CN113794498A - Serial communication system, method and medium for deep space exploration two-device multi-timing constraint - Google Patents
Serial communication system, method and medium for deep space exploration two-device multi-timing constraint Download PDFInfo
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- CN113794498A CN113794498A CN202111005495.3A CN202111005495A CN113794498A CN 113794498 A CN113794498 A CN 113794498A CN 202111005495 A CN202111005495 A CN 202111005495A CN 113794498 A CN113794498 A CN 113794498A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
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- H04B7/18502—Airborne stations
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- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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Abstract
The invention provides a serial communication system, a method and a medium for deep space exploration two-device multi-time sequence constraint, which comprises the following steps: the encirclement device and the landing patrol device realize the serial communication of multiple timing constraints; the communication content from the surround device to the landing patrol device comprises a time service instruction, a data fetching instruction and a forwarding instruction; the landing rover to surround communication content comprises engineering telemetry; the time service instruction comprises a ground remote control burst time service instruction and a time service instruction periodically and autonomously sent by the surrounding device, the time service instruction is sequentially sent by adopting atomic operation, and other instructions are not inserted into the time service instruction interval; the surrounding device sends a data fetching instruction according to a preset interval time, and the landing patrol device returns to engineering remote measurement after receiving the data; the forwarding instruction is sent to the surrounding device through ground telemetering burst and then sent to the landing patrol device through the surrounding device. The invention ensures the multi-type message sharing bus through the serial communication method of multi-time sequence constraint between devices, and improves the safety and reliability of the communication on the deep space probe.
Description
Technical Field
The invention relates to the technical field of deep space exploration aircraft electronic equipment, in particular to a serial communication system, a method and a medium for deep space exploration two-device multi-timing constraint.
Background
The deep space exploration has multiple flight stages, for example, the Mars exploration has multiple stages of earth escape, cruising around the sun, Mars capture, circular fire flight and the like, each stage has a large number of instructions on a device to be transmitted and executed, some key instructions have only one execution opportunity, and once the transmission and execution fails, the risk is high.
A typical deep space project probe includes a landing rover and a surround which communicate bi-directionally through RS422 using standard RS422 protocols before the two are separated. There are many kinds of messages on the RS422 bus, some need to realize synchronization by means of response feedback, such as fetching instruction of the surround device and engineering telemetry return of the landing patrol device, some messages are sent in pairs and have strict time intervals, such as a prediction time instruction and a time instruction, and some are ground burst injection instructions, which need to be forwarded to the patrol device by the surround device and cannot conflict with other instruction executions.
At present, in the aerospace field, only asynchronous or synchronous serial communication of RS422 buses is generally agreed, and high and low byte transmission sequence, transmission rate, parity check and the like are specified in asynchronous transmission; in synchronous transmission, three-wire or two-wire systems are defined, the data high and low order transmission order, the number of transmission modes on a clock rising edge or a clock falling edge, and the like, and the transmission timing of the upper layer message is not specified.
Patent document CN109101453A discloses an asynchronous serial communication sampling system and method, which aims to solve the technical problems of low signal reliability, abnormal signals and the like when the asynchronous serial communication rate is increased in the prior art. Patent document CN207817688U discloses a serial communication bus interface circuit compatible with different protocols, which increases the application range of the bus interface, but also reduces the number of interfaces of hardware design. Patent document CN106851854A discloses a serial communication frame structure and a multi-node random access method, which determine whether a data field is finished according to data length information, and if frame synchronization is successful, the node access is successful. The serial communication systems or methods in these embedded fields, on one hand, stay in the asynchronous or synchronous serial communication signal level to improve the reliability of message transmission, do not solve the problem of time sequence conflict between messages in the upper message transmission level, and on the other hand, reduce the hardware design cost and reduce the development time in order to make different protocols compatible, instead of focusing on the high reliability in the aerospace field.
