An embedded device program updating method based on Ethernet and ground system equipment

Abstract

The present invention relates to the field of communication technology, and specifically discloses an Ethernet-based embedded device program update method and ground system equipment, which are used to solve the problem that the program update of the traditional antenna control unit embedded device needs to stop the device operation, disassemble the hardware, and manually transmit the firmware through a physical interface. The process is complicated and prone to errors, the downtime is long, and the efficiency and stability of the ground data receiving system are low. The program update method includes remote update server settings, device self-check and notification, security authentication and transmission, embedded device program hot update, update confirmation and rollback mechanism; by utilizing Ethernet remote management and secure transmission, efficient embedded device update is achieved, operation is simplified, downtime and human errors are avoided, real-time monitoring and preset analysis formulas are used to quickly handle problem equipment, optimize resource allocation, and redundant updates and self-check rollback mechanisms ensure continuity and security, thereby improving system efficiency, stability and reliability.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and more specifically, to an Ethernet-based embedded device program updating method and ground system equipment. Background Art

[0002] The ground system of remote sensing satellite is an important part of earth observation satellite data reception, preprocessing and system integration. It includes data receiving system and data processing system. Since its establishment, the data receiving system has provided a large amount of satellite remote sensing information to many departments across the country, and has played an important role in land use, resource and environmental monitoring and development, natural disaster prevention and control, agriculture, forestry, water conservancy, geology and many other fields. All embedded devices of the data receiving system are integrated in the data receiving vehicle, which is equipped with antenna servo feed control equipment, channel equipment, demodulation equipment, tracking receiver, video positioning and data receiving vehicle monitoring and other computing equipment. The station control management subsystem receives mission plans, satellite orbit roots, equipment macro parameters and configuration information, solves antenna program guidance data, and sends it to the antenna servo feed subsystem for setting waiting points and programs. Sequence tracking, use Gigabit Ethernet to connect all electronic equipment of the data receiving vehicle, complete the transmission of plan information, equipment status and other information, and interconnect with the data processing vehicle through the workshop optical terminal, build a 10 Gigabit Ethernet data channel through the workshop optical terminal, directly access the 10 Gigabit Ethernet data network of the data processing vehicle, and complete the transmission of the original data to the decryption device. The antenna servo feed subsystem equipment is equipped with an antenna feed extension. The servo control system in the antenna feed extension consists of an antenna control unit, an antenna drive unit, an axis angle encoding and a time code unit, and a drive actuator, a lodging mechanism, a rotary transformer, a control and protection device installed on the antenna. The control program in the antenna control unit can complete the configuration and information reading of each board, and realize the functions of antenna seat motion control and status monitoring, tracking receiver information reading, axis angle measurement information reading, etc. At present, the program update operation of the embedded device in the antenna control unit is complicated and inefficient. The traditional update method requires stopping the device, disassembling the hardware part of the embedded device, and manually transmitting the updated program or firmware to the device through the physical interface. It is not only time-consuming and prone to human errors, but also increases the system downtime, affecting the overall efficiency and stability of the ground data receiving system. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides an Ethernet-based embedded device program update method and ground system equipment, which realizes efficient embedded device update by utilizing Ethernet remote management and secure transmission, simplifies operation, avoids downtime and human errors, and quickly handles problem equipment through real-time monitoring and preset analysis formulas, optimizes resource allocation, and ensures continuity and security through redundant updates and self-check rollback mechanisms, thereby improving system efficiency, stability and reliability.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An Ethernet-based embedded device program update method, comprising:

[0006] Step 1, remote update server setting: set up an update server to store firmware and program versions. The update server can monitor the status of the antenna control unit controlling the embedded device and record the current version information;

[0007] Step 2, device self-check and notification: The embedded device periodically sends a status report to the update server. The status report includes the current version and running status. The update server compares the current version of the embedded device program with the latest version and decides whether to notify the embedded device to update the program.

[0008] Step 3, secure authentication and transmission: Use encryption protocol to securely update data. The embedded device downloads the firmware package from the update server and checks the integrity of the downloaded firmware package.

[0009] Step 4, hot update of embedded device program: use redundancy mechanism in the update process so that the embedded device can continue to work normally during the program update process, install the new firmware in the background, and switch to the new version after verification;

[0010] Step 5, update confirmation and rollback mechanism: After the update is completed, the embedded device performs a self-test to ensure that the new version of the program runs normally. If an abnormality is detected in the new version of the program, the embedded device automatically rolls back to the old version.

[0011] As a further solution of the present invention, in step 1, the current running status data of the embedded device program is collected and analyzed, a Nyquist diagram is generated, an initial stability benchmark of the device program is established, and the generated data is stored in the update server. In step 2, when the embedded device sends a report periodically, the Nyquist diagram is used to analyze the open-loop frequency response of the embedded device program based on a preset program stability analysis formula to obtain a stability index of the embedded program.

