CN117148388A - Autonomous diagnosis and processing method for on-orbit satellite single machine equipment faults - Google Patents
Autonomous diagnosis and processing method for on-orbit satellite single machine equipment faults Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses an autonomous diagnosis and processing method for faults of an in-orbit satellite single-machine device, which comprises the steps of diagnosing whether the in-orbit satellite single-machine device is in a fault state or not: if the equipment is in a fault state, the single-machine equipment automatically performs fault processing; if the equipment is in a normal state, not processing; and the single machine equipment automatically performs fault processing, and resets the software and hardware states of the single machine equipment in a power-off restarting mode, so that the fault state is relieved. The method can solve the single machine equipment fault from the system level, improve the service life and reliability of the satellite system in-orbit operation, and avoid the occurrence of disastrous problems.
Description
Technical Field
The invention relates to the field of satellite system design. And more particularly, to an autonomous diagnosis and treatment method for on-orbit satellite stand-alone equipment faults.
Background
The satellite is a high-tech and high-value product, and is different from common industrial production equipment, the satellite system has the characteristics of complex structure function, high fault hazard, difficult grasp of unexpected interference factors, strict constraint conditions such as satellite resource allocation and the like, limited opportunity and capability of ground manual intervention and the like, and can limit fault diagnosis and treatment of the satellite system and reduce the operation reliability and service life of the satellite.
Therefore, it is desirable to provide an autonomous diagnosis and treatment method for on-orbit satellite stand-alone equipment failure.
Disclosure of Invention
The invention aims to provide an autonomous diagnosis and processing method for faults of single-unit equipment of an on-orbit satellite, which extracts the working state of the single-unit equipment from a system level, comprehensively analyzes faults which are difficult to monitor and process but can affect the system performance aiming at the single-unit equipment, records the fault reasons and processes the faults in real time so as to solve at least one of the problems existing in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides an autonomous diagnosis and processing method for on-orbit satellite single machine equipment faults, which comprises the following steps of,
and (3) carrying out autonomous diagnosis on whether the in-orbit satellite single-machine equipment is in a fault state: if the equipment is in a fault state, the single-machine equipment autonomously performs fault processing; if the equipment is in a normal state, not processing;
and the single machine equipment performs fault processing to reset the software and hardware states of the single machine equipment in a power-off restarting mode, so that the fault state is relieved.
Optionally, the diagnosing whether the in-orbit satellite stand-alone device is in fault comprises
And judging whether the single machine equipment is in a power-on state, if so, carrying out subsequent judgment, and if not, not carrying out diagnosis.
Optionally, the determining whether the stand-alone device is in the power-on state includes collecting, by the on-board computer, a power distribution state of the stand-alone device: if the distribution voltage is acquired, the single machine equipment is in a power-on state; and if the distribution voltage is not acquired, the stand-alone equipment is in a non-power-on state.
Optionally, the autonomously diagnosing whether the in-orbit satellite stand-alone device is in a fault state further comprises
Judging whether the communication of the single machine equipment is normal or not according to the communication state of the single machine equipment and the spaceborne computer: if the communication between the single-machine equipment and the satellite-borne computer is normal, not recording the communication times; if the communication between the single machine equipment and the spaceborne computer is abnormal, the communication abnormal times are recorded, and if the communication abnormal times are greater than or equal to a first preset threshold value, the single machine equipment has communication faults.
Optionally, the autonomous diagnosis of whether the on-orbit satellite stand-alone device is in a fault state further comprises diagnosing the validity of the data collected by the stand-alone device with normal communication,
the diagnosis of the validity of the data collected by the single-machine equipment with normal communication comprises the steps of repeatedly judging the data, and comparing the original data collected by the upper frame of the single-machine equipment with the original data measured by the current frame: if the two frames of data are repeated, recording failure times, and when the frame of measurement data are invalid; if the two frames of data are not repeated, recording a normal state.