Patent document CN101819710A (application number: CN201010135920.6) discloses a communication method for fire-fighting alarm system based on bidirectional serial communication protocol, the fire-fighting alarm system includes a controller, a plurality of loop cards connected with the controller or a communication circuit connected with the controller, and a plurality of fire-fighting communication terminals, the communication frame of information transmitted and received between the controller and the plurality of fire-fighting communication terminals is composed of 1-bit type bit data, 8 address bit data, a plurality of control bit data, 1 odd/even check bit data, a plurality of feedback information composed of PW pulses, and a synchronization signal from front to back in sequence. The communication method comprises the following steps: the method comprises the steps of information sending, information transmission, information receiving, analysis and judgment and information reply. However, this patent does not solve the problem of timing collision between messages at the upper message transport level.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a serial communication system, method and medium for deep space exploration with two-device multi-timing constraints.
The serial communication system for deep space exploration with two devices and multiple time sequence constraints provided by the invention comprises: the surrounding device and the landing patrol device form a deep space detector and realize serial communication of multiple timing constraints;
the communication content from the surround device to the landing patrol device comprises a time service instruction, a data fetching instruction and a forwarding instruction;
the landing rover to surround communication content comprises engineering telemetry;
the time service instruction comprises a ground remote control burst time service instruction and a time service instruction periodically and autonomously sent by the surrounding device, the time service instruction is sequentially sent by adopting atomic operation, and other instructions are not inserted into the time service instruction interval;
the surrounding device sends a data fetching instruction according to a preset interval time, and the landing patrol device returns to engineering remote measurement after receiving the data;
the forwarding instruction is sent to the surrounding device through ground telemetering burst and then sent to the landing patrol device through the surrounding device.
Preferably, the communication period of the surround device and the landing patrol device is 500ms, the period is divided into 5 time slices, and each time slice is 100ms, and different contents are communicated.
Preferably, instruction collisions are avoided by switching of the communication state machine.
Preferably, the time code on the deep space probe is 48 bits and counts for 0.1ms, and the CCSDS format is adopted for command and telemetry communication.
According to the serial communication method for deep space exploration two-device multi-time sequence constraint provided by the invention, the following steps are executed:
step 1: at the surround device end, taking data in the 0 th time slice of each period, if the communication state is a pre-timing state, sending a pre-timing instruction in the time slice, and setting the communication state as a timing state;
step 2: at the surround device end, in the 1 st time slice of each period, if the communication state is the time service state, sending a time service instruction in the time slice, and setting the communication state to other states;
and step 3: at the surround machine end, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is other state and the landing patrol machine forwarding instruction exists, the forwarding instruction is arranged to be sent to the landing patrol machine;
and 4, step 4: at the end of the surround device, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is other state and the ground remote control time service exists, setting the communication state as a pre-time service state, clearing the remote control time service mark and preparing for the surround device to send a pre-time service instruction to the landing patrol device;
and 5: at the end of the surround device, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is in other states and reaches the autonomous time service period, setting the communication state as a pre-time service state to prepare for the surround device to send a pre-time service instruction to the landing patrol device;
step 6: at the surround end, 1 is added to the slice count every 100 ms;
and 7: and (6) repeatedly executing the step 1 to the step 6, and realizing the serial communication of various types of messages of the periodical execution surrounding device and the landing patrol device.
Preferably, in the 0 th time slice of each period, judging the size of the engineering telemetering cache data of the landing patrol device, and if the size is not less than 226 bytes, reading the hardware cache data and clearing the hardware cache data at the same time; if the byte is less than 226 bytes, directly emptying; immediately sending a fetching instruction to the land patrol device;
and after the landing patrol machine end receives the access instruction, the transmission of the engineering telemetry frame is completed within 200ms +/-20 ms.
Preferably, if the ground is used for remotely controlling the surrounding device to time in the process of the autonomous land patrol device facing the surrounding device, the autonomous time service process including the time advance and the time service is executed again after the autonomous time service facing the land patrol device is finished by the surrounding device;
if the circle device is executing the land patrol device time service process triggered by the ground remote time service and the period of the autonomous time service on the device is reached, the autonomous time service is cancelled.
Preferably, if the ground sends a landing patrol instrument transmission instruction to the surrounding instrument, a storage and forwarding mode is adopted, and a state machine is adopted to avoid conflict with a time service instruction of the surrounding instrument.
Preferably, at the surround device end, the patrol device is subjected to periodic telemetry acquisition in a response mode, wherein the acquisition comprises a data acquisition command and a telemetry return.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method.
