Communication control and fault handling method of Mars rover components based on two-layer counters

Abstract

A two-layer counter-based autonomous communication control and fault handling method for Mars rover components uses two layers of counters to implement component communication control and fault handling. One layer of counters records the number of consecutive communication failure cycles. When this count reaches a set threshold, communication fault handling begins. Another layer of counters records the number of fault handling cycles and controls the sequential execution of various fault handling actions. This method decouples communication control and fault handling control functions, resulting in cohesive and clear control logic, making it well-suited to addressing changing requirements. Changing any functional requirement only requires modifying that function, without spreading the impact domain. This ensures the correctness, robustness, and stability of the software system throughout the development process.

Description

Technical Field

[0001] The present invention relates to a two-layer counter-based autonomous communication control and fault handling method for Mars rover components, which is applicable to autonomous communication control and fault handling of GNC application software components of a satellite-borne computer. Background Art

[0002] When the Mars rover performs its exploration mission, it needs measurement data from a variety of sensor components to provide support. Once a sensor component fails, the rover will lose some of its related detection functions. Therefore, various sensor components on the Mars rover are equipped with primary and backup redundant configurations.

[0003] The existing application software design method uses a counter and multiple thresholds to implement communication control and fault handling. This method has a major drawback, which is that it couples the two functions of communication control and fault handling control. The communication control during the fault handling process is scattered and unclear, which is prone to errors. It also cannot cope well with changes in requirements, especially it is difficult to conduct a comprehensive impact domain analysis, which can easily lead to hidden dangers and software defects. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide a method for autonomous communication control and fault handling of Mars rover components based on a two-layer counter. The method improves the existing method and adopts a two-layer counter to realize component communication control and fault handling control, decoupling the two functions of communication control and fault handling control, thereby providing guarantees for the correctness, robustness and stability of the software system during the entire development process.

[0005] The technical solution of the present invention is:

[0006] The communication control and troubleshooting method of the Mars rover components based on the two-layer counter is as follows:

[0007] (1) If the rover component is on duty and the value of the fault handling counter nHandle is 0, go to step (2); otherwise, go to step (4) to enter the fault handling;

[0008] (2) Acquire measurement data from the rover components. If the acquisition is successful, the value of the continuous communication failure counter nFail is cleared to zero. Otherwise, nFail is incremented by 1, and the process goes to step (3).

[0009] (3) If the value of the continuous communication failure counter nFail reaches the communication failure determination threshold N1, go to step (4) to enter the fault processing, otherwise go to step (1) to obtain the measurement data of the next cycle;

[0010] (4) Perform fault handling: If the value of the fault handling counter nHandle is 0, go to step (5); otherwise, go to step (6);

[0011] (5) Power off the rover components and set them to off-duty, power on the rover backup components, and go to step (6);

[0012] (6) Increment the value of the fault handling counter nHandle by 1, and go to step (7);

[0013] (7) If the value of the fault handling counter nHandle reaches the waiting threshold N2, go to step (8), otherwise go to step (4);

[0014] (8) The backup component of the Mars rover is set to active duty and the backup component of the Mars rover is enabled for communication.

[0015] Furthermore, a fault handling counter and a continuous communication failure counter are set in the rover control system; the initial values ​​of both are set to 0.

[0016] Furthermore, the fault handling counter is used to record the number of times the fault is handled.

[0017] Furthermore, the consecutive communication failure counter refers to the number of times that measurement data from the rover components have failed.

[0018] Furthermore, the Mars rover component being on duty means that the Mars rover component is currently in working condition.

[0019] Furthermore, a rover component being off-duty means that the rover component is in a non-working state.

[0020] Furthermore, the communication failure determination threshold N1 is less than the waiting threshold N2.

[0021] Furthermore, the present invention also proposes a Mars rover component communication control and fault handling system based on a two-layer counter, comprising:

[0022] Two-layer counter setting module: set the fault processing counter and continuous communication failure counter in the Mars rover control system; the initial values ​​are set to 0;

[0023] Fault handling counter judgment module: If the rover component is on duty and the value of the fault handling counter nHandle is 0, the measurement data is obtained from the rover component, otherwise the fault handling is performed; if the measurement data is successfully obtained from the rover component, the value of the continuous communication failure counter nFail is cleared, otherwise nFail is accumulated by 1;

[0024] Continuous communication failure counter judgment module: If the value of the continuous communication failure counter nFail reaches the communication failure judgment threshold N1, fault processing is performed, otherwise measurement data acquisition of the next cycle is performed;

[0025] Fault handling module: Perform fault handling. If the value of the fault handling counter nHandle is 0, the rover component will be powered off and set to off-duty, and the rover backup component will be powered on, so that the value of the fault handling counter nHandle is accumulated by 1; otherwise, the value of the fault handling counter nHandle is directly accumulated by 1; if the value of the fault handling counter nHandle reaches the waiting threshold N2, the rover backup component will be set to on-duty and the rover backup component will be enabled for communication.

