CN115292074A - gPC protocol-based track analysis algorithm service calling method and device - Google Patents
gPC protocol-based track analysis algorithm service calling method and device Download PDFInfo
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Abstract
The invention provides a method for calling a track analysis algorithm service based on a gRPC protocol, which comprises the following steps: step 1, abstract classification is carried out on mathematical models related to a spacecraft orbit dynamics algorithm based on research on calling of a spacecraft orbit control algorithm; step 2, on the basis of combing the models and the algorithms, defining characteristic attributes including names, data types and behavior characteristics related to the models for various models and planning input and output; and 3, carrying out standardized design construction on the various models and interface data structures, defining model names, attribute names, data types and constraints of the attributes, model inheritance relations and calculation calling interfaces by utilizing Protocol Buffers under a frame of a gPC Protocol, designing a set of universal track dynamics algorithm calling mode, and realizing cross-language, cross-platform and distributed track dynamics algorithm calling modes by adopting a gPC frame to realize basic algorithm library and basic model and terminal calling isolation.
Description
Technical Field
The application relates to the technical field related to aerospace, test and operation control and space situation analysis, in particular to a method and a device for calling a gRPC (graphical guide protocol) -based orbit analysis algorithm service.
Background
The orbit dynamics calculation is used for determining the problem of the orbit motion of a spacecraft under the condition of the known force borne by the spacecraft, and is widely applied to the application fields of space launching, spacecraft measurement and control, space situation analysis and the like.
The track dynamics calculation implementation and calling mode is usually limited to the same language, the same platform and the single-process calculation mode, and various algorithm models and perturbation models are called and tightly coupled. Although the algorithm of the orbit dynamics core is a classical model, the implementation of various algorithms of dynamics has difference, different implementation modes have great difference in model definition and interface implementation, and meanwhile, the calculation efficiency and result accuracy are not the same, so that cross-language and cross-platform optimization selection cannot be conveniently and quickly performed in practical application to select the algorithm suitable for an application scene, the calculation efficiency and the calculation accuracy cannot be improved to the maximum extent, and unnecessary waste of hardware resources is reduced.
Therefore, the prior art is in need of improvement for further optimization.
Disclosure of Invention
Aiming at the defects and the improvement requirements of the existing method, the invention aims to provide a method and a device for calling a track analysis algorithm service based on a gPC protocol, the calling mode mainly solves the problem of standardized calling of track dynamics algorithm application, and simultaneously realizes a cross-language and cross-platform distributed calling mode, thereby improving the efficiency and the flexibility of calculation.
In order to solve the technical problem, the invention provides a method for calling a service of an orbit analysis algorithm based on a gRPC protocol, which is characterized by comprising the following steps:
step 1, abstract classification is carried out on mathematical models related to a spacecraft orbit dynamics algorithm based on research on calling of a spacecraft orbit control algorithm;
step 2, defining characteristic attributes including names, data types and behavior characteristics related to the models for various models on the basis of combing the models and the algorithms, and planning input and output;
and 3, carrying out standardized design construction on the various models and interface data structures, defining model names, attribute names, data types and constraints of the attributes, model inheritance relationships and calculation calling interfaces by utilizing Protocol Buffers under the framework of a gRPC (graphical user control) Protocol, designing a set of universal track dynamics algorithm calling mode, and realizing cross-language, cross-platform and distributed track dynamics algorithm calling mode by adopting a gRPC framework to realize the calling isolation of a basic algorithm library, a basic model and a terminal.
Further: the abstract classification result of the step 1 comprises 7 types: a track dynamics calculation model; a coordinate system model; a planetary body model; a spacecraft attitude model; a track dynamics perturbation model; a track model; and (4) time model.
The step 2 further comprises designing and packaging a service calling interface of the application level according to the application scene, wherein the service calling interface comprises: the method comprises the following steps of orbit prediction, orbit determination, ground point target visibility analysis, satellite load ground area visibility analysis, near-place and far-place prediction, morning and evening line prediction, station tracking prediction, ground shadow and moon shadow prediction, warp-through line prediction, weft-through line prediction, spacecraft attitude prediction analysis, orbital transfer strategy generation, inter-satellite visibility analysis, coordinate conversion, time conversion and collision early warning.
The step 2 also comprises designing a standard format of a calculation output result output by the planning calculation service; the standard format comprises formats of satellite ephemeris, visible arc time windows, station tracking three-point forecast, collision early warning analysis structures, equipment tracking RAE measurement data and various root forecast.
The invention also provides a computer system comprising a memory and a processor, wherein the memory stores a computer program, and the processor is characterized in that the steps of the method are realized when the processor executes the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the above-mentioned method when being executed by a processor.
