A method and system for determining the instruction sending status of a spacecraft

Abstract

The present application provides a method and system for determining the spacecraft command sending status. The method includes: receiving a comparison application information and the corresponding small loop comparison information queue, where the comparison application information is generated after the command sending control system sends a control command; the ground station sends at least one command code to the spacecraft in response to the control command; determining the spacecraft command sending status corresponding to each control command according to the comparison application information and the small loop information queue, so as to monitor the spacecraft. This method designs a comparison architecture and a sending status comparison process based on the small loop comparison information. By introducing the small loop comparison information fed back by the ground station, the judgment of the ground station sending status is automatically completed, and the comparison result is output, realizing the monitoring and judgment of the intermediate nodes of the command sending execution, enabling the ground control center to quickly locate the link where a fault occurs in the command sending process, and at the same time being able to further monitor the spacecraft status.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft, and more specifically, to a method and system for determining a spacecraft command sending status. Background Art

[0002] In deep space exploration missions, the spacecraft flies a long distance. It takes nearly 1 hour for the ground control center to send instructions to the spacecraft and receive downlink telemetry information, and it is impossible to quickly monitor the instruction sending situation. After the ground control center sends the instruction, the telemetry parameters are collected in real time to judge the execution effect, and subsequent control is performed according to the instruction judgment result. This method only judges the final execution result of the remote control instruction, and the ground control software does not judge the status of each link of the instruction sent by the ground station. When the spacecraft instruction is not executed, it is difficult for the ground control center to determine which link of the instruction sending process has a fault, so it is necessary to consider introducing other data for judging the sending status of the instruction. In the instruction sending process, after the ground station receives the instruction sent by the ground control software, it sends the instruction code to the spacecraft, monitors the instruction code sending status, records the sending status as small ring comparison information, and feeds back the small ring comparison information to the ground control center. The present invention designs an automatic judgment method for the sending status of the spacecraft instruction by receiving the small ring comparison information fed back by the ground station, and realizes the detection and judgment of the ground sending link of the instruction by the ground control software.

[0003] Prior art 1 related to the present invention: In the process of spacecraft control, spacecraft telemetry data is received in real time, and the technical changes of telemetry instructions before and after the instruction is sent are judged to realize the comparison of instruction sending and execution. See patent "Remote control instruction execution judgment method based on instruction count change as judgment criterion", patent number 2018100674657. Prior art 1 realizes the judgment of the final execution result of the remote control instruction, but does not introduce the information fed back by the ground station, and cannot judge the intermediate links. By analyzing the implementation scheme of technology 1, there are the following shortcomings: (1) This scheme only judges the final execution result of the remote control instruction, and the ground control software does not judge the status of each link of the instruction sent by the ground station. When the spacecraft instruction is not executed, it is difficult for the ground control center to determine which link of the instruction sending process has a fault. (2) This scheme adopts the method of real-time collection of telemetry parameters transmitted by the spacecraft, and judges the method of instruction execution by comparing the telemetry parameter value of the instruction count after the instruction is issued and the value of the telemetry parameter before the instruction is issued. When the interval between two instructions is shorter than the sampling and downloading time of telemetry parameters, it is easy to misjudge the execution of instructions, which reduces the reliability of instruction sending and effect judgment. (3) This solution is suitable for the case where the transmission delay between the spacecraft and the ground control center is small. When the transmission delay between the spacecraft and the ground is large, the ground control center needs to wait for a long time to obtain the spacecraft telemetry and execution status, which is difficult to meet the needs of real-time and reliable ground control.

[0004] Prior art 2 related to the present invention: The ground control center receives the small ring comparison information fed back by the ground station, introduces it into the display system, and outputs it one by one on the monitoring page. The operator monitors the small ring comparison information, searches for the small ring comparison information that matches the current sending instruction from multiple small ring comparison information, checks the instruction forwarding result in the small ring comparison information, and manually judges the forwarding of the instruction by the ground station. Prior art 2 introduces the small ring comparison information fed back by the ground station, and manually judges the forwarding of the instruction by the ground station. This technology has the following disadvantages: (1) This scheme requires the operator to monitor the small ring comparison information and make judgments, which consumes the operator's energy and is inefficient. (2) This scheme requires the operator to search for the small ring comparison information that matches the current sending instruction from multiple small ring comparison information, which is prone to matching errors, resulting in misjudgment of the instruction sending result. (3) The manual judgment result of this scheme cannot be automatically fed back to the ground control system, and the automatic selection of subsequent control branches cannot be realized. Summary of the invention

[0005] In response to the problems in the prior art, the present invention provides a method and system for determining the status of spacecraft command sending. By receiving the small-ring comparison information fed back by the ground station in real time, the matching of the command sending information and the feedback information is automatically completed, and the sending status is compared within the effective time. Abnormal situations such as no small-ring comparison information are processed, and the comparison results are output to an external command sending control system, thereby improving the monitoring efficiency of command sending and the reliability of control, and further monitoring the status of spacecraft data interaction.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] In a first aspect, the present invention provides a method for determining a spacecraft command sending state, comprising:

[0008] Receive comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control instruction; wherein the ground station sends at least one instruction code to the spacecraft in response to the control instruction; each of the small ring comparison information in the small ring comparison information queue includes a transmission status data of an instruction code;

[0009] The ground control center sends the instruction corresponding to each control instruction according to the comparison application information and the small ring comparison information queue, and the success status of the ground station sending the instruction to the spacecraft is determined.

[0010] In a preferred embodiment, the comparison application information includes timestamp information of sending the comparison application information, the small ring comparison information includes timestamp information of receiving the small ring comparison information, and the ground control center sending instructions corresponding to each control instruction is determined according to the comparison application information and the small ring comparison information queue, and the ground station sends the instruction to the spacecraft. Successful state includes:

[0011] According to the comparison application information, a timeout moment for receiving the small ring comparison information is set;

[0012] The command sending status of the spacecraft and the ground station corresponding to each control instruction is determined based on the timeout moment of receiving the small-ring comparison information and the timestamp information in the small-ring comparison information queue.

[0013] In a preferred embodiment, the step of setting a timeout moment for receiving the small ring comparison information according to the comparison application information includes:

[0014] The receiving timeout moment is calculated according to the comparison application information, the preset waiting time and the transmission delay, wherein the transmission delay is the total time required for the comparison application information to be transmitted from the command sending control system to the ground station, the waiting time is the time for waiting to receive the small-ring comparison information, and the timestamp information of the comparison application information is the command sending time.

[0015] In a preferred embodiment, the comparison application information includes the instruction code length and the instruction code sending rate, and the receiving timeout moment is calculated based on the timestamp information of the comparison application information and the preset waiting time and transmission delay, including:

[0016] The instruction sending time, the ratio of the instruction code length to the instruction sending code rate, the transmission delay and the sum of the waiting time difference are calculated to obtain the receiving timeout time.

