Remote control application data uplink method, device and storage medium

Abstract

The present application discloses a remote control application data uplink method, device and storage medium. The remote control application data uplink method is used in a ground system, and includes: determining a segment sequence number of a remote control segment to be generated based on the remote control application data of a remote control packet to be sent, wherein the segment sequence number is used to indicate the position of the remote control segment in the remote control segment sequence corresponding to the remote control application data; generating a remote control segment and writing the segment sequence number into the segment data field of the remote control segment; determining a frame sequence number of a remote control transmission frame to be sent in a sequentially increasing manner; and generating a remote control transmission frame based on the frame sequence number and the remote control segment, and sending the remote control transmission frame to the spacecraft in the order of the frame sequence number.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a method, device and storage medium for uplinking remote control application data. Background Art

[0002] Sub-packet remote control technology has been widely used in data transmission between ground systems and spacecraft such as satellites. Through sub-packet remote control, the ground system can transmit application data to the spacecraft, thereby updating the application data on the spacecraft. Figure 1A shows the hierarchical structure of the sub-package remote control system. Figure 1A As shown, the hierarchical structure of the packet remote control system includes a packaging layer, a segmentation layer, a transport layer, a channel coding layer, and a physical layer. Among them, in the ground system (i.e., the transmitting end), the remote control application data is added with a packet header in the packaging layer to form a remote control packet (i.e., the remote control user data unit). After the remote control packet is segmented or assembled in the segmentation layer, a segment header is added to form a remote control segment (i.e., the remote control frame data unit). In the transport layer, the remote control frame data unit is placed in the data field of the remote control transmission frame, and a frame header is set in front of it, and an error control code is optionally set as the frame tail. In the channel coding layer, a remote control transmission frame is grouped and encoded into a series of code blocks with a fixed length, and these code blocks have error correction capabilities. In addition, the group code sequence is packaged into a remote control channel transmission unit, each of which can contain one or more remote control transmission frames. Finally, in the physical layer, these remote control channel transmission units are modulated onto the physical channel and sent to the spacecraft. The spacecraft (i.e., the receiving end) completes the inverse process of the above operation. In addition, Figure 1B The schematic diagram of the packetized remote control data structure processed by each layer is shown. After receiving the remote control transmission frame, the spacecraft sends the remote control channel control word (ie, feedback information) corresponding to the remote control transmission frame to the ground system through packetized telemetry.

[0003] Among them, the transport layer is the core layer of packet remote control. The ground system sends the remote control transmission frame to the spacecraft through the transport layer. After receiving the remote control transmission frame, the spacecraft returns the corresponding remote control channel control word to the ground system through the transport layer, thus realizing the closed loop of remote control operation.

[0004] According to the existing standards, each remote control transmission frame has its own frame sequence number. The remote control transmission frame sequence sent on the same virtual channel is strictly sent in ascending order. There is a register for the frame sequence number to be received at the receiving end. Every time a remote control transmission frame is received, the frame sequence number to be received is automatically increased by 1, and this value is fed back to the sending end through the remote control channel control word. On the other hand, the frame sequence number to be received is also the basis for the receiving end to verify the correctness of the transmission frame. If the frame sequence number of the received transmission frame does not match the frame sequence number to be received, it means that the transmission frame is missed. The receiving end requires retransmission or channel blocking, and notifies the sending end through the remote control channel control word.

[0005] However, in the process of generating remote control transmission frames by the remote control segment, the order in which the ground system generates remote control transmission frames is not necessarily strictly in ascending order. For example, the remote control transmission frames with frame numbers 11 to 14 may be generated later than the remote control transmission frame with frame number 15. In this case, if the remote control transmission frames are sent in a strictly ascending order, it is necessary to wait for the ground system to generate and send the remote control transmission frames with frame numbers 11 to 14 before sending the remote control transmission frame with frame number 15. Otherwise, if the remote control transmission frame is sent while the remote control transmission frame with frame number 15 is generated, the receiving end of the spacecraft will determine that a transmission error has occurred because the frame number of the remote control transmission frame does not match the frame number to be received. Therefore, this situation greatly reduces the transmission efficiency of the ground system and cannot achieve real-time transmission of the generated remote control transmission frames.