[0026] The advantages of the present invention compared with the prior art are:

[0027] The present invention proposes a method for autonomous communication control and fault handling of Mars rover components based on two-layer counters. It improves the existing method and adopts two-layer counters to realize component communication control and fault handling control, decoupling the two functions of communication control and fault handling control. The control logic is cohesive and clear, and can well cope with changes in requirements. No matter which functional requirement changes, only the function itself needs to be changed, and the impact domain will not be spread, thus providing guarantees for the correctness, robustness and stability of the software system during the entire development process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of autonomous communication control and fault handling of Mars rover components based on two-layer counters of the present invention. DETAILED DESCRIPTION

[0029] The main logic for communication control and fault handling of Mars rover components involves periodically acquiring measurement data from the component. If the number of consecutive data acquisition failures reaches a threshold, fault handling begins. The component is first powered down, then the power is restored after a certain period of time. A backup component is then powered up. After a certain period of time, when the backup component is ready for communication, the backup component is placed in active duty and used for communication. This invention proposes a method for autonomous communication control and fault handling of Mars rover components based on a two-tier counter. This improves upon existing methods by implementing component communication control and fault handling control using two tiers of counters. A first tier counter records the number of consecutive communication failure cycles. When this count reaches a set threshold, communication fault handling begins. A second tier counter records the number of fault handling cycles and controls the sequential execution of various fault handling actions. This method decouples communication control and fault handling control, resulting in cohesive and clear control logic. This method effectively adapts to changing requirements. Changing requirements for any function only requires modifying the function itself, without escalating the impact domain. This ensures the correctness, robustness, and stability of the software system throughout the development process.

[0030] like Figure 1As shown, the present invention proposes a Mars rover component communication control and fault handling method based on a two-layer counter. A fault handling counter and a continuous communication failure counter are set in the Mars rover control system; both are initially set to 0. The fault handling counter is used to record the number of faults handled. The continuous communication failure counter indicates the number of failed attempts to obtain measurement data from the Mars rover component.

[0031] The specific steps are as follows:

[0032] (1) If the rover component is on duty and the value of the fault handling counter nHandle is 0, go to step (2); otherwise, go to step (4) to enter fault handling; the rover component on duty means that the rover component is currently in working condition.

[0033] (2) Acquire measurement data from the rover components. If the acquisition is successful, the value of the continuous communication failure counter nFail is cleared to zero. Otherwise, nFail is incremented by 1, and the process goes to step (3).

[0034] (3) If the value of the continuous communication failure counter nFail reaches the communication failure determination threshold N1, go to step (4) to enter the fault processing, otherwise go to step (1) to obtain the measurement data of the next cycle;

[0035] (4) Perform fault handling: If the value of the fault handling counter nHandle is 0, go to step (5); otherwise, go to step (6);

[0036] (5) Power off the rover components and set them to off-duty, power on the rover backup components, and go to step (6); off-duty rover components mean that the rover components are in a non-working state.

[0037] (6) Increment the value of the fault handling counter nHandle by 1, and go to step (7);

[0038] (7) If the value nHandle of the fault handling counter reaches the waiting threshold N2, go to step (8), otherwise go to step (4); preferably, the present invention sets the communication failure determination threshold N1 < the waiting threshold N2.

[0039] (8) The backup component of the Mars rover is set to active duty and the backup component of the Mars rover is enabled for communication.

[0040] Furthermore, the present invention proposes a Mars rover component communication control and fault handling system based on a two-layer counter, comprising:

[0041] Two-layer counter setting module: set the fault processing counter and continuous communication failure counter in the Mars rover control system; the initial values ​​are set to 0;

[0042] Fault handling counter judgment module: If the rover component is on duty and the value of the fault handling counter nHandle is 0, the measurement data is obtained from the rover component, otherwise the fault handling is performed; if the measurement data is successfully obtained from the rover component, the value of the continuous communication failure counter nFail is cleared, otherwise nFail is accumulated by 1;

[0043] Continuous communication failure counter judgment module: If the value of the continuous communication failure counter nFail reaches the communication failure judgment threshold N1, fault processing is performed, otherwise measurement data acquisition of the next cycle is performed;

[0044] Fault handling module: Perform fault handling. If the value of the fault handling counter nHandle is 0, the rover component will be powered off and set to off-duty, and the rover backup component will be powered on, so that the value of the fault handling counter nHandle is accumulated by 1; otherwise, the value of the fault handling counter nHandle is directly accumulated by 1; if the value of the fault handling counter nHandle reaches the waiting threshold N2, the rover backup component will be set to on-duty and the rover backup component will be enabled for communication.