[0017] In a preferred embodiment, the method for determining the spacecraft command sending status further includes:

[0018] If the small ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction has failed.

[0019] In a preferred embodiment, the small ring comparison information also includes the first bit time when the ground station sends the command code, and the combination of the comparison application information and the timestamp information in the small ring comparison information queue determines the command sending status of the spacecraft and the ground station corresponding to each control command, including:

[0020] Arrange all the small-ring comparison information in the small-ring comparison information queue in ascending order of the first bit time;

[0021] Calculate the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent. If the difference reaches the set threshold, it is determined that the small ring comparison information corresponding to the first bit time matches the comparison application information.

[0022] The command sending status of the spacecraft and the ground station corresponding to each control command is determined according to the small ring comparison information matching the comparison application information.

[0023] In a preferred embodiment, the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent is calculated in turn. If the difference reaches a set threshold, it is determined that the small ring comparison information corresponding to the first bit time matches the comparison application information, including:

[0024] Calculate the difference between the first bit time of the small ring comparison result and the instruction sending time of the comparison application;

[0025] The matching operation is performed. If the first small ring comparison information with a difference greater than zero is found in the small ring comparison queue, and the reception time of the small ring comparison information is less than the timeout time of the comparison application, it is determined that the small ring comparison information matches the comparison application.

[0026] In a preferred embodiment, it also includes:

[0027] Obtain comparison application information cyclically according to a preset period, and obtain small ring comparison information in sequence from the head of the small ring information queue;

[0028] The matching operation is iterated, and the iterative operation includes:

[0029] Check whether the small ring comparison information matches the comparison application information according to the matching method;

[0030] If the two fail to match, continue to obtain the next small ring comparison information. If the two match successfully, determine whether the instruction is sent successfully based on the small ring comparison information, and set the comparison result flag to "successful sending" or "failed to send";

[0031] Maintain the comparison application queue and the small ring information queue, delete invalid comparison application information and small ring comparison information, cancel the corresponding timer setting, and continue to process the next comparison application information until all comparison application information is processed.

[0032] In a preferred embodiment, the method for determining the spacecraft command sending status further includes:

[0033] When the comparison is completed or times out, the comparison application queue and the small ring comparison queue are maintained for the comparison application.

[0034] In a preferred embodiment, when the comparison is completed or timed out, the comparison application queue and the small ring comparison queue are maintained and processed, including:

[0035] When the comparison is completed, if the small ring comparison information corresponding to the comparison application is found, the comparison application record is deleted from the comparison application queue, and all small ring comparison information whose first bit time is less than or equal to the first bit time of the small ring comparison information is deleted from the small ring comparison queue, and the timer maintenance module is notified to cancel the timer setting corresponding to the comparison application;

[0036] In the case of comparison timeout, if the small ring comparison information corresponding to the comparison application is not found, the comparison application record is deleted from the comparison application queue, and all small ring comparison information whose first bit time is less than or equal to the instruction sending time of the comparison application information is deleted from the small ring comparison queue.

[0037] In a second aspect, the present invention provides a system for determining a spacecraft command sending state, comprising:

[0038] An information receiving module receives comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; and each small ring comparison information includes a transmission status data of a command code;

[0039] Information processing module: determines the instruction sending status between the spacecraft and the ground station corresponding to each control instruction according to the comparison application information and the small ring comparison information queue.

[0040] In a preferred embodiment, the system for determining the spacecraft command sending status further comprises:

[0041] Timeout processing module: if the small ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction has failed;

[0042] Information maintenance module: deletes the comparison application information and its corresponding small ring comparison information queue after the comparison is completed.

[0043] In a preferred embodiment, the comparison application information includes timestamp information of sending the comparison application information, the small ring comparison information includes timestamp information of receiving the small ring comparison information, and the information processing module includes:

[0044] Timing component: according to the comparison application information, set the small ring comparison information receiving timeout time;

[0045] Information processing component: Based on the timeout moment of receiving the small-ring comparison information, combined with the comparison application information and the timestamp information in the small-ring comparison information queue, determine the command sending status between the spacecraft and the ground station corresponding to each control command.

[0046] In a preferred embodiment, the information processing component includes:

[0047] An information arranging unit: arranging all the small-ring comparison information in the small-ring comparison information queue in ascending order of the first bit time;

[0048] Information matching unit: calculates the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent in sequence, and if the difference reaches a set threshold, determines that the small ring comparison information corresponding to the first bit time matches the comparison application information;

[0049] A state determination unit is used to determine the command sending state between the spacecraft and the ground station corresponding to each control command according to the small ring comparison information matching the comparison application information.

[0050] In a preferred embodiment, the information matching unit includes:

[0051] A line-by-line calculation unit calculates the difference between the first bit time of the small ring comparison result and the instruction sending time of the comparison application line by line;

[0052] The matching operation unit performs a matching operation. If the first small ring comparison information with a difference greater than zero is found in the small ring comparison queue, and the reception time of the small ring comparison information is less than the timeout time of the comparison application, it is determined that the small ring comparison information matches the comparison application.

[0053] In a preferred embodiment, it also includes:

[0054] A periodic acquisition unit, cyclically acquiring comparison application information according to a preset period, and sequentially acquiring small ring comparison information from the head of the small ring information queue;

[0055] An iterative operation unit, which iteratively performs the matching operation, wherein the iterative operation includes:

[0056] Check whether the small ring comparison information matches the comparison application information according to the matching method;

[0057] If the two fail to match, continue to obtain the next small ring comparison information. If the two match successfully, determine whether the instruction is sent successfully based on the small ring comparison information, and set the comparison result flag to "successful sending" or "failed to send";

[0058] Maintain the comparison application queue and the small ring information queue, delete invalid comparison application information and small ring comparison information, cancel the corresponding timer setting, and continue to process the next comparison application information until all comparison application information is processed.

[0059] In a preferred embodiment, it also includes:

[0060] The maintenance processing module performs maintenance processing on the comparison application queue and the small ring comparison queue for the comparison application when the comparison is completed or times out.

[0061] In a preferred embodiment, the maintenance processing module includes:

[0062] The first maintenance processing unit, when the comparison is completed, if the small ring comparison information corresponding to the comparison application is found, deletes the comparison application record from the comparison application queue, deletes all small ring comparison information whose first bit time is less than or equal to the first bit time of the small ring comparison information from the small ring comparison queue, and notifies the timer maintenance module to cancel the timer setting corresponding to the comparison application;

[0063] The second maintenance processing unit, when the comparison times out, deletes the comparison application record from the comparison application queue if the small ring comparison information corresponding to the comparison application is not found, and deletes all small ring comparison information whose first bit time is less than or equal to the instruction sending time of the comparison application information from the small ring comparison queue.