Optionally, the performing repeatability judgment on the data collected by the single-machine equipment with normal communication state further includes for the single-machine equipment with multiple output information, if the single measurement data is repeated, the single-machine equipment fails.
Optionally, the judging whether the single-machine equipment data is valid further includes performing data overrun judgment on the condition that the two frames of data are not repeated, and if the measured value of the single-machine equipment exceeds the normal working threshold value of the on-orbit satellite, considering that the single-machine equipment has software or hardware faults.
Optionally, the diagnosing the validity of the data collected by the stand-alone device with normal communication further includes judging a fault state of the stand-alone device: if the number of times of continuous occurrence of faults reaches a second preset threshold value, the single machine equipment is considered to be in a fault state; and if the number of times of continuous occurrence of faults does not reach a second preset threshold value, the single-machine equipment is considered to be in a normal state.
Optionally, the performing fault processing on the stand-alone device includes performing power-off restarting on the stand-alone device, so that the stand-alone device software and part of hardware systems perform initialization setting, and the fault state is released; and if the times of power-off restarting reach a third preset threshold, the fault state is not released, and the power-off restarting operation of the equipment is terminated.
Optionally, an interval time exists after the power-off operation is performed on the stand-alone equipment, and after the state of the stand-alone equipment is completely recovered, the power-on operation is restarted, wherein the interval time is designed according to the performance of the in-orbit satellite system.
The beneficial effects of the invention are as follows:
according to the invention, the state of the single machine equipment is monitored through data acquisition and diagnosis, and the fault state characteristic is treated, so that the fault state is relieved, and the on-orbit satellite state is recovered. The method is suitable for processing faults of the single machine equipment in the satellite in-orbit operation stage, diagnosing and processing faults which cannot be processed by the single machine equipment and have larger influence on a satellite system from the system level, and solving the problem caused by the internal faults of the single machine equipment. The invention can solve the problem of single equipment fault in the system level, weaken the influence of single equipment on the whole satellite system, improve the service life and reliability of the satellite system in orbit and avoid the occurrence of disastrous problems.
Drawings
The following describes the embodiments of the present invention in further detail with reference to the drawings.
FIG. 1 shows a flow chart of an autonomous diagnosis and treatment method of an on-orbit fault of a satellite stand-alone device of the present invention.
FIG. 2 is a timing diagram illustrating fault diagnosis and process flow invocation in an embodiment of the invention.
Fig. 3 shows a flow chart of communication fault diagnosis of a stand-alone device in an embodiment of the invention.
Fig. 4 shows a flow chart of fault diagnosis of data collected by a stand-alone device in an embodiment of the present invention.
Fig. 5 shows a flowchart of a method for processing a single machine failure in an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the present invention, the present invention will be further described with reference to preferred embodiments and the accompanying drawings. Like parts in the drawings are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and that this invention is not limited to the details given herein.
The invention realizes the autonomous diagnosis and treatment of the on-orbit faults of the satellite single-machine equipment through the flow and algorithm design. The satellite invokes the processing program in real time according to the fixed execution period through the satellite-borne computer, acquires and analyzes the data of the on-board single-machine equipment, monitors the health state, and performs outage restarting operation aiming at the fault equipment, so that the problem caused by the internal fault of the single-machine equipment is solved, the equipment state is recovered, the influence of the single equipment on the whole satellite system is weakened, and the overall reliability is improved.
The invention provides an autonomous diagnosis and processing method for on-orbit satellite single machine equipment faults, which comprises the following steps of,
autonomously diagnosing whether the in-orbit satellite single-machine equipment is in a fault state or not: if the equipment is in a fault state, the single-machine equipment automatically performs fault processing; if the equipment is in a normal state, not processing;
and the single machine equipment performs fault processing to reset the software and hardware states of the single machine equipment in a power-off restarting mode, so that the fault state is relieved.
