CN114019948A - Efficient autonomous operation method for Mars vehicle detection task - Google Patents
Efficient autonomous operation method for Mars vehicle detection task Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a method for efficiently and autonomously operating a Mars vehicle detection task, which fills the blank of implementing a detection task control method under a low uplink code rate and high delay measurement and control link in the deep space detection field. The technical scheme of the invention is as follows: firstly, forming a parameterized instruction template by using an instruction sequence corresponding to a typical detection task of the Mars vehicle; and then forming a task scheduling model corresponding to each detection task, and storing the task scheduling model in a Mars vehicle counting computer. And determining key task parameters required by completing the instruction sequence according to actual task requirements by ground user personnel, and sending the key task parameters to the mars data management computer according to an agreed task data interface form. After receiving the key task parameters, the mars data management computer judges that if the key task parameters meet the precondition, the mars data management computer starts to plan the maneuvering path of the mechanism, selects a corresponding scheduling model to call a related parameterized instruction template, fills in a mechanism movement target, task duration and related load parameters, and autonomously generates a complete task instruction sequence.
Description
Technical Field
The invention relates to the technical field of spacecrafts, in particular to a method for efficiently and autonomously operating a Mars vehicle detection task.
Background
China launched a Mars detector integrated with winding, falling and patrolling in 23 months 7 in 2020, and the Mars surface patrol detection is carried out by the Mars detector. And in 2021, 5, 15 days, the landing patrol instrument successfully completes EDL process control and program control after landing, and a survival state is automatically established after landing. In 2021, 5 and 22 months, the Mars train successfully drives away from the landing platform, and the fire surface scientific detection is started.
The mars vehicle controls the mars vehicle to carry out a detection task on the surface of the mars through task instruction data injected on a ground system. Because the mars are far away from the earth, the direct earth-to-earth communication capability of the mars is weak, the delay of instruction injection can reach 22 minutes, the code rate is as low as 32bps, and a large amount of instruction data cannot be injected for real-time control. Therefore, the mars train is required to have high autonomous capability when executing a fire detection task, so that a mars train control mode is simplified, and the efficiency of controlling the mars train to implement the detection task on the ground is improved.
Compared with a lunar rover in the field of deep space exploration, the lunar rover has the advantages that measurement and control are visible to the ground all day long, the distance is short, the uplink delay is only 1s, the code rate can reach 2000bps, real-time remote control can be carried out on the ground, and therefore the requirement for the efficient autonomous operation capability of exploration tasks similar to a mars rover does not exist.
Disclosure of Invention
In view of the above, the invention provides a method for efficiently and autonomously operating a mars vehicle detection task, which is used for a ground operation and control system to control the mars vehicle detection task. The invention realizes the mars train task characteristic-oriented operation control interface, shields the primary operation of ground on the mars train equipment, effectively simplifies the complexity of the command arrangement work of ground users, greatly reduces the data volume of the upper notes, improves the reliability of the command arrangement work, and provides technical guarantee for realizing the high-efficiency detection of the mars train on the fire surface.
In order to achieve the purpose, the technical scheme of the invention comprises the following steps:
step (1) forming a parameterized instruction template by using an instruction sequence corresponding to a typical detection task of a mars vehicle; typical detection task modes of the mars train comprise mars train sun wing movement, global perception, scientific detection, X-band to ground communication and X-band to surround device communication.
And (2) forming a task scheduling model of Mars vehicle sun wing motion, global perception, scientific detection, X frequency band-to-ground communication and X frequency band-to-surround device communication, wherein the task scheduling model comprises a method for executing precondition judgment, an internal parameter calculation method and a parameterized instruction template combination calling method.
And storing the parameterized instruction template and the task scheduling model in a Mars vehicle counting tube computer.
And (3) determining key task parameters required by completing the instruction sequence according to actual task requirements by ground user personnel, and sending the key task parameters to the mars data management computer according to an agreed task data interface form.
And (4) after receiving the key task parameters in the step (3), the Mars data management computer judges the task execution precondition according to the detection task mode parameters, if the precondition is met, a mechanism maneuvering path is planned, a corresponding scheduling model is selected to call a related parameterization instruction template, a mechanism moving target, task duration and related load parameters are filled in, and a complete task instruction sequence is automatically generated.