[0064] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for determining the status of sending spacecraft instructions when executing the program.

[0065] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the spacecraft instruction sending status.

[0066] It can be seen from the above technical scheme that the present invention provides a method and system for determining the sending status of spacecraft commands, and designs a comparison and judgment architecture based on small-loop comparison information and a sending status comparison and judgment process. By introducing the small-loop comparison information fed back by the ground station, the judgment of the sending status of the ground station is automatically completed, and the comparison and judgment result is output, so that the monitoring and judgment of the intermediate nodes of the command sending execution are realized, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the status of the spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0068] Figure 1 This is a flow chart of a method for determining a spacecraft command sending state in an embodiment of the present application;

[0069] Figure 2 This is a flow chart of step S200 in the method for determining the spacecraft command sending state in an embodiment of the present application;

[0070] Figure 3 This is a flow chart of step S202 in the method for determining the spacecraft command sending state in an embodiment of the present application;

[0071] Figure 4 This is a schematic diagram of the structure of a system for determining the state of sending spacecraft commands in an embodiment of the present application;

[0072] Figure 5 This is a schematic diagram of the structure of an information processing module in a system for determining the state of sending spacecraft instructions in an embodiment of the present application;

[0073] Figure 6 It is a schematic diagram of the structure of a specific embodiment of a system for determining the state of sending spacecraft commands in an implementation manner of the present invention;

[0074] Figure 7 It is a schematic flow chart of a specific embodiment of a system for determining the state of sending spacecraft commands in an embodiment of the present invention;

[0075] Figure 8 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0077] At present, in deep space exploration missions, spacecraft fly long distances, and it takes nearly 1 hour for the ground control center to send commands to the spacecraft and receive downlink telemetry information, making it impossible to quickly monitor the command sending situation. After the ground control center sends the command, it collects telemetry parameters in real time to judge the execution effect, and performs subsequent control based on the command judgment result. This method only judges the final execution result of the remote control command, and the ground control software does not judge the status of each link of the command sent by the ground station. When the spacecraft command is not executed, it is difficult for the ground control center to determine which link in the command sending process has a fault, so it is necessary to consider introducing other data to judge the command sending status.

[0078] Based on the above content, the present application also provides a system for determining the spacecraft command sending status provided in one or more embodiments of the present application. The system for determining the spacecraft command sending status can be independent of the ground station and the ground control center, and be communicated with the ground station and the ground control center, or it can be integrated into the ground station or the ground control center.

[0079] Among them, the system for determining the spacecraft command sending status can receive a comparison application instruction from the ground control center, and obtain the comparison application information required for the comparison from the comparison application instruction, and at the same time receive the small-ring comparison information queue from the ground station. The system for determining the spacecraft command sending status determines the spacecraft command sending status corresponding to each control instruction based on the comparison application information and the small-ring comparison information queue, and thus can monitor the spacecraft.

[0080] The system, electronic device and computer-readable storage medium for determining the spacecraft command sending status provided in the present application automatically complete the judgment of the ground station sending status by introducing the small-loop comparison information fed back by the ground station, output the comparison result, and realize the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process.

[0081] The details are described through the following multiple embodiments and application examples.

[0082] In order to solve the problem that the existing method for determining the state of sending a spacecraft command often requires additional manpower for manual comparison and judgment, and the manual judgment result cannot be automatically fed back to the ground control system, the present application provides an embodiment of a method for determining the state of sending a spacecraft command, see Figure 1 The method for determining the spacecraft command sending status specifically includes the following contents:

[0083] Step S100: receiving comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; each of the small ring comparison information in the small ring comparison information queue includes transmission status data of a command code;

[0084] Step S200: determining the instruction sending status between the spacecraft and the ground station corresponding to each control instruction according to the comparison application information and the small ring comparison information queue.

[0085] It can be understood that the small ring comparison information is sent by the ground control center to the ground station. The ground station collects relevant data and returns it to the ground control center based on the reception of the command and the forwarding of the command to the spacecraft. The command transmission comparison application (comparison application) comes from the external command transmission control system. The spacecraft command transmission status corresponding to each control command can be determined based on the comparison application information and the small ring comparison information. The spacecraft status can be judged based on the spacecraft command transmission status. If the spacecraft command transmission status is abnormal, the spacecraft status is abnormal.

[0086] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application, by introducing the small-loop comparison information fed back by the ground station, automatically completes the judgment of the ground station sending status, outputs the comparison result, and realizes the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the spacecraft status.

[0087] In order to further improve the accuracy of the spacecraft command sending state comparison, in one embodiment of the spacecraft command sending state determination method provided in the present application, a preferred method for determining the spacecraft command sending state is provided, see Figure 2 The comparison application information includes the timestamp information of sending the comparison application information, and the small ring comparison information includes the timestamp information of receiving the small ring comparison information. Step S200 in the method for determining the spacecraft instruction sending state specifically includes the following contents:

[0088] Step S201: according to the comparison application information, setting a timeout time for receiving small ring comparison information;

[0089] Step S202: taking the small-ring comparison information receiving timeout moment as a judgment basis, combining the comparison application information and the timestamp information in the small-ring comparison information queue, determining the command sending status between the spacecraft and the ground station corresponding to each control command.

[0090] It is understandable that under abnormal circumstances, the small ring comparison information cannot be sent normally to the ground control center, or there is a delay or compression in the transmission process. The status judgment method needs to take into account the delay, compression or non-feedback of the small ring comparison information. According to the comparison application information, the small ring comparison information reception timeout is set. If the small ring comparison information is not received within the timeout, it can be judged that the spacecraft data interaction is abnormal. If the small ring comparison information is received within the timeout, the spacecraft command sending status can be determined within the set period based on the comparison application information and the small ring comparison information queue.

[0091] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application subdivides the process of determining the spacecraft command sending status by setting a timeout moment. In the case where no small ring comparison information is received within the timeout period, there is no need to perform a comparison operation and the comparison result is directly output, thereby further simplifying the process of determining the spacecraft command sending status and improving the comparison efficiency.

[0092] In one embodiment of the method for determining the spacecraft command sending state provided in the present application, a preferred method for calculating the timeout moment is provided, and step S201 in the method for determining the spacecraft command sending state specifically includes the following contents:

[0093] The receiving timeout moment is calculated according to the comparison application information, the preset waiting time and the transmission delay, wherein the transmission delay is the total time required for the comparison application information to be transmitted from the command sending control system to the ground station, the waiting time is the time for waiting to receive the small-ring comparison information, and the timestamp information of the comparison application information is the command sending time.

[0094] It can be understood that according to the comparison application information, the waiting time difference ΔTw and the transmission delay ΔTt are the system pre-set values. The former represents the transmission delay of data between the ground control software and the ground station, and the latter represents the additional waiting time difference to ensure that the system can normally receive the small ring comparison information in the case of processing delay.