[0012] As a further solution of the present invention, in step 2, a sine wave input signal is applied to the embedded device program remotely using Ethernet, and the output data is collected. The stability of the embedded device program is comprehensively analyzed based on a preset program stability analysis formula combined with a safety margin and a phase margin when the program is closest to an unstable state. The preset program stability analysis formula is:

[0013] ;

[0014] Where: It is the stability index of embedded device program. is the open-loop transfer function of the program, is an imaginary unit, , is the angular frequency, is the weight factor of the phase margin, which is set according to the requirements.

[0015] As a further solution of the present invention, in step 2, the frequency response characteristics of the device program are analyzed using a Nicols plot to establish a gain and phase response benchmark for the program. In step 3, before transmitting and downloading the firmware package, data is acquired based on the drawn Nicols plot, and a preset Nicols plot analysis formula is used to confirm whether the new firmware meets the preset gain and phase response requirements.

[0016] As a further solution of the present invention, in step 3, input signals of different frequencies are remotely applied via Ethernet, the output response of the program is collected, the gain and phase response of the program are calculated, and a Nichols plot is generated. Based on the performance benchmark before the update, a preset Nichols plot analysis formula measures the performance of the program in the frequency response by the difference between the maximum gain of the program and the expected phase and the actual phase, and identifies the problem area in the frequency response. The preset Nichols plot analysis formula is:

[0017] ;

[0018] Where: For Nichols chart analysis indicators, is the maximum gain of the embedded device program to the input signal, is the difference between the expected phase and the actual phase in the program frequency response, It is the phase difference adjustment factor, which can be set according to the requirements.

[0019] As a further solution of the present invention, in step 4, during the embedded device program update process, the control interface of the embedded device program is remotely accessed through Ethernet, the preliminary gain, zero and pole are set, the closed-loop pole trajectory of the program is calculated, and the root locus diagram is generated. The real and imaginary parts of all poles are analyzed based on the preset root locus analysis formula, and the dynamic behavior of the poles with the gain, zero and pole changes is evaluated. According to the root locus diagram, the point is adjusted with the gain, zero and pole to ensure that the closed-loop control pole of the program is in a stable area. The preset root locus analysis formula is:

[0020] ;

[0021] Where: is the root locus analysis value, is the pole index, is the number of poles, is the closed-loop pole, is the root of the characteristic equation of the program, and by solving the characteristic equation of the program Obtain, among which is the program matrix, is the input matrix, is the gain matrix, For the extreme The real part of For the extreme The imaginary part of is the adjustment factor of the imaginary part, is the adjustment coefficient of the sum of the real parts, is the Laplace transform, is the identity matrix.

[0022] As a further aspect of the present invention, the characteristic equation of the program is The solution process includes:

[0023] Step 11, define the program state space model: Determine the program state space model, which consists of the state matrix , input matrix , output matrix , transmission matrix And the state feedback matrix The composition and state equation are , the output equation is ,in is the state vector, is the input vector, is the output vector, is the state vector The time derivative of

[0024] Step 12: Construct the characteristic equation of the closed-loop control system of the embedded device program: Express the input vector as Substitute the state equation to obtain the closed-loop system state equation, and then transform it to obtain the characteristic equation of the closed-loop control system ;

[0025] Step 13, calculate the eigenvalue: calculate the matrix Subtracting matrices And add The sum of , and then calculate the determinant of the matrix, solve the equation with zero determinant, and get All solutions of .

[0026] As a further solution of the present invention, in step 5, after the embedded device program is updated, the input and output data of the program are collected through Ethernet, the frequency response function before and after the update is calculated, and the Bode diagram is generated. The performance improvement of the updated program is evaluated by using a preset Bode diagram analysis formula, combined with the mean square error and phase error of the frequency response gain before and after the program update. The preset Bode diagram analysis formula is:

[0027] ;

[0028] Where: is the Bode plot analysis value of the updated program, is the adjustment factor, set according to demand, is the frequency response of the program, obtained through model calculation, is the absolute value of the program frequency response after update, is the absolute value of the program frequency response before updating.

[0029] After obtaining the above-mentioned key parameters of the Nyquist diagram, Nichols diagram, root locus diagram and Bode diagram, the comprehensive evaluation index is defined as the weighted sum of these four parameters. The weight factor is set according to the program requirements of each embedded device. The program of each embedded device controlled by the antenna control unit is traversed. By calculating the comprehensive evaluation index, it helps to quickly judge the comprehensive performance of the embedded device control program and sort the scores in descending order, which solves the problem of difficulty in comparison caused by the inconsistent performance evaluation standards of different embedded devices. It can quickly identify device programs with poor performance, give priority to and update clusters of devices with low scores, allocate maintenance resources more effectively, and dynamically monitor over time, continuously track the changing trends of device performance, which helps to continuously optimize and improve control strategies during the operation of embedded device control programs. The data of comprehensive evaluation indicators, combined with historical trend analysis, assist in decision-making on embedded device hardware upgrades and program updates, and enhance the efficiency of control and maintenance of the control system and fault handling.