S1, performing fault autonomous diagnosis on in-orbit satellite single-machine equipment
The method comprises the following specific steps:
s11, acquiring the power distribution state of the single-machine equipment through a satellite-borne computer, and if the power distribution voltage is acquired, enabling the equipment to be in a power-on state, and detecting the communication state of the single-machine equipment by a subsequent flow; if the distribution voltage is not collected, the equipment is in a non-powered state, and the equipment is in a non-working state without diagnosis and detection.
S13, judging whether the communication of the single machine equipment is normal or not through the communication state of the single machine equipment and the spaceborne computer, and sending a data acquisition command to the single machine equipment every fixed period by the spaceborne computer, wherein whether the communication of the equipment is normal or not can be diagnosed according to the communication state of the single machine equipment and the spaceborne computer. If the equipment is abnormal in communication, recording the abnormal times of communication, and when the abnormal times of communication continuously reach a first preset threshold value, considering that the single equipment has communication faults, and recording fault states for subsequent processing; if the equipment communication is normal, analyzing the correctness of the acquired data. The first preset threshold value of the abnormal communication times can be selected according to actual equipment performance, on-board use requirements and the like, and is generally selected to be 5.
S15, carrying out validity diagnosis on data collected by stand-alone equipment with normal communication, wherein the general diagnosis content comprises: the specific flow is as follows:
s151, judging the repeatability of the data
When the single machine equipment works normally, because noise and other factors exist in the acquisition process, the continuously acquired measurement information cannot be completely the same, and only the equipment self faults cause self software to fall into circulation so that acquired data cannot be updated, so that multi-frame repetition occurs to the acquired data of the satellite-borne computer. Therefore, the dead-loop state of the self-software of the single machine equipment can be diagnosed through the repeated number judgment, and the specific judgment logic is as follows:
the method comprises the steps of storing the original Data0 acquired by the previous frame, acquiring the original Data measured by the current frame, and comparing two frames of Data: if the two frame data are completely consistent, the two frame data are considered to be repeated, the equipment has a large probability of not updating, and a fault state is required to be recorded; if the two frames of data are not repeated, recording a normal state, and enabling the data to be available. For a stand-alone device with a plurality of output information, such as 4 measurement information of a star-sensitive quaternion and three-axis measurement information of a magnetic component, the device is considered to have repetition number faults as long as single measurement information is repeated, and frame measurement data are invalid.
S152, judging that the data exceeds the limit
If the data repeatability judging result is in a non-repeated state, the data overrun diagnosis can be performed.
Data overrun judging principle: the measured value of the satellite-borne single-machine equipment has a certain normal working range, mainly depends on the factors of the system characteristics of the single-machine equipment, the satellite in-orbit running state, the space environment and the like, and besides, certain relation exists among the measured information of certain single-machine equipment. Based on these principles, the normal operating range and limiting conditions of each single machine equipment in orbit can be analyzed, for example: the star sensor measures the modulus of quaternion to be 1, and the magnetic component measured value does not exceed the geomagnetic field peak value at the satellite working orbit and the angular velocity measured by the gyro device does not exceed the maximum maneuverability of the satellite, and the like. The states can determine the actual working range of the measuring equipment, when the measured value of the single-machine equipment exceeds the normal working threshold value of the satellite, the equipment can be considered to have software or hardware faults, so that the measurement has great deviation, the fault state is required to be recorded, the number of faults is required to be recorded, and the subsequent processing is carried out. The selection of the normal working range of the single machine equipment can be determined according to the characteristics of the actual equipment, the on-orbit space environment and other information, and the threshold selection of the working range is different for different types of equipment.
S153, judging fault state
Judging whether the equipment is in a fault state according to the data valid state, wherein the judging principle is as follows: and recording the occurrence times of the faults, if the occurrence times of the faults continuously reach a second preset threshold value, setting the equipment to be in a fault state, and if the occurrence times of the faults continuously do not reach the second preset threshold value, considering the equipment to be in a normal state. The second preset threshold is generally 10, based on the actual operating characteristics of the device and the system performance. Therefore, the invalid judgment of data caused by the occurrence of the wild value in single frame acquisition can be avoided, and the automatic fault processing operation is triggered by mistake.
