阅读说明：本技术 应用于双星组合入轨角色自适应配置方法 (Adaptive configuration method applied to dual-satellite combined in-orbit roles ) 是由 陈占胜 潘瑞雪 杨牧 邓泓 李楠 郭新宇 于 2021-07-23 设计创作，主要内容包括：本发明提供了一种应用于双星组合入轨角色自适应配置方法,分布于两颗卫星上的多台管控计算机,在两星组合一体轨道转移过程中,组合体各计算机根据当前状态自适应地配置自身工作状态的方法。第一卫星各计算机根据第二卫星是否在线配置为组合管理模式或者本星控制模式,第二卫星各计算机根据第一卫星是否在线或者是否有分离信号,自适应地将计算机配置为本控模式、从控模式或下位机模式。(The invention provides a self-adaptive configuration method applied to a double-satellite combined in-orbit role, which is a method for adaptively configuring the working state of each computer of a combination body according to the current state in the process of transferring a two-satellite combined integrated orbit by a plurality of management control computers distributed on two satellites. The computers of the first satellite are configured into a combined management mode or a local satellite control mode according to whether the second satellite is on line or not, and the computers of the second satellite are adaptively configured into a local control mode, a slave control mode or a lower computer mode according to whether the first satellite is on line or whether a separation signal exists.)

1. The adaptive configuration method is characterized by comprising a first satellite and a second satellite, wherein the first satellite and the second satellite are connected through an inter-satellite connector, data communication signals and separation signals are transmitted between the first satellite and the second satellite, a plurality of computers are arranged in the first satellite and controlled by a combined body, and a plurality of computers are arranged in the second satellite and controlled by the combined body.

2. The adaptive configuration method for dual-satellite combined in-orbit roles according to claim 1, wherein after the first satellite and the second satellite are separated, data communication between the first satellite and the second satellite is interrupted, and a separation signal is set, wherein the plurality of computers of the first satellite form a first satellite master control, and the plurality of computers of the second satellite form a second satellite master control.

3. The adaptive configuration method applied to the dual-satellite combined in-orbit role according to claim 1, wherein when the first satellite and the second satellite operate independently, the first satellite and the second satellite management computer are configured to be in a local control mode.

4. The adaptive configuration method applied to the dual-satellite combined in-orbit character of claim 1, wherein the first satellite management computer and the second satellite management computer comprise a plurality of independent computers or computers integrating a plurality of functions, wherein the independent computers perform on-satellite task management, energy management, thermal control management, attitude control and orbit control functions.

5. The adaptive configuration method for dual-satellite combined in-orbit roles as claimed in claim 1, wherein the first satellite and the second satellite perform online validation each period when the first satellite and the second satellite are combined.

6. The adaptive configuration method for dual-satellite combined in-orbit roles of claim 5, wherein the second satellite state is configured to be in slave mode or lower computer mode when the second satellite confirms that the first satellite is online; and when the second satellite finds that the first satellite is not on line, the state of the second satellite is configured to be a home control mode to manage the second satellite.

7. The adaptive configuration method for dual-satellite combined in-orbit roles as claimed in claim 5, wherein the method for online validation comprises detecting the state of the separated signals of the first satellite and the second satellite and whether there are handshake signals meeting the requirements of the communication protocol, and performing online validation according to a strategy based on a fault-tolerant design and reducing the possibility of preventing false state triggering.

8. The adaptive configuration method applied to the dual-star combined orbit entry role according to claim 5, wherein the online confirmation method comprises: the first satellite and the second satellite respectively check whether the communication handshake flow is executed normally, if the two-way communication is normal, the first satellite and the second satellite are both considered to be on-line with each other, the computer on the first satellite is configured to be a master control, and the computer on the second satellite is configured to be in a slave control or lower computer mode.

9. The adaptive configuration method for dual-star combined inbound roles according to claim 8, wherein the online validation method further comprises: when the computer on the satellite finds that the communication is abnormal, the separation signal is checked to be in a separation/non-separation state, if the separation signal is in the non-separation state, the communication fault is judged, the mode is kept unchanged, and further recovery is waited; if the separation state is found, the self state is automatically configured to the local control/master control mode.

10. The adaptive configuration method applied to the dual-satellite combined in-orbit role of claim 1, wherein the first satellite and the second satellite are respectively forced to be configured in a master control mode or a slave control mode based on task timing.

Technical Field

The invention relates to the technical field of satellite system design, in particular to a dual-satellite combined in-orbit role adaptive configuration method.

Background

Generally, a satellite taking GEO, MEO or IGSO as a task orbit adopts a body to carry a remote engine, and a control system autonomously finishes all the work of transferring into orbit; or the upper stage of the carrier rocket is taken as an independent main body for transferring and entering the orbit, and the satellite is simply taken as a load to be carried into a preset target orbit. In the dual-satellite combined transfer and orbit entering mode, the control systems of the two systems need to have the capabilities of performing cooperative control on combined data management, attitude and orbit control, thermal control management and propulsion drive during the combined transfer and orbit entering period, performing independent control on the dual-satellite during the separated independent operation period, and the like.