Compared with the prior art, the invention has the following beneficial effects:
the invention can ensure that multiple types of messages share the bus without conflict through a serial communication method of multi-time sequence constraint between the two devices under the cooperative working environment of the deep space probe, meets the real-time requirement and improves the safety and reliability of the communication on the deep space probe.
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 block diagram of serial communication for deep space exploration with multiple timing constraints between two devices;
FIG. 2 is a multiple timing constrained serial communication time slice division diagram;
fig. 3 is a flow diagram of a serial communication with multiple timing constraints.
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.
Example (b):
the serial communication system for detecting two-device multi-timing constraint in deep space provided by the invention depends on the surround devices, the landing patrol devices and various message types of timing conventions, and is shown in figure 1.
The system comprises: the surrounding device and the landing patrol device form a deep space detector and realize serial communication of multiple timing constraints; the communication content from the surround device to the landing patrol device comprises a time service instruction, a data fetching instruction and a forwarding instruction; the landing rover to surround communication content comprises engineering telemetry; the time service instruction comprises a ground remote control burst time service instruction and a time service instruction periodically and autonomously sent by the surrounding device, the time service instruction is sequentially sent by adopting atomic operation, and other instructions are not inserted into the time service instruction interval; the surrounding device sends a data fetching instruction according to a preset interval time, and the landing patrol device returns to engineering remote measurement after receiving the data; the forwarding instruction is sent to the surrounding device through ground telemetering burst and then sent to the landing patrol device through the surrounding device. The communication period of the surround device and the landing patrol device is 500ms, the period is divided into 5 time slices, and each time slice is 100ms, so that different contents are communicated. Through the conversion of the communication state machine, the instruction conflict is avoided. The time code on the deep space probe is 48 bits and counts for 0.1ms, and the CCSDS format is adopted for instruction and telemetering communication.
The serial communication between the surround device and the landing patrol device adopts a standard RS-422 protocol, and the format is 1 bit of a start bit, 8 bits of data bits, 1 bit of an odd check bit and 1 bit of a stop bit; the communication baud rate is 115.2 kbps. The RS-422 information format is shown in the following table. When multi-byte data is transmitted, the highest byte is transmitted first, then the next highest byte is transmitted, and finally the lowest byte is transmitted. Each byte is transferred with the least significant bit (i.e., LSB), then the next most significant bit, and finally the most significant bit (i.e., MSB) of the byte. The information format is as shown in table 1.
TABLE 1RS-422 information Format Table
| Start bit | Data bit | Data bit | Data bit | …… | Data bit | Data bit | Check bit | Stop position |
| LSB | MSB |
The ground command forwarded by the surround unit, namely the arrival and the transfer, is executed after the fetch command is sent if the fetch command is sent at the current moment. The format of the ground commands forwarded by the surround to the land rover is shown in table 2 below.
TABLE 2 surround Forwarding Command Format
| Sync head (2 bytes) | Control word (1 byte) | Instruction data | Checksum (1 byte) |
| 0xEB90 | 0x11 | Cumulative sum of bytes of instruction data |
The method comprises the steps that a surround device periodically (with the period of 30min) sends a time service instruction to a landing patrol device, in order to guarantee controllable time service precision and errors, before time service, the surround device firstly sends a pre-time service instruction, other communication on an RS422 bus is stopped at the same time, the time of the surround device is added to the sending processing time delay of the surround device in the presence of the time of about 300ms, and a 32-byte time service instruction with a time code is sent. The instruction formats of the advance time and the time are shown in tables 3 and 4.
TABLE 3 Pre-timed instruction format
| Sync head (2 bytes) | Control word (1 byte) | Filling in |
| 0xEB90 | 0x22 | 00 |
TABLE 4 surround device time service instruction Format
The time code format is shown in table 5.
TABLE 5 landing patrol instrument time code Format
| B0…………………B15 | B16…………………B47 |
| Fine time code segment (ms) L-H | Coarse time code segment(s) L-H |
Fine time code segment in clock characteristics: 16bit, millisecond, LSB resolution 1 ms; coarse time code segment: 32bit, second, LSB resolution is 1 s; time zero point: beijing was 2016, 01, 00 min 00 s 00 ms. L denotes a low byte, and H denotes a high byte.