Through the steps, whether the equipment has faults or not can be diagnosed, and if the diagnosis result is the equipment fault, a fault autonomous processing link is entered.
S2, the single machine equipment automatically performs fault processing
The fault processing flow and the diagnosis flow run sequentially, and if the diagnosis flow does not judge the fault, the fault processing flow does not perform any processing; if the diagnosis flow judges that the equipment is faulty, fault processing is automatically performed. Through practical verification, the method for processing the faults of the equipment is to restart the equipment in a power-off mode, reset the software and hardware states of the single-machine equipment and release the fault states.
Performing power-off restarting operation on the single-machine equipment, so that the single-machine equipment software and part of hardware systems are initialized, and the fault state is relieved; and if the times of power-off restarting reach a third preset threshold, the fault state is not released, and the power-off restarting operation of the equipment is terminated. In this embodiment, the third preset threshold is set to 3.
The processing principle of the single machine equipment for automatically performing fault processing is as follows:
1. for equipment with fault diagnosis, power-off operation needs to be performed firstly, and the power-off needs to meet the following conditions:
1) The duration of the fault is long enough to meet the design requirements
The satellite can have the factors of acquisition wild value, abrupt change of space environment and the like in the in-orbit operation process, so that equipment has fault phenomena, the faults are not caused by the self problems of the equipment, and the faults can be automatically recovered after a period of time. In order to avoid the fault mishandling caused by the phenomenon, the fault duration needs to be analyzed, if the fault state continuously appears for a period of time and is not automatically recovered, the fault is considered to be required to be handled, and the specific duration can be designed according to the equipment characteristics and the space environment state and is generally 10-30 min.
2) The number of power-off restarting times is smaller than a third preset threshold value (the third preset threshold value can be designed according to the system performance)
And if the fault duration meets the requirement, performing power-off restarting operation on the equipment. The power-off restarting of the single machine equipment can perform initialization setting on equipment software and part of hardware systems, recover part of software and hardware system states and relieve fault states. However, some faults are invalid, such as measurement distortion caused by hardware damage of the single machine equipment, acquisition faults caused by faults of a satellite-borne computer, and the like, and the faults cannot be recovered through power-off restarting of the single machine equipment, so that the intervention of a ground measurement and control system is required for comprehensive analysis and treatment. In order to avoid frequent power-off restarting of the equipment by the fault processing module caused by the occurrence of the fault, the maximum power-off restarting frequency is designed, namely, if the power-off restarting frequency reaches the upper limit in a fault processing enabling period, namely, the maximum power-off restarting frequency of the equipment is allowed to reach a third preset threshold, and the fault state is not released, the fault is considered to be solved by non-satellite autonomy, and the power-off restarting operation of the equipment is terminated. The selection of the third preset threshold is related to the system performance, and in this embodiment, the third preset threshold is set to 3.
2. After the equipment is automatically powered off, the equipment needs to be powered on to finish equipment restarting operation, and partial conditions are also satisfied when the equipment is restarted:
1) Restarting power-down operations performed only for fault handling flows
In the process of satellite in-orbit working, equipment can be powered off in various modes, for example, when on-board energy is intense, in order to reduce energy consumption, power-off operation is needed to be carried out on part of the equipment; in addition, the ground measurement and control system can be powered off through the ground instruction operation equipment, and the operation of the ground measurement and control system is special power-off operation, and is caused by a non-equipment fault state, so that the power-off instruction source needs to be distinguished. And for the power-off state of the non-fault processing, the autonomous power-on restarting operation is not performed.
2) The failure processing power-off time meets certain requirements
The power-off operation and the restarting operation cannot be carried out in succession generally, the problems of response time of the single-machine equipment, stability of a satellite power supply system and the like are required to be considered, the reserved time is reserved for complete power-off of the single-machine equipment, and the power-on operation is carried out after the state of the single-machine equipment is completely recovered. The time interval may be designed based on satellite system performance, typically 10s.
