CN104834226B - A kind of digital satellite analogue system and digital satellite state fast switch over method - Google Patents
A kind of digital satellite analogue system and digital satellite state fast switch over method Download PDFInfo
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Abstract
A kind of method that digital satellite analogue system and digital satellite state are switched fast, analogue system includes：Current state stack, preserves the current operating state of digital satellite；Target operating condition stack, the target operating condition of incision needed for preserving；State table, the context data needed for preserving current each changeable working condition and each working condition；State Tree, switches corresponding instruction ID between preserving each working condition and each working condition keeps needing the instruction ID of note；Pool of instructions, preserves the switching command for switching needs between the instruction needed for keeping each working condition and each working condition, every instruction instruction ID No. one of unique correspondence；Pond is performed, the dynamics initial value that command sequence and the dynamic system initialization for being switched to target operating condition from current operating state and needed for keeping target operating condition need is preserved.Utilization state pond of the present invention, realizes digital satellite working condition and is switched fast automatically.
Description
Technical field
Real technical field is surveyed the present invention relates to space flight, aviation Satellite, more particularly to it is a kind of based on state pool and clock arteries and veins
The digital satellite analogue system and digital satellite state fast switch over method of punching.
Background technology
In traditional design of satellites flow, software development, software are loaded into whole star physics in the development of physics satellite hardware, star
Three links of system testing are independently to carry out, and links all use actual physical satellite hardware environment.But it is true
Physics satellite hardware environment limited by each side such as cost, technical conditions, there are problems that a lot；Cannot such as generate multiple batches of
Same satellite carries out various experiments, it is impossible to the test with certain risk of correlation is carried out to satellite, it is impossible to simulates space and appoints
Business etc..
Digital satellite analogue system utilizes computer software and hardware and network environment, and satellite data is passed through in ground experiment room
The digital virtual of model realization Satellite Product, is total type matrix by actual physical passing of satelline ground-based computer device virtualization
Formula.Digital satellite analogue system can effectively solve traditional making by way of satellite digitalization replaces actual physical satellite
The problem that cann't be solved is developed with actual physical satellite, the appearance of digital satellite analogue system can greatly improve satellite and grind
Generation force of labor, while the quality and reliability of Satellite Product can be lifted largely.
During digital satellite analogue system use, if quick can switch in each working condition of satellite,
Use ability and efficiency of the analogue system on the applied subjects such as satellite task rehearsal, Test to Failure can fully be lifted.Traditional
Digital satellite analogue system is engaged due to needing with dynamic system, and the every state category in dynamic system running
In close coupling feature, the state of dynamic system cannot be switched fast in the process of running；Defended if only numeral is switched fast
Satellite health in star analogue system, it is inconsistent with existing state in dynamic system after switching due to working condition,
The satellite health retention time can be caused short, it is high that abnormal conditions probability occurs in state, satellite subsequently continues to run with easily appearance
Failure.Therefore a kind of new method is needed, realize the function that satellite health is switched fast automatically.
The content of the invention
It is an object of the present invention to be directed to what digital satellite in the prior art quickly cannot switch in each working condition
Technical problem, there is provided a kind of digital satellite analogue system and digital satellite state fast switch over method, utilization state pond coordinates dynamic
Mechanical system, realizes the automatic function being switched fast of digital satellite working condition.
To achieve the above object, the invention provides a kind of digital satellite analogue system, including state pool, the state pool
In comprising current state stack, target operating condition stack, state table, State Tree, pool of instructions and perform pond；The current state
Stack, for preserving the current operating state residing for digital satellite；The target operating condition stack, the number for preserving user's setting
The target operating condition of incision needed for the switching of word satellitosis；The state table, it is current changeable for preserving digital satellite
Context data required for each working condition and each working condition；The State Tree, it is each for preserving digital satellite
Switch corresponding instruction ID between individual working condition and each working condition keeps needing the instruction ID of note；The pool of instructions,
The switching for switching needs between for preserving instruction and each working condition needed for digital satellite keeps each working condition refers to
Order, wherein every instruction instruction ID No. one of unique correspondence；The execution pond, cuts for preserving digital satellite from current operating state
Change to target operating condition and that command sequence and the dynamic system initialization needed for keeping target operating condition need is dynamic
Mechanics initial value, wherein, the instruction in the command sequence comes from the pool of instructions, and the dynamics initial value comes from the state table
In context data.