And the landing patrol instrument processes in the time service interruption process, takes the local time and calculates the difference value with the time of the surround instrument. And after the interrupt process is carried out, local time correction is carried out, the fixed time delay of the transmission of the 32-byte time service information on the bus and the processing time delay of the received information are corrected, and the time difference value between the data and the surround device is used as telemetering and downloaded for ground judgment of time correction effect and time difference between the data and the surround device.
After receiving the fetching instruction (the format is 0x EB 90AA 00, 4 bytes in total), the landing patrol instrument starts sending engineering telemetry parameters within 10ms, and the format is shown in the following table 6.
TABLE 6RS-422 telemetry Format
| Sync head (2 bytes) | Remote sensing of parameters |
| 0xEB90 |
The telemetry parameters are uncoded telemetry frames of the landing rover, the telemetry frames are 224 bytes long, and the format is shown in the following table 7.
TABLE 7 land rover telemetry frame format
The process of the serial communication of the deep space exploration multiple timing constraints is shown in fig. 2 and fig. 3, and the specific steps are as follows:
(1) at the end of a circulator, in the 0 th time slice of every 500ms, after the circulator is enabled for access, judging the size of engineering telemetering cache data of a received landing patrol device, and if the size is not less than 226 bytes, reading hardware cache data and clearing the hardware cache data at the same time; if the byte is less than 226 bytes, clearing; immediately thereafter, a fetch command is sent to the land rover.
(2) And at the landing patrol machine end, after receiving the access instruction, the transmission of the engineering telemetry frame is required to be completed within (200ms +/-20 ms).
(3) At the surround device end, every 1 st time slice of 500ms, if the communication state is "time advance state", a time advance command is transmitted in the time slice, and the communication state is set to "time advance state".
(4) At the surround side, every 4 th time slice of 500ms, if the communication state is "time service state", a time service command is transmitted in the time slice, and the communication state is set to "other state".
(5) At the 2 nd, 3 rd and 4 th time slices of every 500ms at the end of the circulator, if the communication state is in the 'other state' and the 'landing patrol device forwarding instruction' exists, the forwarding instruction is arranged to be sent to the landing patrol device.
(6) At the end of the surround device, every 500ms of the 2 nd, 3 rd and 4 th time slices, if the communication state is in other state and the ground remote control time service exists, the communication state is set in the pre-time service state, the remote control time service mark is cleared, and the preparation is made for the surround device to send a pre-time service instruction to the landing patrol device.
(7) At the end of the surround device, every 2 nd, 3 rd and 4 th time slices of 500ms, if the communication state is in other state and the autonomous time service period is reached, the communication state is set in a pre-time service state, and preparation is made for the surround device to send a pre-time service instruction to the landing patrol device.
(8) At the surround end, the slice count is incremented by 1 every 100 ms.
(9) And repeating the steps to realize the serial communication of various types of messages between the periodical execution surround device and the landing patrol device.
The steps describe the specific process of the method through a use case, and can carry out closed-loop verification on the multi-sequence messages such as 'access instruction, time service instruction, forwarding instruction, engineering telemetering' and the like at two ends of the surround device and the landing patrol device respectively.
Preferably, in the 0 th time slice of each period, judging the size of the engineering telemetering cache data of the landing patrol device, and if the size is not less than 226 bytes, reading the hardware cache data and clearing the hardware cache data at the same time; if the byte is less than 226 bytes, directly emptying; immediately sending a fetching instruction to the land patrol device;
and after the landing patrol machine end receives the access instruction, the transmission of the engineering telemetry frame is completed within 200ms +/-20 ms.
If the ground is used for remotely controlling the surrounding device to time in the process that the surrounding device autonomously faces the land patrol device, then after the surrounding device finishes autonomous time service facing the land patrol device, an autonomous time service process including pre-time service and time service is executed again; if the circle device is executing the land patrol device time service process triggered by the ground remote time service and the period of the autonomous time service on the device is reached, the autonomous time service is cancelled. If the ground sends a landing patrol instrument transmission instruction to the surrounding instrument, a storage and forwarding mode is adopted, and a state machine is adopted to avoid the conflict with the time service instruction of the surrounding instrument. And at the surround device end, periodically telemetering acquisition is carried out on the patrol device in a response mode, wherein the acquisition comprises a data acquisition instruction and telemetering return.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
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.