Through the steps, the fault diagnosis and processing of the on-orbit satellite single-machine equipment can be realized, the real-time diagnosis and processing are carried out on communication, data errors and the like which are frequently generated by the equipment, and the reliability of a satellite system is improved.
In a specific embodiment, the on-board equipment of a certain satellite comprises a star sensor 2, a gyroscope 2, a magnetic assembly 1 sleeve (comprising a magnetometer and a magnetic torquer), a flywheel 2, a navigation receiver 1 sleeve and a propulsion system 1 sleeve, and the invention adopts an optical fiber gyroscope as an example to implement fault autonomous diagnosis and processing operation. The running period of the satellite-borne computer is 100ms, namely equipment data acquisition, GNC calculation, fault diagnosis and processing are carried out once every 100ms, and fault diagnosis and processing are carried out by recording the data states acquired by continuous frames, and the specific time sequence calling relationship is shown in figure 1. The single frame fault autonomous diagnosis and processing flow is as follows:
step one, optical fiber gyro fault diagnosis
According to the data acquisition state of the fiber optic gyroscope, diagnosing whether the fiber optic gyroscope is in a normal working state currently and giving a diagnosis result, the specific operation is as follows:
1. judging the power-on state fOn of the fiber-optic gyroscope
Acquiring a power distribution state of the fiber optic gyroscope through a satellite-borne computer, if the power distribution voltage is acquired, the fiber optic gyroscope is in a power-on state, and the fiber optic gyroscope is set to fOn =1, so that a subsequent flow can be performed; otherwise, fOn =0, the power-up state is not performed, and state initialization is performed at the same time:
2. judging the communication state fComm
The communication fault diagnosis flow is shown in fig. 3. The satellite-borne computer sends a data acquisition command to the fiber-optic gyroscope every 100ms, whether the fiber-optic gyroscope is normal in communication can be judged according to the communication state of the fiber-optic gyroscope and a bus of the satellite-borne computer, if the fiber-optic gyroscope is normal, the communication state fComm is normal, and the communication fault count NumCommErr is cleared:
NumCommErr＝0
if the communication is abnormal, and the communication fault count is increased by 1:
NumCommErr＝NumCommErr+1
judging the communication failure times, and when the communication failure is continuously carried out for 5 times, considering the fiber-optic gyroscope equipment to be failed, and setting the fiber-optic gyroscope as a failure state:
3. judging data validity fVaill
If the data collection communication of the fiber-optic gyroscope is normal, the validity of the collected data is judged, the judging process is shown in fig. 4, and the specific flow is as follows:
1) Data repeatability determination
The method comprises the steps of acquiring measurement data I_ dAV _X/Y/Z of the X/Y/Z triaxial angular velocity of a current frame fiber-optic gyroscope through data acquisition, recording data dAV0_X/Y/Z of the triaxial angular velocity of the fiber-optic gyroscope acquired through upper frame data acquisition, and carrying out repeatability judgment:
wherein fReOmega_X/Y/Z is the repeated state of the angular velocity collected by the X, Y and Z axes respectively, if one axis among the three axes has repeated number, namely fReOmega_X/Y/Z is 1, then the frame data is considered to be invalid, and fValid is set as an invalid flag bit:
wherein, fValid is set to 1 as the data valid state, and fValid is set to 0 as the invalid state.
2) Data overrun judgment
If the repeatability of the previous step is judged to be in a non-repeated state, namely when the frame data is valid data, the data overrun judgment can be carried out. Data overrun judging principle: the measuring equipment has a certain working range, for the fiber optic gyroscope, the actual working state of the satellite and the angular velocity measuring capability of the fiber optic gyroscope are considered, the uniaxial measuring angular velocity of the fiber optic gyroscope is not more than 50 degrees/s, and when more than one triaxial angular velocity measuring value is more than 50 degrees/s, the measuring data are considered invalid:
wherein, the measurement data is valid when fValid is set to 1, and the measurement data is invalid when fValid is set to 0.