[0006] In order to improve the transmission efficiency of the ground system, the existing standards have also made some adjustments, such as setting a frame number advance window, allowing the frame number sent by the transmitter to be several frames ahead of the frame number to be received. However, this adjustment makes the frame number actually sent by the ground system still subject to the limit of the frame number to be received. Therefore, once the frame number of the remote control transmission frame exceeds the preset transmission frame number advance window, it still cannot be sent. In addition, the existing standards also mention that non-sequential transmission and reception of remote control transmission frames are allowed, but this requires the receiving end to have the ability to store and organize the frame sequence of remote control transmission frames. However, since the key recommended operations in the existing standards are to send and receive in sequence according to the frame number, and to use sequential retransmission to correct the remote control transmission frames rejected by the spacecraft due to errors. Therefore, the method of non-sequential transmission of remote control transmission frames is incompatible with the configuration of spacecraft of the current main remote control system.

[0007] Since most of the current subcontracted remote control technology solutions for spacecraft are designed based on the solutions recommended by existing standards, it is difficult to fully improve the transmission efficiency of the ground system transmitter when adapting to existing standards.

[0008] With regard to the technical problem that it is difficult to fully improve the transmission efficiency of the ground system transmitter by using a sub-package remote control solution adapted to the existing standard, no effective solution has been proposed so far. Summary of the invention

[0009] The embodiments of the present disclosure provide a method, device and storage medium for uplinking remote control application data, so as to at least solve the technical problem in the prior art that it is difficult to fully improve the transmission efficiency of the ground system transmitter in a packet remote control solution adapted to the existing standard.

[0010] According to one aspect of an embodiment of the present disclosure, there is provided a method for uplinking remote control application data for a ground system, comprising: determining a segment number of a remote control segment to be generated based on the remote control application data of a remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in a remote control segment sequence corresponding to the remote control application data; generating the remote control segment and writing the segment number into a segment data field of the remote control segment; determining a frame number of a remote control transmission frame to be sent in a sequentially increasing manner; and generating a remote control transmission frame based on the frame number and the remote control segment, and sending the remote control transmission frame to the spacecraft in the order of the frame number.

[0011] According to another aspect of an embodiment of the present disclosure, there is also provided a method for uplinking remote control application data for a spacecraft, comprising: receiving a remote control transmission frame from a ground system; extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; extracting a remote control segment contained in the remote control transmission frame when it is determined according to the frame sequence number that no transmission error has occurred; extracting the segment sequence number of the remote control segment from the segment data field of the remote control segment; and combining data in the segment data field of the remote control segment in order of the positions of the segment sequence numbers to construct a remote control packet corresponding to the remote control segment.

[0012] According to another aspect of the embodiment of the present disclosure, there is also provided an uplink method for remote control application data, comprising: determining, by a ground system, a segment number of a remote control segment to be generated based on the remote control application data of a remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in a remote control segment sequence corresponding to the remote control application data; generating a remote control segment by the ground system, and writing the segment number into the segment data field of the remote control segment; determining, by the ground system, a frame number of a remote control transmission frame to be sent in a sequentially increasing manner; generating a remote control transmission frame based on the frame number and the remote control segment by the ground system, and sending the remote control transmission frame to a spacecraft in the order of the frame number; receiving the remote control transmission frame from the ground system by the spacecraft; extracting, by the spacecraft, a frame number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; extracting, by the spacecraft, the remote control segment contained in the remote control transmission frame when determining that no transmission error has occurred according to the frame number; extracting, by the spacecraft, the segment number of the remote control segment from the segment data field of the remote control segment; and combining, by the spacecraft, data in the segment data field of the remote control segment in the position order of the segment number to construct a remote control packet.

[0013] According to another aspect of an embodiment of the present disclosure, a storage medium is further provided, the storage medium including a stored program, wherein when the program is running, a processor executes any one of the methods described above.

[0014] According to another aspect of an embodiment of the present disclosure, there is also provided an uplink device for remote control application data, which is used in a ground system and includes: a segment number determination module, which is used to determine the segment number of a remote control segment to be generated based on the remote control application data of a remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in a remote control segment sequence corresponding to the remote control application data; a remote control segment generation module, which is used to generate a remote control segment and write the segment number into the segment data field of the remote control segment; a frame number determination module, which is used to determine the frame number of a remote control transmission frame to be sent in a sequentially increasing manner; and a transmission module, which is used to generate a remote control transmission frame based on the frame number and the remote control segment, and send the remote control transmission frame to the spacecraft in the order of the frame number.