Patent document No. CN109840234B discloses a carrier rocket electrical system and a data processing method, including: a rocket upper stage, a rocket second stage and a rocket first stage; the electrical system of the upper stage of the rocket comprises: the system comprises a first power supply board card, a first centralized interface, a first FPGA board card, a radio frequency channel board card, a CPU calculation and storage module and an information sensitive module; the first power supply board card is used for providing uniform power supply in the upper stage of the rocket; the first centralized interface is used for providing a unified interface in the upper stage of the rocket; the first FPGA board card is used for processing data; the radio frequency channel board card is used for processing the radio frequency channel information in the upper stage of the rocket.

In view of the above-mentioned related technologies, the inventor considers that the computer and other electronic devices are fixed and not configurable, and therefore, a technical solution is needed to improve the above technical problem.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method for adaptively configuring a dual-satellite combined in-orbit role.

The invention provides a self-adaptive configuration method applied to a double-satellite combined in-orbit role, which comprises a first satellite and a second satellite, wherein the first satellite and the second satellite are connected through an inter-satellite connector, data communication signals and separation signals are transmitted between the first satellite and the second satellite, a plurality of computers are arranged in the first satellite and controlled by a combined body, a plurality of computers are arranged in the second satellite and controlled by the combined body.

Preferably, after the first satellite and the second satellite are separated, the data communication between the first satellite and the second satellite is interrupted, the separated signal is set, the plurality of computers of the first satellite form a first satellite master control, and the plurality of computers of the second satellite form a second satellite master control.

Preferably, when the first satellite and the second satellite operate independently, the first satellite and the second satellite management computer are configured in a home control mode.

Preferably, the first satellite management computer and the second satellite management computer comprise a plurality of independent computers or computers which complete functions of on-satellite task management, energy management, thermal control management, attitude control and orbit control.

Preferably, the first satellite and the second satellite perform online confirmation every cycle when the first satellite and the second satellite are combined.

Preferably, the second satellite state is configured to be in a slave mode or a slave computer mode when the second satellite confirms that the first satellite is online; and when the second satellite finds that the first satellite is not on line, the state of the second satellite is configured to be a home control mode to manage the second satellite.

Preferably, the method for on-line confirmation comprises the steps of detecting the state of the separated signals of the first satellite and the second satellite and whether handshake signals meeting the requirements of the communication protocol exist, and performing on-line confirmation according to a strategy based on a fault-tolerant design and the possibility of reducing the triggering possibility of preventing error states.

Preferably, the online confirmation method includes: the first satellite and the second satellite respectively check whether the communication handshake flow is executed normally, if the two-way communication is normal, the first satellite and the second satellite are both considered to be on-line with each other, the computer on the first satellite is configured to be a master control, and the computer on the second satellite is configured to be in a slave control or lower computer mode.

Preferably, the method of online confirmation further comprises: when the computer on the satellite finds that the communication is abnormal, the separation signal is checked to be in a separation/non-separation state, if the separation signal is in the non-separation state, the communication fault is judged, the mode is kept unchanged, and further recovery is waited; if the separation state is found, the self state is automatically configured to the local control/master control mode.

Preferably, the mandatory configuration of the first satellite and the second satellite in the master or slave mode, respectively, based on the mission timing is retained.

Compared with the prior art, the invention has the following beneficial effects:

1. on the premise of not increasing resource cost, the roles of the first satellite and the second satellite are configured in a self-adaptive manner;

2. the invention meets the requirements of task and system management and control in different stages of combined orbit entering and independent operation of the first satellite and the second satellite, and improves the combined orbit entering bearing efficiency;

3. through a multi-confirmation mechanism of the first satellite and the second satellite based on the separation signal, the communication protocol and the task time sequence, the multi-computer cooperative processing of the first satellite and the second satellite in a multi-task state and the high-reliability self-adaptive role configuration are realized, and the good robustness of the multi-satellite computer cooperative work is effectively improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram illustrating the switching of the state of the assembly according to the present invention;

FIG. 2 is a schematic diagram of the adaptive mode switching process according to the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

A management computer of one satellite is configured to be a master control mode when an A satellite and a B satellite independently run, and the management computer of one satellite is configured to be a slave control mode or a lower computer mode according to the working state of the two satellites in the process of completing transfer of the two satellites in combination. The satellite management computer can be a computer which can complete the functions of on-satellite task management, energy management, thermal control management, attitude and orbit control, can be an independent computer, and can also be a computer which can complete the functions of the above-mentioned several functions into one body.