To achieve the above object, present invention also offers a kind of method that digital satellite state is switched fast, using this hair
Bright described digital satellite analogue system, comprises the following steps：(1) digital satellite current operating state is filled up to numeral in real time
In satellite simulation system in the current state stack of state pool；(2) after receiving state fast handover instruction, from the target of state pool
The corresponding target operating condition of switching command is read in working condition stack；(3) according to the current state stack and the target
Working condition stack, obtains needed for digital satellite is switched to target operating condition and keeps target operating condition from current operating state
Command sequence and the dynamic system initialization dynamics initial value that needs, and write the execution pond of the state pool；(4)
Dynamics initial value is read from the execution pond to set each entry value of dynamic system original state, while from the execution pond
Instructions in command sequence are simultaneously sent to digital satellite by middle reading command sequence successively, and digital satellite is quickly switched into
In correspondence target operating condition.
The advantage of the invention is that：After digital satellite analogue system receives user's fast state switching command, emulation
System can read dynamics initial value to set each entry value of dynamic system original state from the execution pond of state pool, while according to
Instructions in secondary transmission execution pond in command sequence, realize for digital satellite being quickly switched into correspondence target operating condition
In.Utilization state pond, coordinate time pulse, realize that digital satellite working condition is automatic to be switched fast and digital satellite and dynamic
Mechanical system runs simultaneously.
Brief description of the drawings
Fig. 1, the configuration diagram of digital satellite analogue system of the present invention；
Fig. 2, the configuration diagram of state table of the present invention；
Fig. 3, the configuration diagram of State Tree of the present invention；
Fig. 4, the configuration diagram of pool of instructions of the present invention；
Fig. 5, the configuration diagram in execution pond of the present invention；
Fig. 6, the schematic flow sheet of the method that digital satellite state of the present invention is switched fast；
Fig. 7, digital satellite analogue system state is switched fast workflow schematic diagram.
Specific embodiment
The digital satellite analogue system and digital satellite state fast switch over method for providing the present invention below in conjunction with the accompanying drawings
Elaborate.
With reference to Fig. 1, the configuration diagram of digital satellite analogue system of the present invention, the analogue system includes state
Pond 10, includes current state stack 11, target operating condition stack 12, state table 13, State Tree 14, pool of instructions in the state pool 10
15 and perform pond 16.Wherein, state pool 10 can be preserved to be changed between each working condition of digital satellite and working condition and closed
System, required various Value Datas, and required director data, while real time record satellite current operating state, is easy to a key
It is switched fast.
The current state stack 11, for preserving the current operating state residing for digital satellite.
The target operating condition stack 12, for quick incision needed for the digital satellite state switching for preserving user's setting
Target operating condition.
The state table 13, for preserving digital satellite current changeable each working condition and each working condition
Required context data.The context data data such as including orbital data, attitude data, control unit data, appoint
What satellite system necessarily has an initial startup state.
As optional implementation method, the state table 13 include state ID number, state name, context table id number and
Context table.With reference to Fig. 2, the configuration diagram of state table of the present invention, the state table 13 is protected by the form of form
Deposit data, is easy to store and searches.The state ID number, for each working condition of unique identification number satellite, that is, defends
Each working condition correspondence unique states ID of star are identified；The state name, for preserving each work shape of digital satellite
The name of state；The context table id number, for the corresponding context table of each working condition of unique identification number satellite；It is described
Context table, corresponds to for preserving the corresponding context data of each working condition of digital satellite, i.e. each working condition
A unique context table, each context table has a unique context table id number.Wherein, the shape in state table 13
The context data included in state ID, state name, context table id number and context table can artificially be carried out by user
Set.