[0030] A ground system equipment applies the above-mentioned Ethernet-based embedded device program update method, including an embedded device, a firmware management server, a remote operation and maintenance control system, an intelligent data analysis module, a safety communication authentication module, a redundant update support system, a self-check rollback guarantee module, and a user interaction reporting system. The firmware management server is connected to the remote operation and maintenance control system, the safety communication authentication module, and the embedded device. The remote operation and maintenance control system is connected to the embedded device, the intelligent data analysis module, and the redundant update support system. The user interaction reporting system is connected to the firmware management server, the remote operation and maintenance control system, and the intelligent data analysis module.

[0031] As a further solution of the present invention, the firmware management module is used as an update server to store the firmware and program versions of the embedded device, monitor the status of the antenna control unit, manage and record the version information and report status of the device, the remote operation and maintenance control system remotely controls the embedded device through Ethernet, applies test signals, collects device output responses, and monitors the device status in real time, the intelligent data analysis module collects and processes the input and output data of the embedded device, traverses all embedded devices, generates Nyquist diagrams, Nichols diagrams, root locus diagrams, and Bode diagrams of all device control programs, and performs program control system performance evaluation and parameter optimization based on preset formulas, the secure communication authentication module ensures the security of data transmission and program update process, supports HTTPS and SSL encryption protocols, the redundant update support system supports redundant mechanisms and hot updates during device program update process, the self-check and rollback guarantee module automatically performs program self-check tests after the update is completed, detects the running status of the new version of the program, detects an abnormality, and automatically rolls back to the old version, and the user interactive reporting system provides a user interface, displays device program status, program update progress and data analysis results, and generates logs and reports.

[0032] Compared with the prior art, the technical effects of the present invention are as follows: the present invention realizes efficient updating of embedded device programs through Ethernet-based remote management and secure transmission, significantly simplifies the update operation, avoids the complex process of equipment shutdown, hardware disassembly and manual firmware transmission in traditional methods, and through preset analysis formulas, can monitor and dynamically evaluate equipment performance in real time, quickly identify and prioritize problem equipment, and optimize resource allocation. At the same time, redundant updates and self-check rollback mechanisms ensure the continuity and security of the update process, avoid human errors and system shutdowns, improve overall efficiency and stability, enhance the maintenance and fault handling capabilities of the control system, and improve the reliability of the ground data receiving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of an Ethernet-based embedded device program update method of the present invention;

[0034] Figure 2 A system block diagram of a ground system device of the present invention;

[0035] Figure 3 It is a data receiving system channel and equipment configuration diagram in the prior art;

[0036] Figure 4 It is a schematic diagram of the external interface of the data receiving system in the prior art;

[0037] Figure 5 A network topology diagram of a data receiving system in the prior art;

[0038] Figure 6It is a diagram of the monitoring system architecture of a data receiving system in the prior art;

[0039] Figure 7 It is a software composition diagram of a data receiving system in the prior art;

[0040] Figure 8 It is a software architecture diagram of a data receiving system in the prior art;

[0041] Fig. 9 It is a principle block diagram of a servo system in the prior art. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the present invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described technical solutions are only part of the present invention but not all of it. Based on the content of the present invention, all other technical solutions obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 9 As shown, the present invention proposes an Ethernet-based embedded device program update method, comprising:

[0044] Step 1, remote update server setting: set up an update server to store firmware and program versions. The update server can monitor the status of the antenna control unit controlling the embedded device and record the current version information;

[0045] Step 2, device self-check and notification: The embedded device periodically sends a status report to the update server. The status report includes the current version and running status. The update server compares the current version of the embedded device program with the latest version and decides whether to notify the embedded device to update the program.

[0046] Step 3, secure authentication and transmission: Use encryption protocol to securely update data. The embedded device downloads the firmware package from the update server and checks the integrity of the downloaded firmware package.

[0047] Step 4, hot update of embedded device program: use redundancy mechanism in the update process so that the embedded device can continue to work normally during the program update process, install the new firmware in the background, and switch to the new version after verification;

[0048] Step 5, update confirmation and rollback mechanism: After the update is completed, the embedded device performs a self-test to ensure that the new version of the program runs normally. If an abnormality is detected in the new version of the program, the embedded device automatically rolls back to the old version.