[0015] According to another aspect of the embodiments of the present disclosure, there is also provided an uplink device for remote control application data, which is used for a spacecraft, and includes: a frame receiving module, which is used to receive a remote control transmission frame from a ground system; a frame sequence number extraction module, which is used to extract a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; a remote control segment extraction module, which is used to extract the remote control segment contained in the remote control transmission frame when it is determined that no transmission error has occurred according to the frame sequence number; a segment sequence number extraction module, which is used to extract the segment sequence number of the remote control segment from the segment data field of the remote control segment; and a remote control packet construction module, which is used to combine the data in the segment data field of the remote control segment according to the position order of the segment sequence numbers, and construct a remote control packet corresponding to the remote control segment.

[0016] According to another aspect of an embodiment of the present disclosure, there is also provided an uplink device for remote control application data, for use in a ground system, comprising: a first processor; and a first memory, connected to the first processor, for providing the first processor with instructions for processing the following processing steps: determining a segment number of a remote control segment to be generated based on the remote control application data of a remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in a remote control segment sequence corresponding to the remote control application data; generating a remote control segment, and writing the segment number into a segment data field of the remote control segment; determining a frame number of a remote control transmission frame to be sent in a sequentially increasing manner; and generating a remote control transmission frame based on the frame number and the remote control segment, and sending the remote control transmission frame to the spacecraft in the order of the frame number.

[0017] According to another aspect of the embodiment of the present disclosure, there is also provided an uplink device for remote control application data, for use in a spacecraft, comprising: a second processor; and a second memory, connected to the second processor, for providing the second processor with instructions for processing the following processing steps: receiving a remote control transmission frame from a ground system; extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; extracting a remote control segment contained in the remote control transmission frame when it is determined based on the frame sequence number that no transmission error has occurred; extracting the segment sequence number of the remote control segment from the segment data field of the remote control segment; and combining the data in the segment data field of the remote control segment in order of the position of the segment sequence numbers to construct a remote control packet corresponding to the remote control segment.

[0018] According to the technical solution of this embodiment, the transmission layer of the ground system still determines the frame sequence number of each remote control transmission frame in a sequentially increasing manner during the process of receiving the remote control segment and generating the remote control transmission frame according to the remote control segment. Therefore, when the ground system transmits the remote control transmission frame to the spacecraft in the order of the frame sequence number, it can still be compatible with the transmission layer of the existing packetized remote control system without error. In addition, according to the technical solution of this embodiment, the segmentation layer writes the segment sequence number used to sort the segmented data in the remote control segment into the segment data field of the remote control segment during the process of generating the remote control segment. Therefore, this embodiment does not indicate the sequence position of the remote control frame data unit in the remote control transmission frame in the corresponding remote control packet by the frame sequence number of the remote control transmission frame, so that the spacecraft determines the sequence position of the remote control frame data unit by reading the segment sequence number in the segment data field, so as to accurately reconstruct the data of the remote control packet. Moreover, according to the technical solution of this embodiment, the frame sequence number of the remote control transmission frame is determined according to the generation order of the remote control transmission frame (corresponding to its order in the queue). Therefore, this embodiment can realize that the remote control frame generated first can be preferentially transmitted to the spacecraft without waiting for the generation and transmission of other remote control transmission frames. Thereby, the waiting time for the remote control transmission frame to be sent is reduced, and the transmission efficiency is improved. Moreover, in the process of the spacecraft (i.e., the receiving end) rebuilding the remote control user data unit of the remote control package, the sequence position of each remote control frame data unit can be adjusted at the segmentation layer according to the segment number written in the segment data field. Since the segmentation layer itself is configured to splice the remote control frame data units, it is relative to adjusting the order of the remote control transmission frames at the transmission layer. The adjustment to the segmentation layer is limited to the splicing according to the read segment number during the splicing process, so the change to the existing segmentation layer is very small. Therefore, according to this embodiment, it is applicable to the existing remote control system without making many changes to the existing remote control system. Thereby, the technical problem that the sub-packet remote control scheme adapted to the existing standard is difficult to fully improve the transmission efficiency of the ground system transmitter is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0020] Figure 1A is a schematic diagram of the hierarchical structure of a subcontracted remote control system according to existing standards;

[0021] Figure 1B This is a schematic diagram of the sub-package remote control data structure processed by each layer of the existing standard sub-package remote control system

[0022] Figure 2 is a hardware structure block diagram of a computing device for implementing the method according to Embodiment 1 of the present disclosure;

[0023] Figure 3 is a schematic diagram of a satellite remote control system according to Embodiment 1 of the present disclosure;

[0024] Figure 4 is a schematic diagram of the hierarchical structure of a sub-contract remote control system executed by the ground system according to Embodiment 1 of the present disclosure;