Further, in the step (1), a parameterized instruction template is formed by the typical detection task of the train corresponding to the instruction sequence.
The parameterized instruction template content comprises an instruction code number, an instruction name, an instruction execution interval, a template input parameter and an instruction code generation rule, and is stored in the Mars train counting management computer.
And constructing a parameterized instruction template for each train typical detection task.
Further, the step (2) specifically comprises the following steps:
and (2) arranging and combining the parameterized instruction templates in the step (1) to complete fire surface detection tasks, including solar wing motion, global perception, scientific detection, X-frequency band ground-to-ground communication and X-frequency band surround device communication modes, and extracting key parameters of each detection task to serve as a device-ground operation and control interface.
And storing the mapping relation between the task parameters and the parameterized instruction template, the calculation method of the internal operation parameters and the combined calling relation between the instruction template and the instructions in a Mars train counting computer, and autonomously generating a complete instruction sequence on the Mars train counting computer.
Further, in step (4), after receiving the key task parameters in step (3), the mars data management computer judges a task execution precondition according to the detection task mode parameters, and if the precondition is met, starts to plan a maneuvering path of the mechanism, specifically:
the precondition is an environmental condition, and the examination content of the precondition includes time validity, organization security and environmental security.
Wherein the time validity comprises the validity of the execution time of each probing task mode.
The safety of the mechanism comprises that the Mars train yaw direction meets the requirement in the solar wing motion mode, the position of a mast yaw axis does not exceed the limit in the global perception mode, the position of the mast yaw axis does not exceed the limit in the scientific detection mode, the X frequency band is communicated with the ground, and the pitching and rolling axis positions of the directional antenna do not exceed the limit in the X frequency band-to-surround device communication mode.
The environmental safety comprises that the temperature of the solar wing meets the requirement in a solar wing motion mode, the temperature of the mast meets the requirement in a global perception mode, and the temperature of the mast meets the requirement in a scientific detection mode, and the temperature of the directional antenna meets the requirement in an X frequency band-to-ground communication mode and an X frequency band-to-surround device communication mode.
Further, if the precondition is satisfied in the step (4), planning a maneuvering path of the mechanism, selecting a corresponding scheduling model to call a related parameterized instruction template, filling a mechanism moving target, a task duration and related load parameters, and autonomously generating a complete task instruction sequence, wherein the specific steps are as follows:
a) and selecting a corresponding task scheduling model according to the imaging task type parameters.
b) And determining a called parameterized instruction template and an instruction combination according to the task scheduling model and the task information to form an instruction sequence frame for the current task.
c) Filling the task parameters which can be directly mapped to the template into the instruction sequence frame obtained in the step b).
d) And (4) further analyzing the task time information, the imaging times and the stepping angle information in the step (4), and calculating to obtain related internal parameters by an internal parameter calculation method in a task scheduling model to fill in the instruction sequence frame in the step b) to form a complete instruction sequence.
e) The Mars train counter computer distributes the complete instruction sequence according to time intervals and is executed by each subsystem to complete the detection task.
Has the advantages that:
(1) the invention provides a method for efficiently and autonomously operating a Mars vehicle detection task, which fills the blank of implementing a detection task control method under a low uplink code rate and high delay measurement and control link in the deep space detection field.
(2) According to the method for efficiently and autonomously operating the Mars vehicle detection task, considering the flight control stage, only a small amount of key task parameters need to be injected on the ground, the uplink data volume of a typical Mars vehicle detection task can be reduced to be below 10% of that of a traditional control mode, the complexity of the ground user instruction arrangement work is simplified, the injected data volume is reduced, the reliability of the instruction arrangement work is improved, and the technical guarantee is provided for realizing the Mars vehicle to develop efficient detection activities under the low-code-rate uplink condition.