[0049] Figures 3 to 9It is the relevant systems and components involved in the existing technology. The ground system of the remote sensing satellite is an important part of the earth observation satellite data reception, preprocessing and system integration, including the data receiving system and the data processing system. Since its establishment, the data receiving system has provided a large amount of satellite remote sensing information to many departments across the country, and has played an important role in land use, resource and environmental monitoring and development, natural disaster prevention and control, agriculture, forestry, water conservancy, geology and many other fields. All embedded devices of the data receiving system are integrated in the data receiving vehicle, which is equipped with antenna servo feed control equipment, channel equipment, demodulation equipment, tracking receiver, video positioning and data receiving vehicle monitoring and other computing equipment. The station control management subsystem receives mission plans and satellite orbit roots and equipment macro parameters and configuration information, solves antenna program guidance data, and sends it to the antenna servo feed subsystem. It is used to set waiting points and program tracking, use Gigabit Ethernet to connect all electronic equipment of the data receiving vehicle, complete the transmission of plan information, equipment status and other information, and interconnect with the data processing vehicle through the workshop optical terminal. Through the workshop optical terminal, a 10 Gigabit Ethernet data channel is built, which is directly connected to the 10 Gigabit Ethernet data network of the data processing vehicle to complete the transmission of original data to the decryption device. The antenna servo feed subsystem equipment is equipped with an antenna feed extension. The servo control system in the antenna feed extension consists of an antenna control unit, an antenna drive unit, an axis angle encoding and a timing code unit, as well as a drive actuator, a lodging mechanism, a rotary transformer, a control and protection device installed on the antenna. The control program in the antenna control unit can complete the configuration and information reading of each board, and realize the functions of antenna base motion control and status monitoring, tracking receiver information reading, and axis angle measurement information reading.

[0050] Compared with the prior art, the present invention realizes efficient updating of embedded device programs through Ethernet-based remote management and secure transmission, significantly simplifies the update operation, avoids the complex process of equipment shutdown, hardware disassembly and manual firmware transmission in traditional methods, and can monitor and dynamically evaluate equipment performance in real time through preset analysis formulas, quickly identify and prioritize problem equipment, and optimize resource allocation. At the same time, redundant updates and self-check rollback mechanisms ensure the continuity and security of the update process, avoid human errors and system shutdowns, improve overall efficiency and stability, enhance the maintenance and fault handling capabilities of the control system, and improve the reliability of the ground data receiving system.

[0051] It should be noted that in step 1, the current running status data of the embedded device program is collected and analyzed, a Nyquist diagram is generated, an initial stability benchmark of the device program is established, and the generated data is stored in the update server. In step 2, when the embedded device sends a report periodically, the Nyquist diagram is used to analyze the open-loop frequency response of the embedded device program based on a preset program stability analysis formula to obtain the stability index of the embedded program.

[0052] In the embedded device program update, by collecting, analyzing and monitoring the device's operating status data in detail in steps 1 and 2, generating the Nyquist plot and establishing the initial stability benchmark, the scientificity and reliability of the update process can be significantly improved. Specifically, the initial stability benchmark established in step 1 provides a reference standard for the system, so that any subsequent update operations can be compared with the benchmark, ensuring that the performance changes before and after the update can be clearly identified and recorded. Storing these key data in the update server not only facilitates subsequent analysis and decision-making, but also provides rich historical data support for continuous optimization. In step 2, the embedded device sends reports regularly, uses the preset stability analysis formula (based on the Nyquist plot) to analyze the open-loop frequency response of the device, and obtains real-time stability indicators. This process can monitor the health of the device in real time and promptly detect stability problems such as excessive gain and insufficient phase margin. Through regular monitoring, the system can take preventive measures when problems first appear, rather than waiting until the problem causes a failure to take corrective measures. This preventive maintenance strategy effectively reduces equipment downtime and failure rate, and improves the overall reliability and stability of the system. In addition, using the Nyquist plot for stability analysis can provide a detailed understanding of the system's behavior in the frequency domain, especially when the device is in a complex or unstable operating environment. It helps identify the system's resonant frequencies and potential stability risk points, allowing engineers to adjust control parameters or update strategies in a targeted manner to ensure that the device remains stable over the entire frequency band. Such analysis methods provide a scientific basis for optimizing controller design and selecting appropriate filters and compensators. Overall, through these two steps of detailed data collection, analysis, and monitoring, the entire process of embedded device program updates becomes more transparent and controllable. The system can not only dynamically adapt to changes in device status, but also use historical data for trend analysis and prediction, providing an important reference for future updates and maintenance decisions. Ultimately, this approach improves update efficiency, reduces system downtime, and improves the overall performance and stability of the ground data receiving system.

[0053] It should be further explained that in step 2, a sinusoidal wave input signal is applied to the embedded device program remotely using Ethernet, and the output data is collected. The stability of the embedded device program is comprehensively analyzed based on the preset program stability analysis formula combined with the safety margin and phase margin when the program is closest to an unstable state. The preset program stability analysis formula is:

[0054] ;

[0055] Where: It is the stability index of embedded device program. is the open-loop transfer function of the program, is an imaginary unit, , is the angular frequency, is the weight factor of the phase margin, which is set according to the requirements.