The method provided by the invention analyzes and re-structures the classical model in the orbit dynamics, and constructs a unified model definition file; and (3) performing abstract bottom layer construction and high-level algorithm calling design on the conventional calculation method through the use condition of the model and the actual engineering application requirement. The method covers various elements required by orbit dynamics calculation, a data structure of a standardized relevant model, attribute definition (data type and relevant constraint) of the model and an input/output interface of calculation call. The design model and the calculation method are specifically defined and described through standard Protocol Buffers, a set of track dynamics algorithm calling standards are formed, design contents are implemented by combining development language (java), and the method is innovative in the field of track calculation. The standard is based on a gRPC (remote procedure call) technical framework, so that the distributed, cross-platform, cross-language and easy expansion of the calculation are realized conveniently, the flexibility and the calculation efficiency of the calculation are improved, and unnecessary hardware resource waste is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a gRPC-based orbital dynamics algorithm call framework provided by an embodiment of the present invention;
FIG. 2 is a diagram illustrating the property definition of a classical orbit model according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for invoking an orbital dynamics algorithm based on a gRPC protocol according to an embodiment of the present invention.
Detailed Description
For the purpose of making the present invention more comprehensible, and for the purpose of making the present application more comprehensible, embodiments and advantages thereof, the present invention will be further described with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
Firstly, a gPRC is introduced, is a high-performance, open-source and universal RPC framework, is promoted by Google, is designed and developed based on an HTTP2 Protocol standard, adopts a Protocol Buffers data serialization Protocol by default, and supports multiple development languages. The gRPC provides a simple method to define services accurately and automatically generate reliable function libraries for clients and servers. Remote programs on different servers can be directly called at the gPC client, and the application mode looks like calling a local program, so that distributed application and service can be easily constructed. Like many RPC systems, the server is responsible for implementing a defined interface and processing the request of the client, and the client directly calls the required service according to the interface description. The client and the server can be implemented by using different languages supported by the gRPC respectively.
The method has the advantages that various standard algorithm input and output interfaces can be standardized by Protocol Buffers of a gPC (graphics processing unit) technical framework, the attribute description of various dynamic models and the definition of various standard algorithm input and output interfaces can be standardized, interface packaging and integration are carried out on the basis of the gPC framework, and algorithms of different languages and different platforms are packaged into algorithm calling service of the standard interfaces. Because the gPC has the characteristics of cross-platform, cross-language and remote calling, the cross-platform and cross-language distributed calling of the track dynamics algorithm can be realized through the framework, the efficiency and flexibility of calculation are finally improved, and unnecessary occupation of hardware resources is reduced.
The invention provides a method for calling a track analysis algorithm service based on a gRPC protocol, which is characterized by comprising the following steps:
step 1, abstract classification is carried out on mathematical models related to a spacecraft orbit dynamics algorithm based on research on calling of a spacecraft orbit control algorithm;
the results after classification are as follows:
1. orbit dynamics calculation model: the method comprises a numerical score indicator, a numerical extrapolation model, an analytical extrapolation model, a numerical orbit determination least square model, an analytical orbit determination valuation model and the like.
2. A coordinate system model: various coordinate system models and conversion algorithms between coordinate systems.
3. A planet body model: including ellipsoidal models of the earth, the moon, and other planets of the solar system.
4. The spacecraft attitude model comprises: and defining the attitude of the spacecraft, including attitude models such as ground orientation, sun orientation, attitude deviation of an orbit coordinate system, inertial orientation attitude and the like.
5. Orbit dynamics perturbation model: the model comprises an atmospheric model, a gravity field model, a thrust control model, a light pressure model, a solid tide model, a sea tide model and the like.
6. And (3) an orbit model: the method comprises typical orbit models such as Kepler root, cartesian orbit root, near-circular orbit and the like.
7. Time model: including time definition, time conversion, etc.
And 2, defining characteristic attributes including names, data types and behavior characteristics related to the models for various models on the basis of combing the models and the algorithms, and planning input and output.
Specifically, designing a service invocation interface for encapsulating an application level according to an application scenario includes: the method comprises the following steps of orbit prediction, orbit determination, ground point target visibility analysis, satellite load ground area visibility analysis, near-place and far-place prediction, morning and evening line prediction, station tracking prediction, ground shadow and moon shadow prediction, warp-through line prediction, weft-through line prediction, spacecraft attitude prediction analysis, orbital transfer strategy generation, inter-satellite visibility analysis, coordinate conversion, time conversion, collision early warning and the like.
The standard format of the calculation output result output by the design planning calculation service comprises satellite ephemeris, a visible arc period time window, station tracking three-point prediction, a collision early warning analysis structure, equipment tracking RAE measurement data and various root predictions (six classical root, position speed of an inertial system and the like).