Drawings
FIG. 1 is a Mars vehicle fire detection mission model;
FIG. 2 shows a control method for efficient implementation of a Mars vehicle fire detection task.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a high-efficiency autonomous running method for a detection task of a mars car, which has a specific flow shown in an attached figure 2, wherein typical control instruction sequences of all detection modes of the mars car form a parameterized instruction template for generating an instruction sequence for controlling the action of mars car equipment by combining task parameters, and the instruction sequence can complete the starting-up and shutdown of the equipment or the action of a certain specific working mode. The instruction template content comprises an instruction code number, a name, an instruction execution interval, a template input parameter and an instruction code generation rule, and is stored in the Mars train counting management computer. Table 1 shows command templates for powering up the solar wing mechanism, and several to several tens of command templates may be created according to actual requirements to describe basic functions of the subsystems of the train.
TABLE 1 solar wing mechanism Power-on parameterization instruction template
(2) According to a typical detection working mode of a mars vehicle, the instruction templates in the step (1) are arranged and combined to complete a complete fire surface detection task, including solar wing motion, global perception, scientific detection, X-frequency band-to-ground communication and X-frequency band-to-surround device communication modes, and see an attached drawing 1; aiming at the modes, extracting key parameters of each detection task to be used as a device-to-ground operation control interface, and referring to a table 2; and storing the mapping relation between the task parameters and the parameterized instruction template, the calculation method of the internal operation parameters and the combined calling relation between the instruction template and the instructions in a Mars train counting computer, and autonomously generating a complete instruction sequence on the Mars train counting computer, which is shown in tables 3, 4, 5 and 6.
TABLE 2 Mars vehicle exploration mode mission Critical parameters
TABLE 3 solar wing motion mission planning model
TABLE 4 Global aware task planning model (M times imaging)
TABLE 5 scientific exploration mission planning model
TABLE 6X-BAND COMMUNICATION TABLET PLANNING MODEL FOR GROUND/HORIZONTAL DEVICE
(3) And determining key task parameters of a corresponding detection mode by ground user personnel according to actual task requirements, and sending the information to a mars data management computer according to an agreed task interface form, wherein the interface parameters are shown in a table 2.
(4) After receiving the detection task parameters, the data management computer firstly checks the task execution environment conditions for ensuring the task execution reasonability and safety. And if the execution environment condition is not met, the follow-up action is not carried out, and the task is not executed. The task execution conditions in sniff mode are shown in table 7.
TABLE 7 Mars vehicle Probe mode task execution Condition
(5) When the task execution environment condition is satisfied, the data management computer performs the following operations.
a) Selecting a corresponding scheduling model according to the imaging task type parameters;
b) and determining a called instruction template and an instruction combination according to the task scheduling model and the task information to form an instruction sequence frame for the current task.
c) Filling task parameters which can be directly mapped to the template, such as camera parameters, load parameters and measurement and control parameters, into the instruction sequence framework in b).
d) Further analyzing the task time information, the imaging times and the stepping angle information in the step (4), and calculating to obtain related internal parameters by an internal parameter calculation method in a scheduling model, wherein the method comprises the following steps:
for the global perception task, the M-th imaging corresponding to the maneuvering yaw angle calculation model is as follows:
XM＝X1+(M-1)×Δ
for the communication task of the X frequency band to the earth/the surrounding device, calculating the direction of the directional antenna in real time according to the current time, the earth or the orbit of the surrounding device;
and (c) after the parameters are calculated, filling the instruction sequence frame in the step b) to form a complete instruction sequence.
e) The Mars train counter computer distributes the task instruction sequence according to time intervals and is executed by each subsystem to complete the detection task.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A method for efficiently and autonomously operating a Mars vehicle detection task is characterized by comprising the following steps:
step (1) forming a parameterized instruction template by using an instruction sequence corresponding to a typical detection task of a mars vehicle; the typical detection task mode of the mars vehicle comprises mars vehicle sun wing movement, global perception, scientific detection, X-frequency band ground communication and X-frequency band surround device communication;
step (2) forming a task scheduling model of Mars vehicle sun wing movement, global perception, scientific detection, X frequency band to ground communication and X frequency band to surround device communication, wherein the task scheduling model comprises a method for executing precondition judgment, an internal parameter calculation method and a parameterized instruction template combination calling method;
storing the parameterized instruction template and the task scheduling model in a Mars vehicle counting tube computer;
step (3) determining key task parameters required by completing an instruction sequence according to actual task requirements by ground user personnel, and sending the key task parameters to a mars data management computer according to an agreed task data interface form;
and (4) after receiving the key task parameters in the step (3), the Mars data management computer judges a task execution precondition according to the detection task mode parameters, if the precondition is met, a mechanism maneuvering path is planned, a corresponding scheduling model is selected to call a related parameterization instruction template, a mechanism moving target, task duration and related load parameters are filled in, and a complete task instruction sequence is automatically generated.