[0056] In step 2, a sine wave input signal is applied remotely via Ethernet to collect the output data of the embedded device program and calculate the stability index based on the preset program stability analysis formula. , which can evaluate the dynamic response and stability of the device in real time. The formula takes into account the safety margin and phase margin when it is closest to the unstable state, providing a comprehensive stability assessment that can detect stability problems (resonance and phase distortion) that may occur in the device in a timely manner, and provide early warning and adjustments before the device enters an unstable state. Using remotely applied signals and real-time data acquisition, the system can continuously monitor and maintain the safe operation of embedded device programs, effectively reduce the risk of failures caused by insufficient stability, and improve the reliability of device programs and the stability of the overall system.

[0057] It should be noted that in step 2, the frequency response characteristics of the device program are analyzed using the Nicols plot to establish the gain and phase response benchmarks of the program. In step 3, before transmitting and downloading the firmware package, data is obtained based on the drawn Nicols plot, and the preset Nicols plot analysis formula is used to confirm whether the new firmware meets the preset gain and phase response requirements.

[0058] This ensures that the new firmware is strictly verified before the update and meets the system performance standards, avoiding performance degradation, excessive gain or phase distortion after the update. Pre-verification can greatly reduce the debugging and repair time of the updated system, prevent system instability or functional failure caused by unqualified firmware, improve the security of the update and the reliability of the system, ensure the efficiency and accuracy of the update process, and maintain the overall performance stability of the system.

[0059] It should be further explained that in step 3, input signals of different frequencies are applied remotely through Ethernet, the output response of the program is collected, the gain and phase response of the program are calculated, and the Nichols plot is generated. Based on the performance benchmark before the update, the preset Nichols plot analysis formula measures the performance of the program in the frequency response through the difference between the maximum gain of the program and the expected phase and the actual phase, and identifies the problem area in the frequency response. The preset Nichols plot analysis formula is:

[0060] ;

[0061] Where: For Nichols chart analysis indicators, is the maximum gain of the embedded device program to the input signal, is the difference between the expected phase and the actual phase in the program frequency response, It is the phase difference adjustment factor, which can be set according to the requirements.

[0062] In step 3, applying input signals of different frequencies remotely via Ethernet and collecting output responses, calculating the gain and phase response of the embedded device program, and generating the Nichols plot is an important means to accurately analyze and optimize the frequency response characteristics of the system. This process is not just a regular test step, it deeply evaluates the performance of the system under various operating conditions during and after the update.

[0063] First, by generating a Nicols plot, you can gain a comprehensive understanding of the gain and phase characteristics of the system at various frequencies. This is particularly important for complex embedded systems, which can respond significantly differently at different frequencies. By analyzing these characteristics, you can identify the resonant frequencies and other potential stability problem areas of the system. These problem areas can cause the system to exhibit unexpected behavior, such as excessive oscillation or delayed response, under certain operating conditions. Preset Nicols Plot Analysis Formulas Combined maximum gain Deviation from the target value and the difference between the expected phase and the actual phase The calculation of provides a quantitative indicator for measuring and evaluating the frequency response performance of the system. This precise performance analysis and evaluation can identify potential problems before the firmware update and optimize them by adjusting control parameters or designing compensators. If the system gain is too high or the phase response deviation is large in a certain frequency range, the controller gain can be adjusted or a phase compensator can be introduced to correct these deviations. This early intervention not only prevents the problem of system performance degradation after the update, but also ensures the stability of the system under various operating conditions. In addition, by applying signals and collecting response data remotely, the entire test and analysis process can be highly automated. This greatly reduces the need for manual intervention and improves the efficiency and accuracy of testing. Remote testing also eliminates the reliance on on-site physical access during the update and debugging process, especially in distributed systems. This method is particularly efficient. Engineers can monitor and analyze the performance of multiple embedded devices in a central location, which not only saves time and cost, but also reduces the risk of human error. Ultimately, through this series of analysis and optimization steps, it is ensured that the system can quickly return to the best state after the update and maintain high performance and high reliability in long-term operation. The reliability of the system has been significantly improved because potential performance problems have been identified and handled before the update. In summary, this method provides strong technical support for solving frequency response problems and ensures that embedded device programs always perform well in a changing operating environment.

[0064] It should be noted that in step 4, during the embedded device program update process, the control interface of the embedded device program is remotely accessed through Ethernet, the preliminary gain, zero and pole are set, the closed-loop pole trajectory of the program is calculated, and the root locus diagram is generated. The real and imaginary parts of all poles are analyzed based on the preset root locus analysis formula, and the dynamic behavior of the poles with the change of gain, zero and pole is evaluated. According to the root locus diagram, the point is adjusted with gain, zero and pole to ensure that the closed-loop control pole of the program is in a stable area. The preset root locus analysis formula is:

[0065] ;

[0066] Where: is the root locus analysis value, is the pole index, is the number of poles, is the closed-loop pole, is the root of the characteristic equation of the program, and by solving the characteristic equation of the program Obtain, among which is the program matrix, is the input matrix, is the gain matrix, For the extreme The real part of For the extreme The imaginary part of is the adjustment factor of the imaginary part, is the adjustment coefficient of the sum of the real parts, is the Laplace transform, is the identity matrix.