The State Tree 14, for preserving digital satellite each working condition between switch corresponding instruction ID and each work
Make the instruction ID that state keeps needing to note.State Tree 14 is the State Transferring relational tree between digital satellite each working condition,
Switch corresponding instruction ID between describing each working condition, and each working condition keeps needing the instruction ID of note.
Used as optional implementation method, each node correspondence in the State Tree 14 keeps upper note needed for the working condition
All instruction IDs, each edge corresponding states switching need instruction ID.With reference to Fig. 3, the framework of State Tree of the present invention shows
It is intended to, wherein, the corresponding working condition of each node in State Tree 14 is gathered from state table 13, each node and each edge
Corresponding instruction ID can be filled in by user before the operation of digital satellite analogue system.
The pool of instructions 15, for preserve needed for digital satellite keeps each working condition instruction (such as track injection number
According to etc.) and each working condition between switch the switching command of needs, wherein every instruction instruction ID No. one of unique correspondence.With reference to
Fig. 4, the configuration diagram of pool of instructions of the present invention, wherein, instruction ID and the content of every instruction can be by pool of instructions 15
User fills in completion before the operation of digital satellite analogue system.
The execution pond 16, is switched to target operating condition and keeps mesh for preserving digital satellite from current operating state
The dynamics initial value that command sequence and dynamic system initialization needed for mark working condition need.With reference to Fig. 5, institute of the present invention
The configuration diagram for performing pond is stated, wherein, the instruction in the command sequence comes from the pool of instructions 15, the dynamics initial value
From the context data in the state table 13.Dynamics initial value write-in detailed process be：State pool 10 is from target operation
Target operating condition is read in state stack 12；The corresponding context table of target operating condition is found by searching state table 13, will
Context data in context table performs the power in pond 16 as the dynamics initial value write-in that dynamic system initialization needs
In initial value.Command sequence write-in detailed process be：State pool 10 is by comparing state and target in current state stack 11
The shortest path that state switching needs is found in the position of state in working condition stack 12 in State Tree 14, automatic search；Root
Each instruction ID needed for obtaining handoff procedure according to shortest path, and accordingly finger is read from pool of instructions 15 according to each instruction ID
Order is formed in the command sequence in command sequence write-in execution pond 16 in order；Obtain section of the target operating condition in State Tree 14
The corresponding state of point keeps all instruction IDs for needing, and reads command adapted thereto write-in execution from pool of instructions 15 according to instruction ID
In the command sequence in pond 16.
By digital satellite analogue system of the present invention, analogue system is at any time by work at present shape residing for digital satellite
State is filled up in the current state stack of state pool, is that the digital satellite that user fills in needs to be switched fast in target operating condition stack
The working condition of entrance；After analogue system receives user's fast state switching command, analogue system can holding from state pool
Dynamics initial value is read in row pond, each entry value of dynamic system original state is set, while read from the execution pond referring to
Make sequence and the instructions in command sequence are sent to digital satellite successively, realize for digital satellite being quickly switched into correspondence
In target operating condition.
With reference to Fig. 6, the schematic flow sheet of the method that digital satellite state of the present invention is switched fast, using the present invention
The digital satellite analogue system.Methods described comprises the following steps：S61：Digital satellite current operating state is filled in real time
To in digital satellite analogue system in the current state stack of state pool；S62：After receiving state fast handover instruction, from state
The corresponding target operating condition of switching command is read in the target operating condition stack in pond；S63：According to the current state stack and
The target operating condition stack, obtains digital satellite and is switched to target operating condition from current operating state and keeps target operation
The dynamics initial value that command sequence and dynamic system initialization needed for state needs, and write the execution of the state pool
Chi Zhong；S64：Dynamics initial value is read from the execution pond to set each entry value of dynamic system original state, while from
Command sequence is read in the execution pond and the instructions in command sequence are sent to digital satellite successively, by digital satellite
It is quickly switched into correspondence target operating condition；The detailed description of the above method given below.