[0045] Example 1:

[0046] For example, for the design of autonomous communication control and fault handling process of the Mars rover inertial measurement unit (IMU), the specific steps are as follows:

[0047] (1) If the IMU master is on duty and the fault handling count value (nHandle) is 0, go to step (2); otherwise, go to step (4);

[0048] (2) Obtain measurement data from the IMU master. If the acquisition is successful, the continuous communication failure count value (nFail) is cleared to zero. Otherwise, nFail is accumulated by 1 and the process goes to step (3).

[0049] (3) If the nFail value reaches the communication failure judgment threshold N1, go to step (4) to enter the fault processing, otherwise go to step (1) to obtain the IMU measurement data of the next cycle;

[0050] (4) If the value of nHandle is 0, go to step (5), otherwise go to (step 6);

[0051] (5) Power off the main IMU and set it to off-duty, power on the backup IMU, and go to step (6);

[0052] (6) nHandle is incremented by 1; go to step (7);

[0053] (7) If the nHandle value reaches the waiting threshold N2, go to step (8), otherwise go to step (4);

[0054] (8) Set the IMU backup to active duty and enable IMU backup for communication.

[0055] The present invention adopts two layers of counters to realize component communication control and fault handling control, decoupling the two functions of communication control and fault handling control. The control logic is cohesive and clear, which can well cope with demand changes.

Claims

1. A Mars rover component communication control and fault handling method based on a two-layer counter, characterized in that Here are the steps: (1) If the rover component is on duty and the value of the fault handling counter nHandle is 0, go to step (2); otherwise, go to step (4) to enter the fault handling; (2) Acquire measurement data from the rover components. If the acquisition is successful, the value of the continuous communication failure counter nFail is cleared to zero. Otherwise, nFail is incremented by 1, and the process goes to step (3). (3) If the value of the continuous communication failure counter nFail reaches the communication failure determination threshold N1, go to step (4) to enter the fault processing, otherwise go to step (1) to obtain the measurement data of the next cycle; (4) Perform fault handling: If the value of the fault handling counter nHandle is 0, go to step (5); otherwise, go to step (6); (5) Power off the rover components and set them to off-duty, power on the rover backup components, and go to step (6); (6) Increment the value of the fault handling counter nHandle by 1, and go to step (7); (7) If the value of the fault handling counter nHandle reaches the waiting threshold N2, go to step (8), otherwise go to step (4); (8) The backup component of the Mars rover is set to active duty and the backup component of the Mars rover is enabled for communication.

2. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 is characterized in that: A fault handling counter and a continuous communication failure counter are set in the Mars rover control system; the initial values ​​are both set to 0.

3. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 or 2, characterized in that: The fault processing counter is used to record the number of times the fault is processed.

4. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 or 2, characterized in that: The consecutive communication failure counter is the number of times that attempts to obtain measurement data from a rover component have failed.

5. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 is characterized in that: The Mars rover component being on duty means that the Mars rover component is currently in working condition.

6. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 is characterized in that: A rover component that is off-duty means that the rover component is in a non-working state.

7. The Mars rover component communication control and fault handling method based on a two-layer counter according to claim 1 is characterized in that: The communication failure determination threshold N1 < the waiting threshold N2.

8. A Mars rover component communication control and fault handling system based on a two-layer counter, characterized by include: Two-layer counter setting module: setting fault processing counter and continuous communication failure counter in the Mars rover control system; The initial values ​​are all set to 0; Fault handling counter judgment module: If the rover component is on duty and the value of the fault handling counter nHandle is 0, the measurement data is obtained from the rover component, otherwise the fault handling is performed; if the measurement data is successfully obtained from the rover component, the value of the continuous communication failure counter nFail is cleared, otherwise nFail is accumulated by 1; Continuous communication failure counter judgment module: If the value of the continuous communication failure counter nFail reaches the communication failure judgment threshold N1, fault processing is performed, otherwise measurement data acquisition of the next cycle is performed; Fault handling module: Perform fault handling. If the value of the fault handling counter nHandle is 0, the rover components are powered off and set to off-duty, and the backup components of the rover are powered on, so that the value of the fault handling counter nHandle is incremented by 1. Otherwise, the value of the fault handling counter nHandle is directly increased by 1; If the value nHandle of the fault handling counter reaches the waiting threshold N2, the rover backup component is set to be on duty and the rover backup component is enabled to communicate.

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