3) Judging a fault state:
judging whether to set a fault state of the equipment according to the data valid state, wherein the judging method comprises the following steps: if the device data is invalid, the data invalidation count NumGyro Err is increased by 1; if the data is valid, the data invalid count is cleared. When the data invalidation count NumGyro Err is greater than or equal to 10, setting the equipment to be in a fault state, otherwise, considering the equipment to be in a normal state, and specifically, the operation is as follows:
through the steps, whether the equipment has faults or not can be diagnosed, if fError is 1, the equipment is diagnosed as a fault state, and if fError is 0, the equipment is diagnosed as a normal state. If the equipment is in a fault state, automatically entering a fault processing link.
Step two, optical fiber gyro fault handling
The fault processing flow and the diagnosis flow run sequentially, and if the diagnosis flow does not judge the fault, the fault processing flow does not perform any processing; if the diagnosis flow judges that the equipment has faults, fault processing is carried out, and a processing principle is as follows: the fault state lasts for 10min, the equipment is automatically powered off, and after the power is off for 10s, the equipment is powered on and restarted. If the state is recovered after restarting, the fault detection state is kept continuously, when the next fault occurs, the equipment power-off restarting operation is continued, and if the number of times of power-off restarting reaches a second preset threshold value, the fault state is not released, and the equipment power-off restarting operation is terminated. And if the equipment is still in a fault state after the equipment is powered on and powered off for 3 times, the ground measurement and control intervenes in subsequent operation, and the autonomous processing is not performed on the satellite any more. The fault processing flow is shown in fig. 5, and the specific implementation steps are as follows:
1. judging whether fault processing enables fReboot
If not, namely fReboot is 0, the subsequent judgment is not carried out; if enabled, i.e., fReboot=1, then a subsequent determination is made that the state may be modified by an on-board autonomous or ground instruction, where the on-board autonomous only performs disable operations, defaulting to fReboot=1, as enabled.
2. Judging whether the equipment meets the power-off requirement
If the fiber optic gyroscope equipment fails, judging whether the power-off restarting requirement is met or not, wherein the specific operation is as follows:
1) Duration of failure calculation
If the fiber optic gyroscope is in a continuous fault state, namely fError=1, fault continuous timing is performed. Taking 100ms sampling period as an example, the judging process is as follows:
wherein, trerror is the failure accumulation time, is used for judging whether equipment satisfies autonomous processing condition.
2) Autonomous power-off processing execution judgment
If the autonomous processing condition is satisfied, performing a power-off operation on the device, wherein the autonomous power-off condition includes the following:
a. the duration of failure trerror is greater than 10min;
b. the number of autonomous power-off times is less than 3.
If the conditions are met, requesting the fiber-optic gyroscope to be powered off, and simultaneously recording the power-off state, the power-off times and the power-off time:
NumReboot＝NumReboot+1
fAutoOff＝1
wherein NumReboot is an autonomous power-off count, the initial value is 0, and the count is increased by 1 once for each autonomous power-off; fAutooff is an autonomous power-off state, fAutooff is 1 indicating autonomous power-off, fAutooff is 0 indicating an initial value for distinguishing other command power-on and power-off operations (such as ground-on commands).
If the condition b is not satisfied, that is, the number of times of power-up and power-down exceeds 3, the fault processing is disabled, the enabling state fReboot is set to 0, and the fault processing operation is not allowed.
3) Autonomous power-up judgment of optical fiber gyroscope
The autonomous power-up of the fiber optic gyroscope needs to meet the following conditions:
a. currently in a power-off state, i.e., fOn is 0;
b. the current power-off state is autonomous power-off, and the power-off is not performed by other instructions, namely fAutooff is 1;
c. the automatic power-off time interval is 10s or more, namely 10s is powered up again after the automatic power-off.