And 3, carrying out standardized design construction on the various models and interface data structures, defining model names, attribute names, data types and constraints of the attributes, model inheritance relations and calculation calling interfaces by utilizing Protocol Buffers under a frame of a gPC Protocol, designing a set of universal track dynamics algorithm calling mode, and realizing cross-language, cross-platform and distributed track dynamics algorithm calling modes by adopting a gPC frame to realize basic algorithm library and basic model and terminal calling isolation.
As shown in fig. 1, a gRPC-based orbital dynamics algorithm calling framework diagram is divided into, according to different service application functions in calling design: the dynamic model implementation method comprises an application service interface definition, a dynamic model definition and a basic algorithm implementation layer.
The application service interface definition: the method is based on a service calling interface of business application, defines standard calling input and output, and is described by Protocol Buffers, basic input parameters and a data structure of an output result are in addition to basic data types, and a professional model data structure is based on a data structure defined by a dynamic model.
Defining an orbit dynamics model: the method is characterized in that a professional model related to orbit dynamics is defined, and attribute characteristics of the model are defined, wherein the attribute characteristics comprise attribute names, data types of the attributes and constraints. The method mainly comprises an orbit calculation model (an extrapolator, an orbit determination calculation model and a numerical integrator), an orbit model (Kepler root number, cartesian root number, TLE two-line root number, near-circular orbit root number and the like), an orbit dynamics perturbation model (atmosphere, gravity field, three-body, tide, light pressure and the like), a spacecraft attitude model and the like, wherein the description is realized through Protocol Buffers.
Basic algorithm implementation layer: the method is a realization layer of the track dynamics calculation, and the mathematical calculation of the track dynamics calculation is realized through different computer programming languages, and comprises the realization of various classical numerical integration, iterative interpolation, numerical extrapolation, analytical extrapolation, various coordinate definitions and interconversion in the track dynamics and other bottom algorithms. The method can be realized through different languages, and the service application layer calling of the standard bricks is realized by packaging through the standard model and the calling interface on the upper layer.
FIG. 2 shows a property definition diagram of a classical orbit model
As an embodiment, converting the attribute definition of the classical orbit model (table 1) to a gRPC classical orbit model encapsulation example is as follows:
Message orbitBulletin {
string date = 1；
string timescale = 2；
string eciFrameName = 3；
cartesian cartesian = 4；
Keplerian Keplerian = 5；
Equinoctial equinoctial = 6；
Circular circular = 7；
Tle tle =8 ；
ForceModle forcemodel =9;
}
Message Cartesian {
Double px = 1;
Double py = 2;
Double pz = 3;
Double vx = 4;
Double vy = 5;
Double vz = 6;
Double ax = 7;
Double ay = 8;
Double az = 9;
}
Message keplerian {
Double a = 1;
Double e = 2;
Double i = 3;
Double raan = 4;
Double pa = 5;
Double anomaly = 6;
Boole positionAngle = 7
}
Message Circular {
double a = 1；
double ex = 2；
double ey = 3；
double i = 4；
double raan = 5；
double alpha = 6；
double positionAngle = null
}
Message Tle = {
String line1 = 1;
String line2 = 2;
}
Message orbitalData = {
orbitBulletin initorbit=1
}
similarly, the attribute definition of the orbit dynamics perturbation model and the attribute definition of the orbit extrapolator model are converted into gPC packages of the corresponding models.
Further, fig. 3 also illustrates a gRPC track dynamics model design, packaging, and invocation flow diagram. An example of a GRPC call based on Java space dynamics algorithm is shown below:
for the orbit extrapolation, define:
inputting: initial orbit, start time, end time, extrapolation type, orbit perturbation, extrapolated step size
Message SPG4ForecastInput{
Tle tle =1;
TimePeriod timePeriod =2;
Double Step = 3
}
Message OrbitForcestInput{
String startepoch = 1;
String endepoch =2 ;
Double step =4 ;
orbitBulletin = 5;
enmu PropagationType {
J2 =0;
J4=1;
HPOP = 2;
SPG4=3;
TwoBody = 4;
}
ForceModel forcemodel = 6;
Double satelltemass= 8;
}
And (3) outputting: ephemeris
Message EphemerisgRPC{
String startepoch = 1;
String endepoch = 2;
Double step = 3;
repeated Cartesian cartesianlist = 4;
}
Define by service invocation:
rpc orbitforcast(com.xtck.protocol.vo. OrbitForcestInput） returns(com.xtck.protocol.vo.EphemerisgRPC)
compiling g RPC on related Protocol Buffers to automatically generate a corresponding RPC call interface type gRPC Service end to call a bottom layer dynamic algorithm to realize a Service function, and calling a corresponding Service through a gPCclient.
And finally, calling is realized through Java.