[0025] Figure 5 is a flowchart of a method for uplinking remote control application data according to the first aspect of Embodiment 1 of the present disclosure;

[0026] Fig. 6A It is a schematic diagram of the segment numbers corresponding to each remote control segment;

[0027] Figure 6B It is a schematic diagram of the data format of the remote control segment;

[0028] Fig. 7A and Figure 7B They are schematic diagrams of the data formats of the remote control segments with segment numbers 001 and 002 respectively;

[0029] Figure 8 It is a schematic diagram of the data format of the remote control transmission frame;

[0030] Fig. 9 is a schematic diagram of a queue associated with a frame sequence number determination unit of a transport layer according to Embodiment 1 of the present disclosure;

[0031] Fig.10 The schematic diagram of generating a remote control transmission frame with a frame number of 001 is exemplarily shown;

[0032] Fig.11 This is a schematic diagram of the data format of the remote control packet;

[0033] Fig.12is a schematic diagram of a specific flow chart of the method for uplinking remote control application data according to the first aspect of Embodiment 1 of the present disclosure;

[0034] Fig.13 is a flowchart of a method for uplinking remote control application data according to the second aspect of Embodiment 1 of the present disclosure;

[0035] Fig.14 is a flowchart of a method for uplinking remote control application data according to the third aspect of Embodiment 1 of the present disclosure;

[0036] Fig.15 is a schematic diagram of an uplink device for remote control application data according to the first aspect of Embodiment 2 of the present disclosure;

[0037] Fig.16 is a schematic diagram of an uplink device for remote control application data according to the second aspect of Embodiment 2 of the present disclosure;

[0038] Fig.17 is a schematic diagram of an uplink device for remote control application data according to the first aspect of Embodiment 3 of the present disclosure; and

[0039] Fig.18 It is a schematic diagram of an uplink device for remote control application data according to the second aspect of Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0042] Example 1

[0043] According to this embodiment, a method embodiment of an uplink method for remote control application data is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] The method embodiment provided in this embodiment can be executed in a computing device of a ground system or a computing device set in a spacecraft. Figure 2 FIG. 1 shows a hardware structure block diagram of a computing device for implementing an uplink method for remote control application data. Figure 2 As shown, the computing device may include one or more processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory for storing data, a transmission device for communication functions, and an input / output interface. The memory, the transmission device, and the input / output interface are connected to the processor via a bus. A person skilled in the art can understand that Figure 2 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0045] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other components of the computing device. As involved in the embodiments of the present disclosure, the data processing circuitry acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0046] The memory can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the uplink method of remote control application data in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the uplink method of remote control application data of the above-mentioned application program is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0047] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computing device. In one example, the transmission device includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0048] It should be noted that, in some optional embodiments, the above Figure 2 The computing device shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware elements and software elements. Figure 2 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computing devices described above.

[0049] Figure 3 Schematic diagram of the satellite remote control system according to this embodiment. Figure 3 As shown, the system includes: a ground system 200 and a spacecraft 100 (such as a satellite, etc.), wherein the ground system 200 sends remote control application data to the spacecraft 100 via a communication channel between the ground system 200 and the spacecraft 100 in a multi-packet remote control manner. In addition, the spacecraft 100 receives the remote control application data sent by the ground system 200, and returns feedback information such as remote control channel control words to the ground system 200 in a multi-packet telemetry manner. The computing devices of the ground system 200 and the spacecraft 100 are both suitable for Figure 2 The hardware structure shown in .

[0050] also, Figure 4FIG. 2 shows a hierarchical structure of a sub-package telecontrol system executed in the ground system 200. Figure 4 As shown, the hierarchical structure of the sub-package remote control system of the ground system 200 of this embodiment is similar to Figure 1A The hierarchical structure used in the prior art shown in FIG. 1 is similar to that used in FIG. 1 , except that the present embodiment has settings at the segmentation layer and the transmission layer.

[0051] In the segmentation layer of this embodiment, a plurality of segmentation processing units are provided, and the plurality of segmentation processing units may be a plurality of program units for executing segmentation layer operations, for example, a plurality of threads or processes for executing segmentation layer operations. Thus, the segmentation layer of this embodiment may perform segmentation header adding processing on a plurality of segments of a remote control packet in parallel, thereby generating a plurality of remote control segments corresponding to the remote control packet in parallel.