S61：Digital satellite current operating state is filled up to the current shape of state pool in digital satellite analogue system in real time
In state stack.
Current operating state residing for digital satellite is filled up to digital satellite analogue system the current state of state pool at any time
It is that the digital satellite that user fills in needs to be switched fast the target operating condition of entrance in stack, in target operating condition stack.
S62：After receiving state fast handover instruction, switching command pair is read from the target operating condition stack of state pool
The target operating condition answered.
S63：According to the current state stack and the target operating condition stack, digital satellite from work at present shape is obtained
State is switched to target operating condition and command sequence and dynamic system the initialization needs needed for keeping target operating condition
Dynamics initial value, and write the execution pond of the state pool.
As optional implementation method, dynamics initial value is obtained further in the following way：According to target operating condition
Target operating condition in stack, the corresponding context table of target operating condition is found by the state table for searching the state pool,
The dynamics initial value write-in that context data in context table is needed as dynamic system initialization performs the power in pond
In initial value.
As optional implementation method, required command sequence is obtained further in the following way：1) current shape is compared
The target operating condition in current operating state and target operating condition stack in state stack is in the State Tree of the state pool
The shortest path that state switching needs is found in position, automatic search；2) according to needed for the shortest path obtains handoff procedure
Each instruction ID, and command adapted thereto is read from the pool of instructions of the state pool according to each instruction ID form sequence of instructions in order
Row write-in is performed in the command sequence in pond；3) the corresponding state of node of the target operating condition in State Tree is obtained to keep needing
All instruction IDs, and command adapted thereto read from the pool of instructions of the state pool according to instruction ID write the command sequence
In.
S64：Dynamics initial value is read from the execution pond to set each entry value of dynamic system original state, while
Command sequence is read from the execution pond and the instructions in command sequence are sent to digital satellite successively, numeral is defended
Star is quickly switched into correspondence target operating condition.
The present invention further combined with time pulse, in realizing that digital satellite is quickly switched into correspondence target operating condition
While so that digital satellite and dynamic system run simultaneously.It is further after step S64 as preferred embodiment
Including：S65：When digital satellite and dynamic system wait shape into time point in the target satellite corresponding to target operating condition
After state, to the previous Preset Time of time point in target satellite when time pulse is jumped automatically；S66：When time pulse is reached in target satellite
During time point, time pulse sends pulse per second (PPS) to digital satellite analogue system, and digital satellite and dynamic system start, open simultaneously
Begin to run simultaneously.
When digital satellite and dynamic system wait shape into time point in the target satellite corresponding to target operating condition
State, can further be accomplished by the following way：1) when the working condition of digital satellite reaches shape needed for time point in target satellite
During state, the time of digital satellite drives and is switched on star autonomous time module, while digital satellite analogue system is to digital satellite
Time service instruction is sent, is some seconds before time point in target satellite by the time service of autonomous time module on star；2) when numeral is defended
Using when autonomous time module runs the time point to target satellite on star, digital satellite is suspended fortune to star by digital satellite analogue system
Row simultaneously restarts dynamic system, and dynamic system returns to the dynamics initial value needed for time point in target satellite, wherein,
Digital satellite is waited in dynamic system restarting process；3) after the completion of dynamic system is restarted, into wait shape
State.
The method being switched fast by digital satellite state of the present invention, when digital satellite analogue system receives use
After the fast state switching command of family, analogue system can read dynamics initial value to set dynamics system from the execution pond of state pool
Each entry value of original state of uniting, while sending the instructions in execution pond in command sequence successively, realizes digital satellite is fast
Speed is switched in correspondence target operating condition.Utilization state pond, cooperation time pulse, realize digital satellite working condition automatic
It is switched fast and digital satellite and dynamic system synchronous operation.
