigation result. When the main navigation unit 251, the standby navigation unit 252 and the beidou satellite measurement and control module 230 all work normally, the navigation result can be preferentially output by comparing the relevant indexes of the main navigation unit 251, the standby navigation unit 252 and the beidou satellite measurement and control module 230.

In order to ensure the normal operation of each module of the measurement and control navigation system, the main control device 260 may also monitor the communication state of the bus between each module and the main control device 260. If the master control device 260 continues to respond after sending a certain amount of data to a single machine in a working state, the relevant bus is reset, so that system task failure caused by communication bus abnormality is avoided.

Therefore, according to the measurement and control navigation system provided by the embodiment of the application, the reliability of the system is greatly improved, the autonomous operation and fault diagnosis and processing capabilities of the system are also improved to a certain extent, and the intelligent level of a satellite is improved.

Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 5, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

The memory 520 stores machine-readable instructions executable by the processor 510, when the electronic device 500 runs, the processor 510 communicates with the memory 520 through the bus 530, and when the machine-readable instructions are executed by the processor 510, the steps of the data transmission method in the method embodiment shown in fig. 1 may be executed.

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the step of the data transmission method in the method embodiment shown in fig. 1 may be executed.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A data transmission method is characterized by being applied to a measurement and control navigation integrated system, wherein the measurement and control navigation integrated system comprises a plurality of measurement and control modules and a main control device, and the data transmission method comprises the following steps:

for each piece of remote control data, the main control device sends a remote control instruction corresponding to the piece of remote control data to the satellite platform based on the type of the piece of remote control data, wherein the remote control instruction comprises an instruction for changing the working state of the satellite;

the main control device sends the telemetering data to corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules;

the corresponding measurement and control module sends the received telemetry data to the ground measurement and control station;

when clock deviation exists between the main control device and the satellite platform, if the clock of the satellite platform is slower than that of the main control device, the main control device transmits telemetering data in a mode of sending 0x55 empty frames;

if the clock of the satellite platform is faster than that of the master control device, the master control device firstly caches the received telemetering data to a cache region, reads the telemetering data from the cache region and sends the telemetering data to a corresponding measurement and control module; and when the cache region is full, emptying the cache region.

2. The data transmission method according to claim 1, wherein the measurement and control navigation integrated system further comprises a navigation module, the navigation module comprises a navigation host and a navigation standby, and the data transmission method comprises the following steps:

3. The data transmission method according to claim 2, wherein the data transmission method further comprises:

4. The data transmission method of claim 2, wherein when the plurality of measurement and control modules comprises a Beidou satellite measurement and control module, the data transmission method further comprises:

5. The data transmission method according to claim 4, wherein when the plurality of measurement and control modules include an X-communicator measurement and control module and/or a marine satellite measurement and control module, the data transmission method further comprises:

6. The data transmission method according to claim 5, wherein when the plurality of measurement and control modules further include the X-communicator measurement and control module and the marine satellite measurement and control module, the data transmission method further comprises:

7. The integrated measurement and control navigation system is characterized by comprising:

the system comprises a plurality of measurement and control modules, a master control device and a ground measurement and control station, wherein the measurement and control modules are respectively used for receiving remote control data sent by the ground measurement and control station, sending the remote control data to the master control device, receiving telemetering data sent by the master control device and sending the received telemetering data to the ground measurement and control station;

the main control device is used for sending a remote control instruction corresponding to each piece of remote control data to the satellite platform based on the type of the piece of remote control data, wherein the remote control instruction comprises an instruction for changing the working state of the satellite and receiving telemetering data issued by the satellite platform at a fixed period, the telemetering data comprises data for representing the working state of the satellite, and the telemetering data is sent to corresponding measurement and control modules according to the measurement and control states of the plurality of measurement and control modules;

8. The integrated measurement and control navigation system according to claim 7, further comprising a navigation module, wherein the navigation module comprises:

the main control device is further configured to receive the first navigation data and the second navigation data, select the first navigation data or the second navigation data as a navigation result according to a navigation data index, and send the navigation result to the satellite platform, where the navigation data index includes at least one or more of the following indexes: continuity of navigation data, accuracy factor of the navigation satellites participating in the solution, signal-to-noise ratio of the navigation satellites participating in the solution, and number of the navigation satellites participating in the solution.

9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the data transmission method of any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the data transmission method according to one of the claims 1 to 6.