The fiber optic gyroscope can be powered on under the conditions, and meanwhile, the state recovery operation is carried out to ensure that the next circulation can be continuous:
tError＝0
fAutoOff＝0
the method can realize autonomous fault diagnosis and processing of the on-board fiber optic gyroscope equipment, and carry out real-time diagnosis on communication, data errors and the like which occur frequently in the equipment, and timely take processing measures. And the reliability of the satellite system is improved through the timely processing of the single-machine equipment.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It is further noted that in the description of the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. An autonomous diagnosis and processing method for on-orbit satellite single machine equipment faults is characterized by comprising the following steps:
diagnosing whether the in-orbit satellite single-machine equipment is in a fault state or not: if the equipment is in a fault state, the single-machine equipment performs fault processing; if the equipment is in a normal state, not processing;
and the single machine equipment automatically performs fault processing, and resets the software and hardware states of the single machine equipment in a power-off restarting mode, so that the fault state is relieved.
2. The method of claim 1, wherein diagnosing whether the in-orbit satellite unit device is in a fault state comprises
And judging whether the single machine equipment is in a power-on state, if so, carrying out subsequent judgment, and if not, not carrying out diagnosis.
3. The method of claim 2, wherein determining whether the stand-alone device is in a powered-up state comprises collecting, by an on-board computer, a power distribution state of the stand-alone device: if the distribution voltage is acquired, the single machine equipment is in a power-on state; and if the distribution voltage is not acquired, the stand-alone equipment is in a non-power-on state.
4. The method of claim 2, wherein diagnosing whether the in-orbit satellite unit device is in a fault state further comprises
Judging whether the communication of the single machine equipment is normal or not according to the communication state of the single machine equipment and the spaceborne computer: if the communication between the single-machine equipment and the satellite-borne computer is normal, not recording the communication times; if the communication between the single machine equipment and the spaceborne computer is abnormal, the communication abnormal times are recorded, and if the communication abnormal times are greater than or equal to a first preset threshold value, the single machine equipment has communication faults.
5. The method of claim 4, wherein diagnosing whether the on-orbit satellite unit is in a fault state further comprises diagnosing validity of data collected by the normally communicating unit,
the diagnosis of the validity of the data collected by the single-machine equipment with normal communication comprises the steps of repeatedly judging the data, and comparing the original data collected by the upper frame of the single-machine equipment with the original data measured by the current frame: if the two frames of data are repeated, recording failure times, and when the frame of measurement data are invalid; if the two frames of data are not repeated, recording a normal state.
6. The method of claim 5, wherein the determining the repeatability of the data further comprises, for a stand-alone device having multiple outputs, if a single measurement data is repeated, the stand-alone device fails.
7. The method of claim 5, wherein determining whether the stand-alone device data is valid further comprises performing a data overrun determination for a case where the two frames of data are not repeated, and if the measured value of the stand-alone device exceeds a normal operation threshold of the in-orbit satellite, determining that the stand-alone device has software or hardware faults, and recording the number of faults.
8. The method of claim 5, wherein diagnosing the validity of the data collected by the stand-alone device with normal communication further comprises determining a failure state of the stand-alone device: if the number of times of continuous occurrence of faults reaches a second preset threshold value, the single machine equipment is considered to be in a fault state; and if the number of times of continuous occurrence of faults does not reach a second preset threshold value, the single-machine equipment is considered to be in a normal state.
9. The method of claim 1, wherein the automatic fault handling of the stand-alone device includes powering down and restarting the stand-alone device, so that the stand-alone device software and a part of hardware systems are initialized, and a fault state is released; and if the times of power-off restarting reach a third preset threshold, the fault state is not released, and the power-off restarting operation of the equipment is terminated.
10. The method of claim 9, wherein an interval exists after the power-off operation of the stand-alone device, and the power-on operation is restarted after the state of the stand-alone device is completely restored, wherein the interval is designed according to the performance of the in-orbit satellite system.
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