An embodiment of the method that digital satellite state of the present invention is switched fast, a pair are given below in conjunction with accompanying drawing
The present invention is further explained explanation.
With reference to Fig. 7, digital satellite analogue system state is switched fast workflow schematic diagram.Assuming that TpTime is imitative to need
Time point in true system target satellite quickly corresponding to the target operating condition of incision.
Dynamic system original state first is set to TpData value (the data such as time, track, attitude required for the time
Obtained from the execution pond of state pool), the digital satellite time is driven using the dynamics time, and bring into operation analogue system；Emulation
System reaches T to upper note is a series of in digital satellitepVarious associated instruction sequences (including track number needed for time satellitosis
According to, status switching instruction etc., command sequence is obtained from the execution pond of state pool).
When the state of digital satellite reaches TpNeeded for time during state, the time of digital satellite drives automatic disconnection dynamics
Time and be switched on star autonomous time module；Analogue system sends time service and instructs to digital satellite simultaneously, when will be autonomous on star
Between module time service be TpTime former seconds.
When digital satellite is run to T using autonomous time module on starpDuring time point, analogue system is automatically by digital satellite
Operation suspension.Now, dynamic system restarting, returns to TpEach original state amount needed for time；Digital satellite is dynamic
It is waited in mechanical system restarting process.After the completion of dynamic system is restarted, T is keptpTime state, also into wait
State.
When digital satellite and dynamic system enter TpAfter time wait state, to T when time pulse is jumped automaticallypTime
Preceding Δ T time, the size of Δ T time wishes the time demand of wait depending on onsite user.When time pulse reaches TpTime
When, time pulse sends pulse per second (PPS) to analogue system, and digital satellite and dynamics start simultaneously at startup optimization, realizes whole
Individual analogue system is from specific TpThe function that time state brings into operation, while realizing synchronization of the dynamic system with digital satellite
Operation.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (8)
1. a kind of digital satellite analogue system, it is characterised in that including state pool, in the state pool comprising current state stack,
Target operating condition stack, state table, State Tree, pool of instructions and execution pond；
The current state stack, for preserving the current operating state residing for digital satellite；
The target operating condition stack, for the target operation shape of incision needed for the digital satellite state switching for preserving user's setting
State；
The state table, needed for for preserving current each the changeable working condition of digital satellite and each working condition
Context data；
The State Tree, for preserving digital satellite each working condition between switch required instruction ID and each working condition
All instruction IDs of upper note needed for keeping；
The pool of instructions, for preserving instruction and each working condition needed for digital satellite keeps each working condition between cut
Required switching command is changed, wherein every instruction instruction ID No. one of unique correspondence；
The execution pond, is switched to target operating condition and keeps target operation for preserving digital satellite from current operating state
The dynamics initial value that command sequence and dynamic system initialization needed for state needs, wherein, in the command sequence
Instruction comes from the pool of instructions, and the dynamics initial value is from the context data in the state table.
2. digital satellite analogue system according to claim 1, it is characterised in that the state table includes state ID
Number, state name, context table id number and context table；
The state ID number, for each working condition of unique identification number satellite；
The state name, the name for preserving each working condition of digital satellite；
The context table id number, for the corresponding context table of each working condition of unique identification number satellite；
The context table, for preserving the corresponding context data of each working condition of digital satellite.
3. digital satellite analogue system according to claim 1, it is characterised in that each node pair in the State Tree
Should keep switching required instruction ID between all instruction IDs of upper note needed for the working condition, each edge corresponding working state.