[0095] In one embodiment of the method for determining the spacecraft command transmission status provided in the present application, a preferred method for calculating the timeout moment is provided, wherein the comparison application information includes the command code length and the command code transmission rate, and the reception timeout moment is calculated based on the timestamp information of the comparison application information and the preset waiting time and transmission delay, and specifically includes the following contents:

[0096] The instruction sending time, the ratio of the instruction code length to the instruction sending code rate, the transmission delay and the sum of the waiting time difference are calculated to obtain the receiving timeout time.

[0097] It can be understood that the comparison application information includes the instruction sending time Ts, the instruction code length L and the instruction sending code rate S, and the comparison timeout time Tm is calculated as the set timeout time. The calculation method of the comparison timeout time is: instruction sending time Ts + instruction code length L / instruction sending code rate S + transmission delay ΔTt × 2 + waiting time difference ΔTw, where the waiting time difference ΔTw and the transmission delay ΔTt are system pre-set values, the former represents the transmission delay of data from the ground control software to the ground station, and the latter represents the additional waiting time difference to ensure that the system normally receives the small ring comparison information under the processing delay.

[0098] In order to further improve the accuracy of the spacecraft command sending state comparison, in one embodiment of the spacecraft command sending state determination method provided in the present application, a preferred method for comparison application processing is provided, see Figure 1 The method for determining the spacecraft command sending status specifically includes the following contents:

[0099] Step S300: If the small-ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction has failed.

[0100] It is understandable that if the small ring comparison information is not received within the set timeout time, it is judged that the information has timed out and the comparison timeout processing is performed. When the timer reaches the comparison timeout time, the timeout processing module is automatically triggered to perform timeout processing. The timeout processing module determines that the comparison processing has timed out, sets the comparison result flag to "comparison timeout"; maintains the comparison application queue and the small ring information queue, and deletes invalid comparison application information and small ring comparison information.

[0101] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application subdivides the process of determining the spacecraft command sending status by setting a timeout moment. In the case where no small ring comparison information is received within the timeout period, there is no need to perform a comparison operation and the comparison result is directly output, thereby further simplifying the process of determining the spacecraft command sending status and improving the comparison efficiency.

[0102] In order to further improve the accuracy of the comparison and judgment of the spacecraft command sending status, in one embodiment of the spacecraft command sending status determination method provided in the present application, a preferred method for comparison and judgment application processing is provided, and the small ring comparison information also includes the first bit time when the ground station sends the command code (the ground station sends the command code in 0 / 1 bit mode, and the time when the ground station sends the first bit of the command code is the first bit time), see Figure 3 Step S202 in the method for determining the spacecraft command sending state specifically includes the following contents:

[0103] Step S2021: Arrange all small-ring comparison information in the small-ring comparison information queue in ascending order of the first bit time;

[0104] Step S2022: Calculate the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent. If the difference reaches the set threshold, determine that the small ring comparison information corresponding to the first bit time matches the comparison application information.

[0105] Step S2023: Determine the spacecraft command sending status corresponding to each control command based on the small ring comparison information matching the comparison application information.

[0106] It can be understood that the small ring comparison information is received and processed, and is added to the small ring information queue in order according to the first bit time of the small ring comparison information, and the data in the small ring information queue is sorted from small to large according to the first bit time. Assuming the comparison application information Ri, and obtaining the small ring comparison information Qi from the head of the small ring information queue in turn, check whether the small ring comparison information Qi matches the comparison application information Ri according to the matching method. The matching method is: calculate the difference ΔTh between the first bit time of the small ring comparison result and the instruction sending time of the comparison application one by one, and find the first small ring comparison information with a difference ΔTh greater than zero in the small ring comparison queue. At the same time, the receiving time of the small ring comparison information is less than the timeout time of the comparison application, then it is determined that the small ring comparison information matches the comparison application. If the two fail to match, continue to obtain the next small ring comparison information Qi+1. If the two match successfully, judge whether the instruction is sent successfully according to the small ring comparison information Ri, and set the comparison result flag to "successfully sent" or "failed to send".

[0107] From the above description, it can be seen that the method for determining the state of sending a spacecraft command provided in the embodiment of the present application designs a method for matching and judging the state of a command based on the small-ring comparison information. In the case where there is no matching keyword between the comparison application and the small-ring comparison information, a time domain and sequential matching method is used to match the comparison application and the small-ring comparison information, thereby improving the automation and efficiency of command matching, and at the same time, realizing the judgment of the state of sending a command when the small-ring comparison information is delayed, squeezed or not fed back.

[0108] In one embodiment of the method for determining the state of sending a spacecraft command provided in the present application, a preferred method for information maintenance is provided, see Figure 1 The method for determining the spacecraft command sending status specifically includes the following contents:

[0109] Step S400: deleting the comparison application information after comparison and its corresponding small ring comparison information queue.

[0110] It is understandable that there are two maintenance methods for the small-ring comparison information queue and comparison application information. Maintenance method one, each comparison application information corresponds to a small-ring comparison information queue. When the comparison is completed or times out, for the comparison application information of the completed comparison application, the comparison application information and its corresponding small-ring comparison information queue are deleted. Maintenance method two, when there are multiple comparison application information, a comparison application information queue to be compared is formed. When the comparison is completed or times out, the comparison application queue and the small-ring comparison queue are maintained for the completed comparison application, and invalid comparison application records and small-ring comparison information records are deleted. First, when the comparison is completed, if the system finds the small ring comparison information that matches the comparison application, it will delete the comparison application record from the comparison application queue, and at the same time delete all small ring comparison information whose first bit time is less than or equal to the first bit time of the small ring comparison information from the small ring comparison queue, and notify the timer maintenance module to cancel the timer setting corresponding to the comparison application; when the comparison times out, the system does not find the small ring comparison information corresponding to the comparison application, then it will delete the comparison application record from the comparison application queue, and at the same time delete all small ring comparison information whose first bit time is less than or equal to the instruction sending time of the comparison application information from the small ring comparison queue.

[0111] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application deletes some invalid or already completed comparison application information and small ring comparison information, thereby facilitating the processing of the next comparison application information and simplifying the comparison operation process.

[0112] From the software level, in order to solve the problem that the existing spacecraft command sending status determination method often requires additional manpower for manual comparison and judgment and the manual judgment results cannot be automatically fed back to the ground control system, the present application provides a spacecraft command sending status determination system embodiment for executing all or part of the content of the spacecraft command sending status determination method, see Figure 4 The spacecraft command sending state determination system specifically includes the following contents:

[0113] The information receiving module 10 receives comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; each of the small ring comparison information includes a transmission status data of a command code;

[0114] Information processing module 20: determines the instruction sending status between the spacecraft and the ground station corresponding to each control instruction according to the comparison application information and the small ring comparison information queue.