[0052] The transport layer of the hierarchical structure in this embodiment is also provided with a plurality of transport processing units and a frame sequence number determination unit. The plurality of transport processing units may be a plurality of program units for executing transport layer operations, for example, may be a plurality of threads or processes for executing transport layer operations. Each of the transport processing units corresponds to a segmentation processing unit in the segmentation layer, so that the transport layer of this embodiment can process the corresponding remote control segments in parallel, including operations such as placing the corresponding remote control segments into the data field of the remote control transmission frame, setting the frame header and the frame tail, etc. However, in the process of setting the frame header, the field in the frame header corresponding to the frame sequence number of the remote control transmission frame is left blank.

[0053] The frame number determination unit can be a program unit for determining the frame number of the remote control transmission frame. The program unit is associated with a pre-set queue, so that the remote control transmission frames without adding frame numbers generated by each transmission processing unit (hereinafter referred to as "pseudo remote control transmission frames") will be transmitted to the queue in real time after generation, and the frame number determination unit will add frame numbers one by one in a sequentially increasing manner to generate the final remote control transmission frame.

[0054] In the above operating environment, according to the first aspect of this embodiment, a method for uplinking remote control application data is provided. The method comprises: Figure 3 The ground system 200 shown in FIG. Figure 5 A schematic diagram showing the process of the method is shown in FIG. Figure 5 As shown, the method includes:

[0055] S502: Determine a segment sequence number of a remote control segment to be generated based on the remote control application data of the remote control packet to be sent, wherein the segment sequence number is used to indicate the position of the remote control segment in the remote control segment sequence corresponding to the remote control application data;

[0056] S504: Generate a remote control segment and write the segment number into the segment data field of the remote control segment;

[0057] S506: Determine the frame sequence number of the remote control transmission frame to be sent in an ascending order; and

[0058] S508: Generate a remote control transmission frame based on the frame sequence number and the remote control segment, and send the remote control transmission frame to the spacecraft according to the frame sequence number.

[0059] Specifically, refer to Figure 1B , Figure 3 and Figure 4 As shown, after the ground system 200 generates a corresponding remote control package (ie, remote control data unit) according to the remote control application data through the packaging layer, it further generates segments corresponding to the remote control package through segmentation.

[0060] Then the ground system 200 uses the segment processing unit in the segment layer to determine the segment number corresponding to each segment (i.e., the segment number of the remote control segment to be generated). Fig. 6A A schematic diagram of the segment serial number corresponding to each remote control segment is shown, wherein the segment serial number is also the segment serial number corresponding to each segment, which indicates the position of the corresponding segment (or remote control segment) in the remote control segment sequence corresponding to the remote control application data of the remote control package (S502).

[0061] Then the ground system 200 generates a remote control segment corresponding to each segment using the segment processing unit, and writes the segment number into the segment data field of the remote control segment (S504). Figure 6B shows the data format of the remote control segment. Figure 6B As shown, the remote control segment includes a segment header and a segment data field, wherein the segment header occupies 1 byte and the segment data field is a maximum of 1018 bytes. In addition, the segment header includes two fields, namely: a sequence flag and a multi-channel receiving address pointer.

[0062] The field "sequence flag" occupies 2 bits (B0, B1) and is used to determine the position characteristics of the remote control segment in the remote control user data unit (i.e., remote control packet). The specific provisions are shown in Table 1 below:

[0063] Table 1

[0064] <![CDATA[B 0 ]]> <![CDATA[B 1 ]]> meaning 0 1 The first segment of a user data unit with the same receiving address 0 0 The middle segment of a user data unit with the same receiving address 1 0 The last segment of the user data unit with the same receiving address 1 1 No segmentation (one or more complete user data units)

[0065] Therefore, it can be determined based on the sequence flag whether the remote control segment is located in the first segment, the middle segment or the last segment of the remote control user data unit.

[0066] The field "multi-channel receiving address pointer" occupies 6 bits (B2 to B7) and is used to indicate the multi-channel receiving address pointer corresponding to the remote control segment. 64 virtual channels can be created between the ground system 200 and the spacecraft 100, and 64 receiving addresses can be set on each virtual channel. Therefore, the field "multi-channel receiving address pointer" can indicate which of the 64 receiving addresses the corresponding remote control segment corresponds to. And wherein, the multi-channel receiving address pointers of each remote control segment formed by the same remote control package segment are the same. Therefore, the spacecraft 100 can splice the segmented data of the remote control segment with the same field "multi-channel receiving address pointer" to reconstruct the remote control package.