Claims (10)
1. A serial communication system for deep space exploration with two-device multiple timing constraints, comprising: the surrounding device and the landing patrol device form a deep space detector and realize serial communication of multiple timing constraints;
the communication content from the surround device to the landing patrol device comprises a time service instruction, a data fetching instruction and a forwarding instruction;
the landing rover to surround communication content comprises engineering telemetry;
the time service instruction comprises a ground remote control burst time service instruction and a time service instruction periodically and autonomously sent by the surrounding device, the time service instruction is sequentially sent by adopting atomic operation, and other instructions are not inserted into the time service instruction interval;
the surrounding device sends a data fetching instruction according to a preset interval time, and the landing patrol device returns to engineering remote measurement after receiving the data;
the forwarding instruction is sent to the surrounding device through ground telemetering burst and then sent to the landing patrol device through the surrounding device.
2. The deep space exploration two-device multi-timing-constraint serial communication system according to claim 1, wherein the communication period of the surround device and the landing patrol device is 500ms, the period is divided into 5 time slices, and each time slice is 100ms, so that different contents can be communicated.
3. The deep space exploration two-device multiple timing constraint serial communication system according to claim 1, wherein command collisions are avoided through communication state machine transitions.
4. The deep space probe two-device multiple timing constraint serial communication system of claim 1, wherein the time code on the deep space probe is a 48-bit 0.1ms count, and command and telemetry communication is performed in CCSDS format.
5. A serial communication method for deep space exploration two-device multiple timing constraints, characterized in that, with the serial communication system for deep space exploration two-device multiple timing constraints according to claim 2, the following steps are performed:
step 1: at the surround device end, taking data in the 0 th time slice of each period, if the communication state is a pre-timing state, sending a pre-timing instruction in the time slice, and setting the communication state as a timing state;
step 2: at the surround device end, in the 1 st time slice of each period, if the communication state is the time service state, sending a time service instruction in the time slice, and setting the communication state to other states;
and step 3: at the surround machine end, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is other state and the landing patrol machine forwarding instruction exists, the forwarding instruction is arranged to be sent to the landing patrol machine;
and 4, step 4: at the end of the surround device, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is other state and the ground remote control time service exists, setting the communication state as a pre-time service state, clearing the remote control time service mark and preparing for the surround device to send a pre-time service instruction to the landing patrol device;
and 5: at the end of the surround device, in the 2 nd, 3 rd and 4 th time slices of each period, if the communication state is in other states and reaches the autonomous time service period, setting the communication state as a pre-time service state to prepare for the surround device to send a pre-time service instruction to the landing patrol device;
step 6: at the surround end, 1 is added to the slice count every 100 ms;
and 7: and (6) repeatedly executing the step 1 to the step 6, and realizing the serial communication of various types of messages of the periodical execution surrounding device and the landing patrol device.
6. The serial communication method for deep space exploration two-device multi-timing constraint according to claim 5, characterized in that in the 0 th time slice of each period, the size of the engineering telemetry cache data of the landing patrol device is judged, if the size is not less than 226 bytes, the hardware cache data is read and emptied at the same time; if the byte is less than 226 bytes, directly emptying; immediately sending a fetching instruction to the land patrol device;
and after the landing patrol machine end receives the access instruction, the transmission of the engineering telemetry frame is completed within 200ms +/-20 ms.
7. The deep space exploration two-device multi-timing-sequence-constraint serial communication method according to claim 5, wherein if the ground is used for remote control time service for the surrounding device in the process that the surrounding device autonomously faces the land patrol device, an autonomous time service process including pre-time service and time service is executed again after the surrounding device completes autonomous time service for the land patrol device;
if the circle device is executing the land patrol device time service process triggered by the ground remote time service and the period of the autonomous time service on the device is reached, the autonomous time service is cancelled.
8. The serial communication method for deep space exploration two-device multi-timing constraint according to claim 5, wherein if the ground sends a landing patrol device transmission instruction to the surround device, a store-and-forward mode is adopted, and a state machine is adopted to avoid conflict with a time service instruction of the surround device.
9. The deep space exploration two-device multi-timing constraint serial communication method according to claim 5, wherein at the surround device end, periodic telemetry acquisition is performed on the patrol device in a response mode, wherein the acquisition comprises a data fetching instruction and a telemetry return.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 9.
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