2. The method for efficient autonomous operation of a mars vehicle probe task as claimed in claim 1, wherein in step (1), the mars vehicle typical probe task corresponds to a command sequence to form a parameterized command template;
the parameterized instruction template content comprises an instruction code number, an instruction name, an instruction execution interval, a template input parameter and an instruction code generation rule, and is stored in the Mars train counting computer.
And constructing a parameterized instruction template for each train typical detection task.
3. The mars probe task efficient autonomous operation method of claim 1, wherein step (2) specifically comprises the steps of:
arranging and combining the parameterized instruction templates in the step (1) to complete fire surface detection tasks, including solar wing motion, global perception, scientific detection, X-band ground-to-ground communication and X-band surround device communication modes, and extracting key parameters of each detection task to serve as a device-ground operation and control interface;
and storing the mapping relation between the task parameters and the parameterized instruction template, the calculation method of the internal operation parameters and the combined calling relation between the instruction template and the instructions in a Mars train counting computer, and autonomously generating a complete instruction sequence on the Mars train counting computer.
4. The method for efficient and autonomous operation of a mars probe task according to claim 1, wherein in step (4), after receiving the key task parameters in step (3), the mars data management computer determines a precondition for task execution according to probe task mode parameters therein, and if the precondition is satisfied, then starts to plan a maneuvering path of the mechanism, specifically:
the precondition is an environmental condition, and the inspection content of the precondition comprises time validity, mechanism safety and environmental safety;
wherein the time validity comprises the validity of the execution time of each detection task mode
The safety of the mechanism comprises that the Mars train yaw direction meets the requirement in the solar wing motion mode, the position of a mast yaw axis does not exceed the limit in the global perception mode, the position of the mast yaw axis does not exceed the limit in the scientific detection mode, the X frequency band is communicated with the ground, the pitching of a directional antenna and the position of a rolling axis do not exceed the limit in the X frequency band-to-surround device communication mode;
the environmental safety comprises that the temperature of the solar wing meets requirements in a solar wing motion mode, the temperature of the mast meets requirements in a global perception mode, and the temperature of the mast meets requirements in a scientific detection mode, and the temperature of the directional antenna meets requirements in an X-band-to-ground communication mode and an X-band-to-surround communication mode.
5. The mars sounding task efficient autonomous operation method of claim 4, wherein in step (4), if the precondition is satisfied, a maneuvering path of the mechanism starts to be planned, a corresponding scheduling model is selected to call a related parameterized instruction template, a mechanism moving target, a task duration and a related load parameter are filled in, and a complete task instruction sequence is autonomously generated, which specifically comprises the following steps:
a) selecting a corresponding task scheduling model according to the imaging task type parameters;
b) determining a called parameterized instruction template and an instruction combination according to the task scheduling model and the task information to form an instruction sequence frame for the current task;
c) directly filling the task parameters which can be directly mapped to the template into the instruction sequence frame obtained in the step b);
d) further analyzing the task time information, the imaging times and the stepping angle information in the step (4), and calculating to obtain related internal parameters through an internal parameter calculation method in a task scheduling model and filling the related internal parameters into an instruction sequence frame in the step b) to form a complete instruction sequence;
e) and the Mars vehicle counting tube computer distributes the complete instruction sequence according to time intervals and is executed by each subsystem to complete the detection task.
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| CN114676471A (en) * | 2022-04-21 | 2022-06-28 | 北京航天飞行控制中心 | Method and device for establishing mission planning model of mars vehicle, electronic equipment and medium |
| CN114676471B (en) * | 2022-04-21 | 2022-09-13 | 北京航天飞行控制中心 | Method and device for establishing mission planning model of mars vehicle, electronic equipment and medium |
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