4. a kind of method that digital satellite state is switched fast, is imitated using the digital satellite described in claim 1-3 any one
True system, it is characterised in that comprise the following steps：
(1) digital satellite current operating state is filled up to the current state stack of state pool in digital satellite analogue system in real time
In；
(2) after receiving state fast handover instruction, switching command is read from the target operating condition stack of state pool corresponding
Target operating condition；
(3) according to the current state stack and the target operating condition stack, obtain digital satellite and cut from current operating state
Change to target operating condition and that command sequence and the dynamic system initialization needed for keeping target operating condition need is dynamic
Mechanics initial value, and write the execution pond of the state pool；
(4) dynamics initial value is read from the execution pond to set each entry value of dynamic system original state, while from institute
State and read command sequence in execution pond and the instructions in command sequence are sent to digital satellite successively, digital satellite is fast
Speed is switched in correspondence target operating condition.
5. the method that digital satellite state according to claim 4 is switched fast, it is characterised in that obtained in step (3)
Dynamics initial value is further included：According to the target operating condition in target operating condition stack, by searching the state pool
State table finds the corresponding context table of target operating condition, using at the beginning of the context data as dynamic system in context table
The dynamics initial value write-in that beginningization needs is performed in the dynamics initial value in pond.
6. the method that digital satellite state according to claim 4 is switched fast, it is characterised in that obtained in step (3)
Required command sequence is further included：
(31) target operating condition in the current operating state and target operating condition stack in current state stack is compared described
The shortest path that state switching needs is found in position in the State Tree of state pool, automatic search；
(32) instruction ID according to needed for the shortest path obtains switching, and according to instruction ID from the pool of instructions of the state pool
Middle reading command adapted thereto is formed in the command sequence in command sequence write-in execution pond in order；
(33) all instruction IDs noted on needed for the corresponding state of node of the target operating condition in State Tree keeps are obtained, and
Read from the pool of instructions of the state pool according to instruction ID during command adapted thereto writes the command sequence.
7. the method that digital satellite state according to claim 4 is switched fast, it is characterised in that step (4) it is laggard
One step includes：
(5) when digital satellite and dynamic system are into time point wait state in the target satellite corresponding to target operating condition
Afterwards, to the previous Preset Time of time point in target satellite when time pulse is jumped automatically；
(6) when time pulse reaches time point in target satellite, time pulse sends pulse per second (PPS), number to digital satellite analogue system
Word satellite and dynamic system start simultaneously, start synchronous operation.
8. the method that digital satellite state according to claim 7 is switched fast, it is characterised in that the advance of step (5)
One step includes：
(A) when the working condition of digital satellite reaches state needed for time point in target satellite, the time of digital satellite drives cuts
Autonomous time module on star is changed to, while digital satellite analogue system sends time service to digital satellite instruct, when will be autonomous on star
Between the time service of module be some seconds before time point in target satellite；
(B) when digital satellite using autonomous time module runs the time point to target satellite on star when, digital satellite analogue system
Restarted by digital satellite operation suspension and by dynamic system, dynamic system was returned in target satellite needed for time point
Dynamics initial value, wherein, digital satellite is waited in dynamic system restarting process；
(C) after the completion of dynamic system is restarted, into wait state.
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| CN106250623B (en) * | 2016-08-01 | 2019-05-24 | 上海航天控制技术研究所 | A kind of semi physical rapid simulation method steadily switched based on state |
| CN108154036B (en) * | 2018-01-23 | 2021-07-16 | 青岛海信移动通信技术股份有限公司 | Control method and control device of intelligent equipment |
| CN108932372B (en) * | 2018-06-14 | 2023-04-25 | 上海微小卫星工程中心 | Method for injecting faults in simulation |
| CN110780922B (en) * | 2019-10-22 | 2022-06-17 | 珠海格力电器股份有限公司 | Instruction generation method and device, electronic equipment and storage medium |
| CN117068405B (en) * | 2023-08-08 | 2024-06-18 | 中国科学院微小卫星创新研究院 | CPS-based digital satellite simulation system and method thereof |
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