[0067] In step 4, the control interface of the embedded device program is accessed remotely via Ethernet to set preliminary gains, zeros and poles, and to calculate and generate the root locus plot, providing an accurate way to analyze and control the closed-loop pole locus of the program. Through the root locus plot, it is clear how the system poles move as the gain, zeros and poles change. The key to this analysis is to use the preset root locus analysis formula , comprehensively evaluate the changes in the real and imaginary parts of all poles, especially the real part which is critical to the stability of the system. The formula includes the weight factors of the real and imaginary parts of the poles and The setting of enables the system to accurately adjust and optimize these parameters according to actual needs, thereby ensuring that all closed-loop control poles are in the stable region, and can evaluate and dynamically adjust the control parameters of the system in real time to prevent system instability or performance degradation caused by pole offset caused by the update. In particular, during the system update process, the poles will shift due to changes in controller parameters. At this time, the root locus diagram becomes an important tool to guide the optimization adjustment of gains and zeros to ensure that the system remains stable. Through this real-time analysis and adjustment, the system can quickly recover and maintain high performance and stability after the update, avoiding the complex process of multiple debugging in traditional methods. In addition, the setting of remote access and control interface enables this analysis and adjustment to be carried out without interrupting the normal operation of the equipment, significantly reducing system downtime and improving operational efficiency and safety. This method not only improves the reliability and stability of the system, but also greatly simplifies the update and maintenance process, providing a means of efficiently solving technical problems. By ensuring that the closed-loop system poles are in the stable region, this method effectively prevents problems such as system oscillation, overshoot and slow response, thereby optimizing the dynamic performance and response speed of the system. Ultimately, this precise root locus analysis and adjustment mechanism provides a solid technical guarantee for embedded devices to maintain excellent performance in complex control environments.

[0068] It should be further explained that the characteristic equation of the program is The solution process includes:

[0069] Step 11, define the program state space model: Determine the program state space model, which consists of the state matrix , input matrix , output matrix , transmission matrix And the state feedback matrix The composition and state equation are , the output equation is ,in is the state vector, is the input vector, is the output vector, is the state vector The time derivative of

[0070] Step 12: Construct the characteristic equation of the closed-loop control system of the embedded device program: Express the input vector as Substitute the state equation to obtain the closed-loop system state equation, and then transform it to obtain the characteristic equation of the closed-loop control system ;

[0071] Step 13, calculate the eigenvalue: calculate the matrix Subtracting matrices And add The sum of , and then calculate the determinant of the matrix, solve the equation with zero determinant, and get All solutions of .

[0072] It should be noted that in step 5, after the embedded device program is updated, the input and output data of the program are collected through Ethernet, the frequency response function before and after the update is calculated, and the Bode plot is generated. The performance improvement of the updated program is evaluated by using the preset Bode plot analysis formula, combined with the mean square error and phase error of the frequency response gain before and after the program update. The preset Bode plot analysis formula is:

[0073] ;

[0074] Where: is the Bode plot analysis value of the updated program, is the adjustment factor, set according to demand, is the frequency response of the program, obtained through model calculation, is the absolute value of the program frequency response after update, is the absolute value of the program frequency response before updating.

[0075] In step 5, after the embedded device program is updated, the program input and output data are collected through Ethernet, the frequency response function before and after the update is calculated, and the Bode plot is generated. This process provides an intuitive perspective on the frequency response characteristics of the system. Using the preset Bode plot analysis formula, combined with the mean square error and phase error of the frequency response gain before and after the program update, the performance improvement of the updated program can be accurately measured. The mean square error part of the formula quantifies the change in the frequency response gain before and after the update, while the phase error part reflects the deviation of the phase response. The benefit of this dual evaluation method is that it can not only identify any abnormal changes in the frequency response gain and phase of the updated program, but also provide specific quantitative analysis to help engineers deeply understand the impact of these changes on the overall performance of the system. Through this evaluation, the system can detect potential unstable factors introduced by the firmware update, such as resonant frequency changes, excessive gain or phase distortion, so as to take preventive measures to avoid unexpected problems in the actual operation of the system. In addition, this method can quickly conduct synchronous evaluation of multiple devices through remote data collection and analysis, saving the time and cost of manual testing and reducing errors caused by manual intervention. The remote evaluation feature also makes it particularly suitable for the maintenance and update of distributed systems, providing a flexible and efficient management method. In general, through this method, engineers can quickly evaluate and verify the frequency response characteristics of the equipment after the update, ensuring that the system always maintains the best dynamic performance and stability under a changing working environment, providing strong technical support for the long-term reliable operation of complex control systems.