As can be seen from the calling method flow of fig. 2, the following flows are focused in the present application:
1. uniformly abstracting the orbit dynamics calculation model, and obtaining model definition through structural design; carrying out bottom layer implementation and calling relation design on a specific track dynamics algorithm;
specifically, the method comprises the following steps:
1.1 Model definition: designing input and output parameters and calling a function interface according to a track dynamics model and an algorithm requirement, and compiling to form a proto file;
1.2 Establishing a bottom layer/high-level algorithm library: designing a bottom layer/high-level algorithm module related to the track dynamics, applying and designing a calling logic relation to specific track dynamics, forming an algorithm library and supporting multiple languages;
2. and generating an interface file, comprising: the method comprises the steps of realizing a language according to a specific orbital dynamics algorithm, compiling proto files and generating source code interface files of corresponding languages;
3. gPRC algorithm servitization package (corresponding language source code interface file, algorithm library), including:
3.1 Acquiring a corresponding source code interface file according to a specific track dynamics algorithm implementation language, and completing the implementation of a call function in the interface file: acquiring actual input parameters through protobuf byte stream conversion, calling a corresponding algorithm library, performing specific orbit dynamics model algorithm processing to acquire a processing result, and performing protobuf byte stream conversion and transmission on the processing result to complete specific orbit dynamics algorithm packaging;
3.2 Completing the development of a gPRC server program;
4. a gPRC client implementation, comprising:
4.1 Providing a corresponding track dynamics model source code interface file and a server program according to the design language requirement of a user;
4.2 Realizing a gPRC client structure;
4.3 Calling function encapsulation: the method comprises the steps of input parameter protobuf byte stream conversion, client function calling, remote calling to obtain output protobuf byte streams, and conversion to obtain actual parameter values.
The method analyzes and re-structures the classical model in the orbit dynamics, and constructs a unified model definition file; by using the model using conditions and actual engineering application requirements, abstract bottom layer construction and high-level algorithm calling design are carried out on the existing computing method. The method covers various elements required by orbit dynamics calculation, a data structure of a standardized relevant model, attribute definition (data type and relevant constraint) of the model and an input/output interface of calculation call. The design model and the calculation method are specifically defined and described through standard Protocol Buffers, a set of track dynamics algorithm calling standards are formed, design contents are implemented by combining a development language (java), and the method is innovative in the field of track calculation. The standard is based on a gRPC (remote procedure call) technical framework, so that the distributed, cross-platform, cross-language and easy expansion of the calculation are convenient to realize, and the flexibility and the calculation efficiency of the calculation are improved.
The invention also provides a programmable processor of various types (FPGA, ASIC or other integrated circuit) for running a program, wherein the program performs the steps of the above embodiments when running.
The present invention also provides a corresponding computer system, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the steps in the above embodiments are implemented when the memory executes the program.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the scope of the present invention should be determined by the following claims.
Claims (6)
1. A method for calling a service of an orbit analysis algorithm based on a gRPC protocol is characterized by comprising the following steps:
step 1, abstract classification is carried out on mathematical models related to a spacecraft orbit dynamics algorithm based on research on calling of a spacecraft orbit control algorithm;
step 2, on the basis of combing the models and the algorithms, defining characteristic attributes including names, data types and behavior characteristics related to the models for various models and planning input and output;
and 3, carrying out standardized design construction on the various models and interface data structures, defining model names, attribute names, data types and constraints of the attributes, model inheritance relations and calculation calling interfaces by utilizing Protocol Buffers under a frame of a gPC Protocol, designing a set of universal track dynamics algorithm calling mode, and realizing cross-language, cross-platform and distributed track dynamics algorithm calling modes by adopting a gPC frame to realize basic algorithm library and basic model and terminal calling isolation.
2. The method of claim 1, wherein: the abstract classification result of the step 1 comprises 7 types: a track dynamics calculation model; a coordinate system model; a planetary body model; a spacecraft attitude model; a track dynamics perturbation model; a track model; and (4) time model.
3. The method of claim 1, wherein: the step 2 further includes designing and packaging a service calling interface of the application level according to the application scenario, where the service calling interface includes: the method comprises the following steps of orbit prediction, orbit determination, ground point target visibility analysis, satellite load ground area visibility analysis, near-place and far-place prediction, morning and evening line prediction, station tracking prediction, ground shadow and moon shadow prediction, warp-through line prediction, weft-through line prediction, spacecraft attitude prediction analysis, orbital transfer strategy generation, inter-satellite visibility analysis, coordinate conversion, time conversion and collision early warning.
4. The method of claim 3, wherein: wherein, the step 2 also comprises designing a standard format of a calculation output result output by the planning calculation service; the standard format comprises formats of satellite ephemeris, visible arc period time windows, station tracking three-point forecast, collision early warning analysis structures, equipment tracking RAE measurement data and various root forecast.
5. A computer system comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program.
6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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