[0115] It is understandable that the information receiving module 10 receives 2 types of input information, namely, comparison application information and small ring comparison information. The command sending comparison application (comparison application) comes from an external command sending control system, and the command sending comparison application includes information such as command code, command sending time, command code length, and command sending code rate. The small ring comparison information is the feedback result after the ground station sends the command, which is added to the small ring information queue after being processed by the small ring information processing module. The main data elements of the small ring comparison information include: the first bit moment when the ground station sends the command code (abbreviated as: the first bit sending time), the command sending success flag, the ground control software receives the small ring comparison information moment (abbreviated as: receiving time), and all the small ring comparison information in the small ring information queue are sorted from small to large according to the first bit sending time. The information processing module 20 adopts periodic processing, and the periodic comparison processing process processes the comparison application information according to the preset period To cycle, reads the small ring comparison information for sending comparison, and when the comparison is completed, sets the comparison result flag to "successful sending" or "failed to send", and monitors the spacecraft state according to the comparison result.

[0116] From the above description, it can be seen that the spacecraft command sending status determination system provided in the embodiment of the present application, by introducing the small-loop comparison information fed back by the ground station, automatically completes the judgment of the ground station's sending status, outputs the comparison result, and realizes the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the spacecraft status.

[0117] In order to further improve the accuracy of the spacecraft command sending state comparison, in one embodiment of the spacecraft command sending state determination system provided in the present application, a preferred method for determining the spacecraft command sending state is provided, see Figure 4 The spacecraft command sending state determination system specifically includes the following contents:

[0118] Timeout processing module 30: if the small ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction fails;

[0119] The information maintenance module 40 deletes the comparison application information after the comparison is completed and its corresponding small ring comparison information queue.

[0120] It is understandable that if the small ring comparison information is not received within the set timeout time, it is judged that the information timeout is performed, and the comparison timeout processing is performed. When the timer reaches the comparison timeout time, the timeout processing module 30 automatically triggers the timeout processing module to perform timeout processing. The timeout processing module determines that the comparison processing has timed out, sets the comparison result identification bit to "comparison timeout"; maintains the comparison application queue and the small ring information queue, and deletes invalid comparison application information and small ring comparison information. The information maintenance module 40 performs maintenance processing on the comparison application, the comparison application information and the small ring comparison queue when the comparison is completed or timed out. There are two maintenance methods for the maintenance of the small ring comparison information queue and the comparison application information. Maintenance method one, each comparison application information corresponds to a small ring comparison information queue. When the comparison is completed or timed out, for the comparison application information that has completed the comparison application, the comparison application information and its corresponding small ring comparison information queue are deleted. Maintenance mode 2, when there are multiple comparison application information, a comparison application information queue to be compared is formed, and when the comparison is completed or timed out, the comparison application queue and the small ring comparison queue are maintained for the completed comparison application, and invalid comparison application records and small ring comparison information records are deleted. First, when the comparison is completed, the system finds the small ring comparison information that matches the comparison application, then deletes the comparison application record from the comparison application queue, and at the same time deletes all the small ring comparison information whose first bit moment is less than or equal to the first bit moment of the small ring comparison information from the small ring comparison queue, and notifies the timer maintenance module to cancel the timer setting corresponding to the comparison application; when the comparison is timed out, the system does not find the small ring comparison information corresponding to the comparison application, then deletes the comparison application record from the comparison application queue, and at the same time deletes all the small ring comparison information whose first bit moment is less than or equal to the instruction sending time of the comparison application information from the small ring comparison queue. In order to further simplify the comparison process, the information maintenance module 40 adopts maintenance mode 2 for information maintenance in a specific implementation method.

[0121] In order to further improve the accuracy of the spacecraft command sending state comparison, in one embodiment of the spacecraft command sending state determination system provided in the present application, a preferred method for determining the spacecraft command sending state is provided, see Figure 5 , the information processing module 20 specifically includes the following contents:

[0122] Timing component 201: according to the comparison application information, setting the small ring comparison information receiving timeout time;

[0123] Information processing component 202: Based on the timeout moment of receiving the small-ring comparison information, the command sending status between the spacecraft and the ground station corresponding to each control instruction is determined in combination with the comparison application information and the timestamp information in the small-ring comparison information queue.

[0124] It can be understood that the timing component 201 processes the comparison application information and calculates the comparison timeout time Tm as the timeout time set by the timer. The calculation method of the comparison timeout time is: command sending time Ts + command code length L / command sending code rate S + transmission delay ΔTt×2 + waiting time difference ΔTw, wherein the waiting time difference ΔTw and the transmission delay ΔTt are system pre-set values, the former represents the transmission delay of data between the ground control software and the ground station, and the latter represents the time difference value of the additional waiting of this system to ensure that the system receives the small ring comparison information normally under the condition of processing delay. The information processing component 202 obtains the comparison application information, reads the small ring comparison information in the small ring comparison information queue one by one, and compares the sending status. When the comparison is completed, the comparison result flag is set to "successful sending" or "failed sending", and the spacecraft status is monitored according to the comparison result.

[0125] In one embodiment of the spacecraft command sending state determination system provided in the present application, a preferred method for determining the spacecraft command sending state is provided, and the information processing component 202 specifically includes the following contents:

[0126] An information arranging unit: arranging all the small-ring comparison information in the small-ring comparison information queue in ascending order of the first bit time;

[0127] Information matching unit: calculates the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent in sequence, and if the difference reaches a set threshold, determines that the small ring comparison information corresponding to the first bit time matches the comparison application information;

[0128] A state determination unit is used to determine the command sending state between the spacecraft and the ground station corresponding to each control command according to the small ring comparison information matching the comparison application information.

[0129] It can be understood that the information processing unit 2011 receives and processes the small ring comparison information, adds it to the small ring information queue in order according to the first bit time of the small ring comparison information, and the data in the small ring information queue is sorted from small to large according to the first bit time; obtains the comparison application information Ri, reads the small ring comparison information in the small ring comparison information queue one by one, checks whether the small ring comparison information is the ground station feedback result corresponding to the comparison application according to the matching method, and if the match is successful, performs the comparison according to the instruction judgment method, and sets the comparison result identification bit to "successful transmission" or "failed to transmit". "Matching method" can be described as a method for searching the small ring comparison information corresponding to the instruction transmission comparison application from the small ring comparison queue. The matching method is: calculate the difference ΔTh of the first bit time of the small ring comparison result minus the instruction transmission time of the comparison application one by one, and search the small ring comparison queue for the first small ring comparison information with a difference ΔTh greater than zero. At the same time, the reception time of the small ring comparison information is less than the timeout time of the comparison application, then it is determined that the small ring comparison information matches the comparison application. "Instruction judgment method" means: when the small-ring comparison information matches the comparison application, check the instruction sending flag of the small-ring comparison information. When the instruction sending flag is "successful", it is judged that the instruction corresponding to the comparison application is sent successfully; otherwise, when the instruction sending flag is other values, it is judged that the instruction corresponding to the comparison application fails to be sent.