[0076] After obtaining the above-mentioned key parameters of the Nyquist diagram, Nichols diagram, root locus diagram and Bode diagram, the comprehensive evaluation index is defined as the weighted sum of these four parameters. The weight factor is set according to the program requirements of each embedded device. The program of each embedded device controlled by the antenna control unit is traversed. By calculating the comprehensive evaluation index, it helps to quickly judge the comprehensive performance of the embedded device control program and sort the scores in descending order, which solves the problem of difficulty in comparison caused by the inconsistent performance evaluation standards of different embedded devices. It can quickly identify device programs with poor performance, give priority to and update clusters of devices with low scores, allocate maintenance resources more effectively, and dynamically monitor over time, continuously track the changing trends of device performance, which helps to continuously optimize and improve control strategies during the operation of embedded device control programs. The data of comprehensive evaluation indicators, combined with historical trend analysis, assist in decision-making on embedded device hardware upgrades and program updates, and enhance the efficiency of control and maintenance of the control system and fault handling.

[0077] like Figure 2 As shown, a ground system equipment proposed by the present invention applies the above-mentioned Ethernet-based embedded device program update method, including an embedded device, a firmware management server, a remote operation and maintenance control system, an intelligent data analysis module, a secure communication authentication module, a redundant update support system, a self-check rollback guarantee module, and a user interactive reporting system. The firmware management server is connected to the remote operation and maintenance control system, the secure communication authentication module, and the embedded device. The remote operation and maintenance control system is connected to the embedded device, the intelligent data analysis module, and the redundant update support system. The user interactive reporting system is connected to the firmware management server, the remote operation and maintenance control system, and the intelligent data analysis module.

[0078] It should be noted that the firmware management module is used as an update server to store the firmware and program versions of embedded devices, monitor the status of the antenna control unit, manage and record the version information and report status of the device. The remote operation and maintenance control system remotely controls the embedded device through Ethernet, applies test signals, collects device output responses, and monitors the device status in real time. The intelligent data analysis module collects and processes the input and output data of the embedded device, traverses all embedded devices, and generates Nyquist diagrams, Nichols diagrams, root locus diagrams, and Bode diagrams for all device control programs. It performs program control system performance evaluation and parameter optimization based on preset formulas. The secure communication authentication module ensures the security of data transmission and program update process, supports HTTPS and SSL encryption protocols, and the redundant update support system supports redundant mechanisms and hot updates during device program update process. After the update is completed, the self-check and rollback guarantee module automatically performs program self-check tests to detect the running status of the new version of the program. If an abnormality is detected, it will automatically roll back to the old version. The user interaction reporting system provides a user interface, displays device program status, program update progress and data analysis results, and generates logs and reports.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0080] Finally: The above description is only the technical solution of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for updating embedded device programs based on Ethernet, characterized in that: include: Step 1, remote update server setting: set up an update server to store firmware and program versions. The update server can monitor the status of the antenna control unit controlling the embedded device and record the current version information; Step 2, device self-check and notification: The embedded device periodically sends a status report to the update server. The status report includes the current version and running status. The update server compares the current version of the embedded device program with the latest version and decides whether to notify the embedded device to update the program. Step 3, secure authentication and transmission: Use encryption protocol to securely update data. The embedded device downloads the firmware package from the update server and checks the integrity of the downloaded firmware package. Step 4, hot update of embedded device program: use redundancy mechanism in the update process so that the embedded device can continue to work normally during the program update process, install the new firmware in the background, and switch to the new version after verification; Step 5, update confirmation and rollback mechanism: After the update is completed, the embedded device performs a self-test to ensure that the new version of the program runs normally. If an abnormality is detected in the new version of the program, the embedded device automatically rolls back to the old version; In step 1, the current running status data of the embedded device program is collected and analyzed, a Nyquist diagram is generated, an initial stability benchmark of the device program is established, and the generated data is stored in the update server. In step 2, when the embedded device sends a report regularly, the open-loop frequency response of the embedded device program is analyzed using the Nyquist diagram based on a preset program stability analysis formula to obtain a stability index of the embedded program. In step 2, a sinusoidal wave input signal is applied to the embedded device program remotely using Ethernet, and the output data is collected. The stability of the embedded device program is comprehensively analyzed based on the preset program stability analysis formula combined with the safety margin and phase margin when the program is closest to the unstable state. The preset program stability analysis formula is: ； Where: It is the stability index of embedded device program. is the open-loop transfer function of the program, is an imaginary unit, , is the angular frequency, is the weight factor of the phase margin, which is set according to the requirements.

2. The method for updating embedded device program based on Ethernet according to claim 1, characterized in that: In step 2, the frequency response characteristics of the device program are analyzed using a Nicols plot to establish a gain and phase response benchmark for the program. In step 3, before transferring and downloading the firmware package, data is acquired based on the drawn Nicols plot, and a preset Nicols plot analysis formula is used to confirm whether the new firmware meets the preset gain and phase response requirements.

