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Autonomous navigation and guidance control programming dispatching method for small celestial body impact probing

A technology of autonomous navigation and dispatching method, applied in the direction of integrated navigator, aerospace vehicle guidance device, etc., can solve the problems of poor scalability, numerous tasks, poor replaceability, etc.

Inactive Publication Date: 2010-09-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of many tasks, poor replaceability and poor scalability in the prior art autonomous navigation and guidance control planning and scheduling method, the present invention proposes a small celestial body impact detection autonomous navigation and guidance control planning and scheduling method

Method used

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  • Autonomous navigation and guidance control programming dispatching method for small celestial body impact probing
  • Autonomous navigation and guidance control programming dispatching method for small celestial body impact probing
  • Autonomous navigation and guidance control programming dispatching method for small celestial body impact probing

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specific Embodiment approach 1

[0012] Specific implementation mode one, combination figure 1 Explain this embodiment, the method for planning and scheduling of autonomous navigation and guidance control for collision detection of small celestial bodies, which is implemented by the main task main_task and four subtasks. The four subtasks are GNC planning task Task_GNC_pro, data acquisition task Task_SAM_X, GNC task Task_GNC and orbit. Determine the task;

[0013] The main task main_task has the highest priority. It is used to complete the initialization of each part, set the system clock interrupt frequency, system current time and task scheduling strategy, complete the creation of each binary semaphore, subtask and timer, and get the relevant When the semaphore is used, start the timer related to the semaphore and end the related task;

[0014] The priority of the GNC planning task Task_GNC_pro is second only to the main task main_task, which is used to give the detector orbit maneuver flag flag_mot_orb and the ...

specific Embodiment approach 2

[0020] Specific implementation mode two, combination figure 2 To explain this embodiment, this embodiment is a further explanation of the main task main_task in specific embodiment 1: The working process of the main task main_task is as follows:

[0021] Step 1A, initialization time specification, timer signal event, timer ID identification, timer signal processing and task ID identification;

[0022] Step 1B, setting the system clock terminal frequency and task scheduling strategy, the system clock terminal frequency is 200 Hz, and the task scheduling strategy is a scheduling method using time slice round conversion based on task priority;

[0023] Step 1C, set the current time;

[0024] Step 1D. Create a binary semaphore. The binary semaphore includes the state indicator semaphore, the master task update synchronization data semaphore semb1_sam, the GNC planning task update synchronization data semaphore semb2_sam, the GNC task update synchronization data semaphore semb3_sam, and th...

specific Embodiment approach 3

[0035] Specific implementation mode three, combination image 3 To explain this embodiment, this embodiment is a further explanation of the GNC planning task Task_GNC_pro in the specific embodiment 1: The working process of the GNC planning task Task_GNC_pro is as follows:

[0036] Step 2A, judge whether it is the first execution, use i to indicate the number of executions, if it is the first execution, use i=0 to indicate, and execute step 2B; if it is not the first execution, execute step 2C;

[0037] Step 2B, obtain the current time of the system; then execute step 2G;

[0038] Step 2C, judge whether it is the first execution cycle, that is, judge whether i is 1; if yes, go to step 2D; if not, go to step 2E;

[0039] Step 2D: Obtain the content of the update sensor data semaphore GNC planning task update synchronization data semaphore semb2_sam; then perform step 2F;

[0040] Step 2E. Obtain the content of the 25ms execution cycle completion semaphore semb and the 25ms timer expirati...

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Abstract

The invention relates to an autonomous navigation and guidance control programming dispatching method for small celestial body impact probing, and relates to an autonomous navigation and control programming dispatching method for a deep space probe, which solves the problems of multiple tasks, poor replaceability and poor expandability of the autonomous navigation and guidance control programmingdispatching methods in the prior art. The method consists of the following five modular tasks, namely a main task, a GNC programming task, a data acquisition task, a GNC task and a track confirming task, wherein the priority level of the main task is the highest, the priority level of the GNC programming task is only second to that of the main task; the priority level of the data acquisition taskis only second to that of the GNC programming task; the data acquisition task is divided into four sub-tasks according to different types of data measured by a sensor; the priority level of the GNC task is only second to that of the data acquisition task; the priority level of the track confirming task is the lowest; and the mall celestial body impact probing tasks are decomposed modularly, and the synchronous mode and communication means among task modules are provided so as to complete the mall celestial body impact probing tasks finally.

Description

Technical field [0001] The invention relates to a method for autonomous navigation and control planning and scheduling of a deep space detector. Background technique [0002] The autonomous navigation and guidance control system is realized through software that can autonomously determine the state of the detector without the support of the ground station, and guide the detector to complete the scheduled impact task. Small celestial bodies have a long flight distance for collision detection, many operating stages, and large environmental differences in each stage. This requires navigation and guidance control systems to complete complex and tedious on-orbit operations to ensure the smooth realization of engineering and scientific tasks. The complicated in-orbit operation makes the on-board software larger due to the number of tasks, each task has different real-time requirements, and the connection between tasks increases. In the past, the software structure design of navigation...

Claims

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Application Information

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IPC IPC(8): B64G1/24G01C21/24
Inventor 崔平远高艾崔祜涛朱圣英
Owner HARBIN INST OF TECH
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