[0130] As can be seen from the above description, the spacecraft command sending state determination system provided by the embodiment of the present application, by introducing the small ring comparison information fed back by the ground station, automatically completes the judgment of the ground station sending state, outputs the comparison result, and realizes the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the state of the spacecraft; at the same time, a command matching and state judgment method based on the small ring comparison information is designed. In the case where the comparison application and the small ring comparison information do not match keywords, the time domain and sequential matching method are used to match the comparison application and the small ring comparison information, thereby improving the automation and efficiency of the command matching, and at the same time, the judgment of the command sending state is realized when the small ring comparison information is delayed, squeezed or not fed back.

[0131] In some specific embodiments, see Figure 6 , the system for determining the spacecraft command sending status also includes: a result output module 50.

[0132] It can be understood that the result output module 50 feeds back the instruction sending comparison result to the external instruction sending control system. The comparison result is generated by the result output module 50 based on the comparison result flag, the comprehensive instruction sending comparison application information, and the first bit sending time, and assembles the instruction sending comparison result.

[0133] From the above description, it can be seen that the spacecraft command sending status determination system provided in the embodiment of the present application deletes some invalid or already completed comparison application information and small ring comparison information, which facilitates the processing of the next comparison application information and simplifies the comparison operation process.

[0134] The implementation method and working principle of the spacecraft command sending state determination system are described below in conjunction with specific embodiments. Figure 7 .

[0135] Step S001: Obtain the binding delay. The spacecraft command sending state determination system is adjusted to a preset state, which is:

[0136] (1) Pre-binding parameters: transmission delay ΔTt=100 milliseconds, waiting time difference ΔTw=10 seconds, and preset period To of periodic comparison judgment=1 second.

[0137] (2) The small ring information queue already has one small ring comparison information Q0, the content of which is: the first bit sending time Tb0 = 2050-01-01T00:00:50.3100, the command sending success flag is "failure", and the system receives the small ring comparison information time (receiving time Tr0) = 2050-01-01T 00:00:55.6150.

[0138] Step S002: Process the comparison application. The comparison application queue is empty. In the example working process, the external input data is as follows:

[0139] (1) The first instruction comparison application sent is R1, the corresponding instruction code is C1, the instruction sending time Ts1 = 2050-01-01T00:01:00.0000, the instruction code length L1 = 100B, and the instruction sending code rate S1 = 100bps.

[0140] (2) The second instruction sent is R2, the corresponding instruction code is C2, the instruction sending time is Ts2 = 2050-01-01T00:01:05.0000, the instruction code length is L2 = 200B, and the instruction sending code rate is S2 = 200bps.

[0141] Step S003: Calculate the timeout period. Set the timer, and the working process is as follows:

[0142] (1) The timing component 201 receives the comparison request information R1 and calculates the comparison timeout time Tm1:

[0143] Comparison timeout time Tm1 = instruction sending time Ts1 + instruction code length L1 / instruction sending code rate S1 + transmission delay ΔTt×2 + waiting time difference ΔTw

[0144] =2050-01-01T00:01:00.0000+100B / 100bps+100ms×2+10s

[0145] =2050-01-01T00:01:18.2000

[0146] (2) The timing component 201 receives the comparison request information R2 and calculates the comparison timeout time Tm2 as

[0147] 2050-01-01T00:01:23.2000, set the second trigger time of the timer to 2050-01-01T00:01:23.2000.

[0148] Step S004: Add a comparison application queue. The working process is as follows:

[0149] The timing component 201 sets the first trigger time of the timer to 2050-01-01T00:01:18.2000, and adds the comparison application information to the comparison application queue.

[0150] Step S005: Processing small ring comparison information. The ground station sends small ring comparison information, and this system receives and processes the small ring comparison information. The working process is as follows:

[0151] The ground station sends the post-command code to the spacecraft and sends the small ring comparison information Q1. The system receives the small ring comparison information Q1 and places it in the small ring comparison queue in ascending order of the first bit time. The content of the small ring comparison information Q1 is: the first bit sending time Tb1 = 2050-01-01T00:01:00.1100, the command sending success flag is "success", and the receiving time Tr1 = 2050-01-01T00:01:08.2150. In the small ring information queue, the small ring comparison information Q1 is added after the small ring comparison information Q0.

[0152] If the system does not receive the small-ring comparison information before the comparison timeout time Tm1, it jumps to step S010.

[0153] Step S006: Matching small ring comparison information. The system obtains the small ring comparison information in the small ring comparison information queue and matches it with the comparison application information. The working process is as follows:

[0154] (1) The information processing unit 2011 processes the comparison application queue in a loop according to a preset period To=1 second, processes the comparison application R1 and R2 one by one, and makes a sending status judgment. The small ring comparison information Q0 of the small ring information queue is obtained, and the difference ΔTh between the first bit time Tb0 and the instruction sending time Ts1 and Ts is calculated in turn. Since the difference ΔTh corresponding to R1 and R2 is less than zero, it is determined that the small ring comparison result Q0 does not match R1 and R2, and no processing is performed; wait for 1 second and then perform the comparison processing again.

[0155] (2) When the current time is 2050-01-01T00:01:09.0000, the information processing unit 2011 processes the comparison application queue again in a loop. First, the comparison application R1 is obtained and processed, and the small ring comparison information Q0 and Q1 are obtained from the small ring information queue in turn, where Q0 does not match R1, and the difference ΔTh=0.11 seconds between the first bit time Tb1 of Q1 and the sending time of R1 is calculated. Since ΔTh is greater than 0, and the receiving time Tr1 of Q1 is less than the comparison timeout time Tm1 of the comparison application R1, it is determined that Q1 and R1 match successfully.

[0156] Step S007: Determine the sending status and set the comparison result flag. The working process is as follows:

[0157] Start judging the instruction sending status of the comparison application R1. Check the instruction sending flag of the small ring comparison information Q1. Since the instruction sending flag is "successful", it is judged that the instruction C1 corresponding to the comparison application R1 is sent successfully, and the R1 comparison result flag is set to "successful sending".

[0158] Step S008: Maintain comparison application information, small ring comparison information and timer. The working process is as follows:

[0159] The information maintenance module 40 maintains the comparison application queue, the small ring information queue and the timer, and deletes invalid comparison application information and small ring comparison information. First, the comparison application record R1 is deleted from the comparison application queue; then, all small ring comparison information whose first bit time is less than or equal to the first bit time Tb1 of the small ring comparison information is deleted from the small ring comparison queue, and the small ring comparison information Q0 and the small ring comparison information Q1 are deleted from the small ring information queue; finally, the timing component is notified to cancel the timer setting of the R1 comparison timeout time 2050-01-01T00:01:18.2000.