[0067] In addition, the remote control segment also includes a segment data field of a maximum of 1018 bytes for carrying segmented data.

[0068] Therefore, according to the technical solution of this embodiment, the ground system 200 uses the segment processing unit in the segment layer to generate the remote control segment corresponding to each data segment, and writes the segment number corresponding to the remote control segment in the segment data field of the remote control segment. For example, the technical solution of this embodiment can define the first byte of the segment data field as a byte for recording the segment number. Fig. 6A For each remote control segment shown in FIG, its segment number is written into the first byte of the corresponding segment data field. Fig. 7A and Figure 7B Schematic diagrams showing the data formats of remote control segments with segment numbers 001 and 002 respectively.

[0069] Thus, the segment processing unit of the ground system 200 generates each remote control segment corresponding to the same remote control packet, and transmits each remote control segment to the corresponding transmission processing unit in the transmission layer. For example, segment processing unit 1 transmits the generated remote control segment to transmission processing unit 1, segment processing unit 2 transmits the generated remote control segment to transmission processing unit 2, and so on.

[0070] Then, each transmission processing unit processes the remote control segment received by each unit, including setting the frame header and frame tail, and constructing a pseudo remote control transmission frame corresponding to the remote control segment. Figure 8 The data format of the remote control transmission frame is shown.

[0071] refer to Figure 8 As shown, the remote control transmission frame includes a leading header (i.e., frame header) and a transmission frame data field. In addition, the last two bytes of the transmission frame data field can be defined as a frame error control code (i.e., frame tail). The leading header includes multiple fields, including:

[0072] Version number (2 bits): Currently, the version number can only be 00.

[0073] Pass flag (1 bit): The pass flag is used to distinguish the frame receiving principle. When it is 0, it means that the transmission frame must not only pass the frame validity check, but also pass the sequence correctness check before it can be received. This type of frame is called "Class A frame"; when it is 1, it means that the transmission frame does not need to pass the sequence correctness check, and can be received as long as it passes the frame validity check. This type of frame is called "Class B frame".

[0074] Housekeeping command flag (1 bit): The housekeeping command flag is used to distinguish the content type of the frame data field. When it is 0, it means that the data field of this frame is remote control application data; when it is 1, it means that the data field of this frame is a housekeeping command to the receiving end of the transport layer. For remote control application data, it can be a Class A frame or a Class B frame, referred to as an AD frame or a BD frame respectively. However, for housekeeping commands, it can only be a Class B frame, referred to as a BC frame.

[0075] Spare bits (2 bits): Spare bits are all set to 0 and are reserved for future expansion (such as encryption identification).

[0076] Spacecraft identification word (10 bits): The spacecraft identification word is a uniformly assigned spacecraft identification word.

[0077] Virtual channel identification word (6 bits): The virtual channel identification word is used to distinguish 64 frame-based virtual channels on the same physical channel. Each virtual channel can support up to 64 multi-channel receiving targets.

[0078] Frame length (10 bits): The value in the frame length field is equal to the total number of bytes in the transmitted frame minus 1. Because the leading header is 5 bytes, the maximum length of the frame data field and the optional frame error control code is 1019 bytes, and the maximum value of the frame length field is 1023.

[0079] Frame sequence number (8 bits): The frame sequence number gives the position of the remote control transmission frame in the frame sequence. It is independently sorted by virtual channel. The sequence number ranges from 0 to 255 and is used as a cyclic count. When the frame sequence number is not needed, it can be set to all zeros.

[0080] Therefore, each transmission processing unit sets the frame header and frame footer for each remote control segment according to the above definition, thereby constructing a pseudo remote control transmission frame with the field "frame sequence number" being empty, and transmits each pseudo remote control transmission frame to the frame sequence number determination unit. The frame sequence number determination unit is associated with a pre-set queue. The pseudo remote control transmission frames constructed by each transmission processing unit are transmitted to the queue in real time for arrangement (in order to avoid the situation where two pseudo remote control transmission frames simultaneously determine the same frame sequence number). Fig. 9 FIG. 1 is a schematic diagram showing various pseudo remote control transmission frames arranged in a queue. Fig. 9As shown, the pseudo remote control transmission frame corresponding to the remote control segment with segment number 002 is input into the queue earlier, and therefore is ranked first in the queue. The pseudo remote control transmission frame corresponding to the remote control segment with segment number 003 and the pseudo remote control transmission frame corresponding to the remote control segment with segment number 001 are arranged subsequently, respectively, and so on. Thus, the frame number determination unit can determine the frame numbers of each pseudo remote control transmission frame in a sequentially increasing order, and the order of the frame numbers of each pseudo remote control transmission frame corresponds to the order in which each pseudo remote control transmission frame is constructed (S506). For example, the frame number of the pseudo remote control transmission frame corresponding to the remote control segment with segment number 002 is determined to be 001, the frame number of the pseudo remote control transmission frame corresponding to the remote control segment with segment number 003 is determined to be 002, and the frame number of the pseudo remote control transmission frame corresponding to the remote control segment with segment number 001 is determined to be 003, and so on.