3. The method for updating embedded device program based on Ethernet according to claim 2, characterized in that: In step 3, input signals of different frequencies are applied remotely through Ethernet, the output response of the program is collected, the gain and phase response of the program are calculated, and a Nichols plot is generated. Based on the performance benchmark before the update, the preset Nichols plot analysis formula measures the performance of the program in the frequency response through the difference between the maximum gain of the program and the expected phase and the actual phase, and identifies the problem area in the frequency response. The preset Nichols plot analysis formula is: ； Where: For Nichols Chart Analysis Indicator, is the maximum gain of the embedded device program to the input signal, is the difference between the expected phase and the actual phase in the program frequency response, It is the phase difference adjustment factor, which can be set according to the requirements.

4. The method for updating embedded device program based on Ethernet according to claim 1, characterized in that: In step 4, during the embedded device program update process, the control interface of the embedded device program is remotely accessed through Ethernet, the preliminary gain, zero and pole are set, the closed-loop pole trajectory of the program is calculated, and the root locus diagram is generated. The real and imaginary parts of all poles are analyzed based on the preset root locus analysis formula, and the dynamic behavior of the poles with the change of gain, zero and pole is evaluated. According to the root locus diagram, the point is adjusted with gain, zero and pole to ensure that the closed-loop control pole of the program is in a stable area. The preset root locus analysis formula is: ； Where: is the root locus analysis value, is the pole index, is the number of poles, is the closed-loop pole, is the root of the characteristic equation of the program, and by solving the characteristic equation of the program Obtain, among which is the program matrix, is the input matrix, is the gain matrix, For the extreme The real part of For the extreme The imaginary part of is the adjustment factor of the imaginary part, is the adjustment coefficient of the sum of the real parts, is the Laplace transform, is the identity matrix.

5. The method for updating embedded device program based on Ethernet according to claim 4, characterized in that: Characteristic equation of the program The solution process includes: Step 11, define the program state space model: Determine the program state space model, which consists of the state matrix , input matrix , output matrix , transmission matrix And the state feedback matrix The composition and state equation are , the output equation is ,in is the state vector, is the input vector, is the output vector, is the state vector The time derivative of Step 12: Construct the characteristic equation of the closed-loop control system of the embedded device program: Express the input vector as Substitute the state equation to obtain the closed-loop system state equation, and then transform it to obtain the characteristic equation of the closed-loop control system ; Step 13, calculate the eigenvalue: calculate the matrix Subtracting matrices And add The sum of , and then calculate the determinant of the matrix, solve the equation with zero determinant, and get All solutions of .

6. The method for updating embedded device program based on Ethernet according to claim 1, characterized in that: In step 5, after the embedded device program is updated, the input and output data of the program are collected through Ethernet, the frequency response function before and after the update is calculated, and the Bode plot is generated. The performance improvement of the updated program is evaluated by using the preset Bode plot analysis formula, combined with the mean square error and phase error of the frequency response gain before and after the program update. The preset Bode plot analysis formula is: ； Where: is the Bode plot analysis value of the updated program, is the adjustment factor, set according to demand, is the frequency response of the program, obtained through model calculation, is the absolute value of the program frequency response after update, is the absolute value of the program frequency response before updating.

7. A ground system device, used to implement the Ethernet-based embedded device program update method according to any one of claims 1 to 6, characterized in that: It includes embedded devices, firmware management servers, remote operation and maintenance control systems, intelligent data analysis modules, secure communication authentication modules, redundant update support systems, self-check and rollback guarantee modules, and user interaction reporting systems. The firmware management server is connected to the remote operation and maintenance control system, secure communication authentication modules, and embedded devices. The remote operation and maintenance control system is connected to the embedded devices, intelligent data analysis modules, and redundant update support systems. The user interaction reporting system is connected to the firmware management server, remote operation and maintenance control system, and intelligent data analysis modules.

8. A ground system device according to claim 7, characterized in that: The firmware management module is used as an update server to store the firmware and program versions of embedded devices, monitor the status of the antenna control unit, manage and record the version information and report status of the device. The remote operation and maintenance control system remotely controls the embedded device through Ethernet, applies test signals, collects device output responses, and monitors the device status in real time. The intelligent data analysis module collects and processes the input and output data of the embedded device, traverses all embedded devices, and generates Nyquist diagrams, Nichols diagrams, root locus diagrams, and Bode diagrams for all device control programs. It performs program control system performance evaluation and parameter optimization based on preset formulas. The secure communication authentication module ensures the security of data transmission and program update process, supports HTTPS and SSL encryption protocols, and the redundant update support system supports redundant mechanisms and hot updates during device program update process. After the update is completed, the self-check and rollback guarantee module automatically performs program self-check tests to detect the running status of the new version of the program. If an abnormality is detected, it will automatically roll back to the old version. The user interaction reporting system provides a user interface, displays device program status, program update progress and data analysis results, and generates logs and reports.

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