[0160] Step S009: Sending comparison result: The result output module 40 determines that the comparison result flag has been set to "successfully sent", integrates the instruction sending comparison application R1 and the first bit sending time Tb1, assembles and generates the instruction sending comparison result J1, and feeds it back to the external instruction sending control system.

[0161] Step S010: If the ground station does not send the small ring comparison information, the system performs comparison judgment timeout processing and sends the comparison judgment result. The working process is as follows:

[0162] (1) When the current time is 2050-01-01T00:01:23.2000, the trigger time of the timer is reached, triggering the timeout processing module to perform the timeout processing of the comparison application information R2. The timeout processing module 30 determines that the processing of the comparison application information R2 has timed out, and sets the comparison result flag of R2 to "comparison timeout".

[0163] (2) Maintain the comparison application queue and the small ring information queue. First, delete the comparison application record R2 from the comparison application queue; then, delete all small ring comparison information whose first bit time is less than or equal to the instruction sending time Ts2 of the comparison application from the small ring comparison queue.

[0164] (3) The result output module 50 determines that the comparison result flag has been set to "send timeout", combines the command sending comparison application R2, assembles and generates the command sending comparison result J2, and feeds it back to the external command sending control system.

[0165] From the hardware level, in order to solve the problem that the existing spacecraft command sending status determination method often requires additional manpower for manual comparison and judgment, and the manual judgment result cannot be automatically fed back to the ground control system, the present application provides an embodiment of an electronic device for implementing all or part of the content of the spacecraft command sending status determination method, and the electronic device specifically includes the following content:

[0166] Figure 8 FIG. 9 is a schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Figure 8 As shown, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that Figure 8 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0167] In one embodiment, the function of determining the state of sending a spacecraft command may be integrated into a central processing unit. The central processing unit may be configured to perform the following control:

[0168] Step S100: receiving comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; each of the small ring comparison information in the small ring comparison information queue includes transmission status data of a command code;

[0169] Step S200: determining the instruction sending status between the spacecraft and the ground station corresponding to each control instruction according to the comparison application information and the small ring comparison information queue.

[0170] It can be understood that the small ring comparison information is sent by the ground control center to the ground station. The ground station collects relevant data and returns it to the ground control center based on the reception of the command and the forwarding of the command to the spacecraft. The command transmission comparison application (comparison application) comes from the external command transmission control system. The spacecraft command transmission status corresponding to each control command can be determined based on the comparison application information and the small ring comparison information. The spacecraft status can be judged based on the spacecraft command transmission status. If the spacecraft command transmission status is abnormal, the spacecraft status is abnormal.

[0171] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application, by introducing the small-loop comparison information fed back by the ground station, automatically completes the judgment of the ground station sending status, outputs the comparison result, and realizes the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the spacecraft status.

[0172] In another embodiment, the spacecraft command sending status determination system can be configured separately from the central processing unit 9100. For example, the spacecraft command sending status determination system can be configured as a chip connected to the central processing unit 9100, and the spacecraft command sending status determination function is implemented through the control of the central processing unit.

[0173] like Figure 8 As shown, the electronic device 9600 may also include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Figure 8 In addition, the electronic device 9600 may also include Figure 8 For components not shown, reference may be made to the prior art.

[0174] like Figure 8 As shown, the central processing unit 9100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0175] The memory 9140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 9100 may execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0176] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0177] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 9600 through the central processor 9100.

[0178] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0179] The communication module 9110 is a transmitter / receiver 9110 that sends and receives signals via an antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0180] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module, etc. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby realizing a common telecommunication function. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processor 9100, so that recording can be performed on the local machine through the microphone 9132, and the sound stored on the local machine can be played through the speaker 9131.

[0181] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all the steps in determining the spacecraft instruction sending state in the above embodiments. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the method for determining the spacecraft instruction sending state in the above embodiments are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0182] Step S100: receiving comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; each of the small ring comparison information in the small ring comparison information queue includes transmission status data of a command code;

[0183] Step S200: determining the instruction sending status between the spacecraft and the ground station corresponding to each control instruction according to the comparison application information and the small ring comparison information queue.

[0184] It can be understood that the small ring comparison information is sent by the ground control center to the ground station. The ground station collects relevant data and returns it to the ground control center based on the reception of the command and the forwarding of the command to the spacecraft. The command transmission comparison application (comparison application) comes from the external command transmission control system. The spacecraft command transmission status corresponding to each control command can be determined based on the comparison application information and the small ring comparison information. The spacecraft status can be judged based on the spacecraft command transmission status. If the spacecraft command transmission status is abnormal, the spacecraft status is abnormal.

[0185] From the above description, it can be seen that the method for determining the spacecraft command sending status provided in the embodiment of the present application, by introducing the small-loop comparison information fed back by the ground station, automatically completes the judgment of the ground station sending status, outputs the comparison result, and realizes the monitoring and judgment of the intermediate nodes of the command sending execution, so that the ground control center can quickly locate the link where the fault occurs in the command sending process, and can further monitor the spacecraft status.

[0186] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0187] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0188] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0189] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0190] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for determining the state of sending spacecraft commands, It is characterized in that include: Receive comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control instruction; wherein the ground station sends at least one instruction code to the spacecraft in response to the control instruction; each of the small ring comparison information in the small ring comparison information queue includes a transmission status data of an instruction code; Determine the ground control center sending command corresponding to each control command and the success status of the ground station sending the command to the spacecraft according to the comparison application information and the small ring comparison information queue; The comparison application information includes the timestamp information of sending the comparison application information, the small ring comparison information includes the timestamp information of receiving the small ring comparison information and the first bit time of sending the command code by the ground station, and the ground control center sending the command corresponding to each control command according to the comparison application information and the small ring comparison information queue, and the ground station sending the command to the spacecraft The success state includes: According to the comparison application information, a timeout moment for receiving the small ring comparison information is set; Taking the small ring comparison information reception timeout time as a judgment basis, all the small ring comparison information in the small ring comparison information queue are arranged in ascending order of the first bit time; Calculate the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent. If the difference reaches the set threshold, it is determined that the small ring comparison information corresponding to the first bit time matches the comparison application information. The command sending status of the spacecraft and the ground station corresponding to each control command is determined according to the small ring comparison information matching the comparison application information.

2. The determination method according to claim 1, It is characterized in that The step of setting a timeout moment for receiving the small ring comparison information according to the comparison application information includes: The receiving timeout moment is calculated according to the comparison application information, the preset waiting time and the transmission delay, wherein the transmission delay is the total time required for the comparison application information to be transmitted from the command sending control system to the ground station, the waiting time is the time for waiting to receive the small-ring comparison information, and the timestamp information of the comparison application information is the command sending time.