[0081] Then, the frame number determination unit writes the determined frame number into the field "frame sequence number" of the leading header, thereby generating a corresponding remote control transmission frame. And the ground system 200 sends the remote control transmission frame to the spacecraft 100 (508) in the order of the frame number. Thus, the ground system 200 sends each remote control transmission frame to the spacecraft 100 in the order in which each remote control transmission frame is constructed. And the process of generating the remote control transmission frame and transmitting the remote control frame is a real-time synchronous process, thereby minimizing the time for the remote control transmission frame to wait for transmission. Fig.10 The schematic diagram of generating a remote control transmission frame with a frame number of 001 is shown as an example. Fig.10 As shown, the field "Frame Sequence Number" in the leading header of the remote control transmission frame is 00000001. And the transmission frame data field of the remote control transmission frame carries the data information of the corresponding remote control segment, wherein the first byte of the segment data field of the remote control segment indicates that the segment sequence number of the remote control segment is 00000002. The rest of the remote control transmission frames are analogous.

[0082] As described in the background technology, according to the existing standards, each remote control transmission frame has its own frame sequence number, and the remote control transmission frame sequence sent on the same virtual channel is strictly sent in ascending order. There is a register of the frame sequence number to be received at the receiving end. Every time a remote control transmission frame is received, the frame sequence number to be received is automatically increased by 1, and this value is fed back to the sending end through the remote control channel control word. On the other hand, the frame sequence number to be received is also the basis for the receiving end to verify the correctness of the transmission frame. If the frame sequence number of the received transmission frame does not match the frame sequence number to be received, it means that the transmission frame is missed, or retransmission is required, or the channel is locked, and the sending end is notified through the remote control channel control word. Since the current sub-packet remote control technology solutions for spacecraft are designed according to the existing standards, it is difficult to fully improve the transmission efficiency of the ground system sending end when adapting to the existing standards.

[0083] In view of this, according to the technical solution of this embodiment, the transmission layer of the ground system 200 still determines the frame number of each remote control transmission frame in a sequentially increasing manner during the process of receiving the remote control segment and generating the remote control transmission frame according to the remote control segment. Therefore, when the ground system 200 transmits the remote control transmission frame to the spacecraft 100 in the order of the frame number, it can still be compatible with the transmission layer of the existing sub-packet remote control system without error.

[0084] In addition, according to the technical solution of this embodiment, the segmentation layer writes the segment number used to sort the segment data in the remote control segment into the segment data field of the remote control segment during the process of generating the remote control segment. Therefore, this embodiment does not indicate the serial position of the remote control frame data unit in the remote control transmission frame in the corresponding remote control packet by the frame number of the remote control transmission frame, so that the spacecraft 100 determines the serial position of the remote control frame data unit by reading the segment number in the segment data field, so as to accurately reconstruct the data of the remote control packet. Moreover, according to the technical solution of this embodiment, the frame number of the remote control transmission frame is determined according to the generation order of the remote control transmission frame (corresponding to its order in the queue). Therefore, this embodiment can achieve that the first generated remote control frame can be preferentially transmitted to the spacecraft 100 without waiting for the generation and transmission of other remote control transmission frames. Thereby, the waiting time for the remote control transmission frame to be sent is reduced, and the sending efficiency is improved.

[0085] Furthermore, in the process of the spacecraft 100 (i.e., the receiving end) rebuilding the remote control user data unit of the remote control packet, the sequence position of each remote control frame data unit can be adjusted at the segment layer according to the segment number written in the segment data field. Since the segment layer itself is configured to splice the remote control frame data units, compared with adjusting the sequence of the remote control transmission frames at the transmission layer, the adjustment of the segment layer is limited to the splicing according to the read segment number during the splicing process, so the change to the existing segment layer is very small. Therefore, according to this embodiment, it is not necessary to make many changes to the existing remote control system to be applicable to the existing remote control system. This solves the technical problem that it is difficult to fully improve the transmission efficiency of the ground system transmitter with the packetized remote control scheme adapted to the existing standard.