The detection method of the satellite B self-adaptive local configuration mode comprises the steps that when the two satellites are combined, the satellite A and the satellite B perform online confirmation in each period, and when the satellite B confirms that the satellite A is online, the state of the satellite B is configured into a slave control mode or a lower computer mode; and when the B star finds that the A star is not on line, the state of the B star is configured to be a master control mode to manage the B star. The method for on-line confirmation comprises the steps of detecting the state of two-satellite separation signals and whether handshake signals meeting the requirements of a communication protocol exist, carrying out on-line confirmation according to a certain strategy based on fault-tolerant design and reduction of possibility of preventing error state triggering, and comprising the following steps:

step S1: the two stars check whether the communication handshake flow is executed normally or not respectively, if the two-way communication is normal, the two stars consider the opposite side to be on-line, the computer on the star A is configured to be a master control mode, and the computer on the star B is configured to be a slave control mode or a lower computer mode; step S2: when a computer on a certain satellite finds that communication is abnormal, checking a separation signal into a separation/non-separation state, if the separation signal is in the non-separation state, judging that the communication is failed, keeping the mode unchanged, and waiting for further recovery; if the separation state is found, the self state is automatically configured to the local control/master control mode.

In order to improve the execution reliability of the self-adaptive method, the AB star is respectively and forcibly configured into a master control mode or a slave control mode based on the task time sequence.

The invention mainly aims to perform the normalized design of unified resources, variable topology and configurable roles on a double-star assembly and a single-star independent flight control system aiming at the characteristics of a double-star combined orbit entering task.

Referring to fig. 1, a multicomputer integrated control system facing dual-satellite combination cooperation and single-satellite independent operation is provided; the double-star control system is respectively provided with one or more computers which are used as local control main bodies of respective systems to complete the calculation and processing tasks of measurement, control and execution such as data management, attitude and track control, thermal control management, propulsion drive and the like; and during the double-satellite combined orbit-entering flight, the plurality of computers of each satellite are adaptively configured as a master control/slave control according to the current state, and the control tasks of the combined body are cooperatively completed.

Referring to fig. 2, a method for multi-subject role controlled configuration and autonomous switching of a dual-satellite control system is provided; aiming at different stages of dual-satellite combined track entering and separated single satellite independent operation, a control system topological structure and roles of local satellite local control or combined master control/slave control of each computer in the system are configured: during initial combination on-orbit, each computer is configured to be in a master control/slave control mode, and the master control/slave control mode is comprehensively judged and maintained or the master control/slave control mode is autonomously switched to a single-satellite independent operation local control mode according to the conditions of double-satellite communication establishment (such as double-satellite master control/slave control periodic data interaction confirmation on-line/off-line) and whether a double-satellite separation event (such as double-satellite separation signal triggering) occurs or not; and as a reserve receiving end, the system role can be automatically switched according to the flight time sequence.

The double star entering GEO is transferred in a combined mode, and the main star is provided with 1 tube computer and 1 attitude and orbit control computer. The external platform of the counting computer controls the measurement and control equipment to complete the data management of the main satellite, the thermal control management and other works; and the attitude and orbit control computer is externally hung with an attitude measurement sensitive period and an orbit control actuator to complete the work of controlling the attitude and the orbit of the main satellite, propelling the driving and the like. The auxiliary star is provided with 1 comprehensive electronic computer, and all sensors and actuators of the whole star are externally hung to complete all management control and operation work of the platform; and a remote engine is also arranged as a main power source for transferring the assembly into the rail.

During the combined orbit entering period, the main star counting tube computer and the GNC computer respectively realize data interaction with the auxiliary star comprehensive electronic computer through an inter-star point-to-point full duplex RS422 interface; according to an appointed strategy, the two computers of the main satellite are respectively configured as a main control machine for the platform control and the attitude and orbit control of the assembly, the auxiliary satellite comprehensive electronic computer is used as a slave control machine of the two computers of the main satellite and is controlled to collect the data of the remote measurement and the sensor of the auxiliary satellite, and the platform management and the attitude and orbit control actions are executed. Meanwhile, the two-satellite combination or the separated independent running state is represented by the on-off of the inter-satellite electrical connection signal, and is acquired by three computers.

The main star counter computer and the GNC computer respectively maintain periodic communication with the auxiliary star comprehensive electronic computer, complete measurement and control data interaction, the inter-star electrical connection is connected to represent the state of the assembly, and the three computers detect and maintain the master control/slave control roles of the current assembly according to the state. When the two satellites are separated normally, the three computers detect that the periodic communication is interrupted and the inter-satellite electrical connection is disconnected, and then the main control roles of the main satellite and the auxiliary satellite are automatically switched; if the two satellites are separated but the judgment condition is not established normally (if the on-off signal of the electrical connection of the two satellites is not set to be in an off state normally), the three computers autonomously switch to the primary control roles of the main satellite and the auxiliary satellite after the arrival of the two-satellite separation moment is confirmed according to the preset task time sequence.

Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.