3. The determination method according to claim 2, It is characterized in that The comparison application information includes the instruction code length and the instruction code sending rate, and the receiving timeout moment is calculated according to the timestamp information of the comparison application information and the preset waiting time and transmission delay, including: The instruction sending time, the ratio of the instruction code length to the instruction sending code rate, the transmission delay and the sum of the waiting time difference are calculated to obtain the receiving timeout time.

4. The determination method according to claim 1, It is characterized in that The method for determining the spacecraft command sending state also includes: If the small ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction has failed.

5. The determination method according to claim 1, It is characterized in that The difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent is calculated in sequence. If the difference reaches a set threshold, it is determined that the small ring comparison information corresponding to the first bit time matches the comparison application information, including: Calculate the difference between the first bit time of the small ring comparison result and the instruction sending time of the comparison application; The matching operation is performed. If the first small ring comparison information with a difference greater than zero is found in the small ring comparison queue, and the reception time of the small ring comparison information is less than the timeout time of the comparison application, it is determined that the small ring comparison information matches the comparison application.

6. The determination method according to claim 1, It is characterized in that Also includes: Obtain comparison application information cyclically according to a preset period, and obtain small ring comparison information in sequence from the head of the small ring information queue; The matching operation is iteratively performed, and the matching operation is iteratively performed, comprising: Check whether the small ring comparison information matches the comparison application information according to the matching method; If the two fail to match, continue to obtain the next small ring comparison information. If the two match successfully, determine whether the instruction is sent successfully based on the small ring comparison information, and set the comparison result flag to "successful sending" or "failed to send"; Maintain the comparison application queue and the small ring information queue, delete invalid comparison application information and small ring comparison information, cancel the corresponding timer setting, and continue to process the next comparison application information until all comparison application information is processed.

7. The determination method according to claim 1, It is characterized in that The method for determining the spacecraft command sending state also includes: When the comparison is completed or times out, the comparison application queue and the small ring comparison queue are maintained for the comparison application.

8. The determination method according to claim 7, It is characterized in that: When the comparison is completed or timed out, the comparison application queue and the small ring comparison queue are maintained and processed, including: When the comparison is completed, if the small ring comparison information corresponding to the comparison application is found, the comparison application record is deleted from the comparison application queue, and all small ring comparison information whose first bit time is less than or equal to the first bit time of the small ring comparison information is deleted from the small ring comparison queue, and the timer maintenance module is notified to cancel the timer setting corresponding to the comparison application; In the case of comparison timeout, if the small ring comparison information corresponding to the comparison application is not found, the comparison application record is deleted from the comparison application queue, and all small ring comparison information whose first bit time is less than or equal to the instruction sending time of the comparison application information is deleted from the small ring comparison queue.

9. A system for determining the status of spacecraft command transmission, It is characterized in that include: An information receiving module receives comparison application information and a corresponding small ring comparison information queue, wherein the comparison application information is generated after the command transmission control system sends a control command; wherein the ground station sends at least one command code to the spacecraft in response to the control command; and each small ring comparison information includes a transmission status data of a command code; Information processing module: determining the command sending status of the spacecraft and the ground station corresponding to each control command according to the comparison application information and the small ring comparison information queue; The comparison application information includes timestamp information of sending the comparison application information, the small ring comparison information includes timestamp information of receiving the small ring comparison information, and the information processing module includes: Timing component: according to the comparison application information, set the small ring comparison information receiving timeout time; Information processing component: using the small ring comparison information reception timeout moment as a judgment basis, combining the comparison application information and the timestamp information in the small ring comparison information queue to determine the command sending status of the spacecraft and the ground station corresponding to each control command; The information processing component includes: An information arranging unit: arranging all the small-ring comparison information in the small-ring comparison information queue in ascending order of the first bit time; Information matching unit: calculates the difference between the first bit time of each small ring comparison information and the time when the comparison application information instruction is sent in sequence, and if the difference reaches a set threshold, determines that the small ring comparison information corresponding to the first bit time matches the comparison application information; A state determination unit is used to determine the command sending state between the spacecraft and the ground station corresponding to each control command according to the small ring comparison information matching the comparison application information.

10. The determination system according to claim 9, It is characterized in that The system for determining the spacecraft command sending state also includes: Timeout processing module: if the small ring comparison information is not received within the set time, it is determined that the data interaction between the spacecraft and the ground station corresponding to each control instruction has failed; Information maintenance module: deletes the comparison application information and its corresponding small ring comparison information queue after the comparison is completed.

11. The determination system according to claim 9, It is characterized in that The information matching unit includes: A line-by-line calculation unit calculates the difference between the first bit time of the small ring comparison result and the instruction sending time of the comparison application line by line; The matching operation unit performs a matching operation. If the first small ring comparison information with a difference greater than zero is found in the small ring comparison queue, and the reception time of the small ring comparison information is less than the timeout time of the comparison application, it is determined that the small ring comparison information matches the comparison application.

12. The determination system according to claim 11, It is characterized in that Also includes: A periodic acquisition unit, cyclically acquiring comparison application information according to a preset period, and sequentially acquiring small ring comparison information from the head of the small ring information queue; An iterative operation unit, which iteratively performs the matching operation, wherein the iterative operation includes: Check whether the small ring comparison information matches the comparison application information according to the matching method; If the two fail to match, continue to obtain the next small ring comparison information. If the two match successfully, determine whether the instruction is sent successfully based on the small ring comparison information, and set the comparison result flag to "successful sending" or "failed to send"; Maintain the comparison application queue and the small ring information queue, delete invalid comparison application information and small ring comparison information, cancel the corresponding timer setting, and continue to process the next comparison application information until all comparison application information is processed.

13. The determination system according to claim 12, It is characterized in that Also includes: The maintenance processing module performs maintenance processing on the comparison application queue and the small ring comparison queue for the comparison application when the comparison is completed or times out.

14. The determination system according to claim 13, It is characterized in that The maintenance processing module comprises: The first maintenance processing unit, when the comparison is completed, if the small ring comparison information corresponding to the comparison application is found, deletes the comparison application record from the comparison application queue, deletes all small ring comparison information whose first bit time is less than or equal to the first bit time of the small ring comparison information from the small ring comparison queue, and notifies the timer maintenance module to cancel the timer setting corresponding to the comparison application; The second maintenance processing unit, when the comparison times out, deletes the comparison application record from the comparison application queue if the small ring comparison information corresponding to the comparison application is not found, and deletes all small ring comparison information whose first bit time is less than or equal to the instruction sending time of the comparison application information from the small ring comparison queue.

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