[0086] Optionally, the operation of determining the segment number of the remote control segment to be generated based on the remote control application data of the remote control packet to be sent includes: reading the sub-lead of the remote control packet; determining the data uplink mode associated with the remote control packet according to the sub-lead; and determining the segment number of the remote control segment to be generated based on the determined data uplink mode. And further optionally, in the case where the data uplink mode is a data uplink mode that matches the existing standard, the method further includes: sending the remote control application data to the spacecraft according to the existing standard.

[0087] Specifically, when the ground system 200 segments the remote control packet through the segmentation layer, the sub-lead of the remote control packet can be read through the segmentation layer. Fig.11 The data format of the remote control packet specified in the existing standard is shown. Fig.11 As shown, according to the existing standards, the remote control packet can be provided with a secondary header, so that the secondary header can carry the auxiliary data corresponding to the remote control packet. Therefore, the technical solution of this embodiment can use the secondary header to identify the data uplink mode corresponding to the remote control packet.

[0088] For example, Figure 4 In the process of packaging the remote control application data to generate a remote control package, the packaging layer shown in can set the identification information in the sub-header of the remote control package to correspond to the data uplink mode configured by the user according to the user's configuration operation on the data uplink mode of the remote control application data. For example, the sub-header can be a piece of information with a length of 8 bits. Among them, the 0th bit can be used as the identification bit of the data uplink mode. When the user sets the uplink mode of the remote control application data to the mode specified by the existing standard, the identification bit is set to "0"; when the user sets the uplink mode of the remote control application data to the uplink mode with the best transmission efficiency, the identification bit is set to "1".

[0089] Thus, the segmentation layer of the ground system 200 can determine the uplink mode of the remote control application data according to the corresponding identification bit in the secondary pilot of the remote control packet. And when the value of the identification bit extracted by the segmentation layer is "1", the segmentation layer performs segmentation operation on the remote control packet according to the above-mentioned method; otherwise, the segmentation layer can still operate according to the existing standard, and the ground system 200 sends the remote control application data of the remote control packet to the spacecraft 100 according to the method specified by the existing standard.

[0090] Therefore, the technical solution of this embodiment cleverly utilizes the sub-lead of the remote control package in the existing standard, so that the uplink method of this embodiment can be integrated with more different uplink methods, thereby facilitating user use.

[0091] Optionally, the operation of generating a remote control segment and writing the segment serial number into the segment data field of the remote control segment includes: using multiple segment processing program units arranged in parallel in the segment layer to generate the remote control segment and write the segment serial number into the segment data field of the remote control segment.

[0092] Specifically, as described above, a plurality of segmentation processing units are provided in the segmentation layer of the present embodiment, and the plurality of segmentation processing units may be a plurality of program units for executing segmentation layer operations, for example, may be a plurality of threads or processes for executing segmentation layer operations. Thus, the segmentation layer of the present embodiment may perform segmentation header processing on a plurality of segments of the remote control packet in parallel, thereby generating a plurality of remote control segments corresponding to the remote control packet in parallel. Thus, the ground system 200 utilizes the segmentation processing units in the segmentation layer to generate a remote control segment corresponding to each data segment, and writes a segment sequence number corresponding to the remote control segment in the segment data field of the remote control segment. Thus, the technical solution of the present embodiment may utilize a plurality of segmentation processing units provided in parallel to process a plurality of segments in parallel, thereby greatly improving the efficiency of the segmentation layer of the ground system in performing segmentation processing on the remote control packet, thereby improving the transmission efficiency of the ground system 200.

[0093] Optionally, the method also includes: using multiple transmission processing program units set in parallel in the transmission layer and corresponding to the segmentation processing program units to generate a pseudo remote control transmission frame corresponding to the remote control segment, wherein the corresponding frame sequence number is not written in the pseudo remote control transmission frame; and inputting the pseudo remote control transmission frame into a queue associated with the frame sequence number determination program unit set in the transmission layer in the order of generation.

[0094] Specifically, as described above, the transmission layer of the hierarchical structure in this embodiment also sets a plurality of transmission processing units and a frame sequence number determination unit. The plurality of transmission processing units may be a plurality of program units for executing transmission layer operations, for example, may be a plurality of threads or processes for executing transmission layer operations. Each transmission processing unit corresponds to a segmentation processing unit in the segmentation layer. Thus, each transmission processing unit sets a frame header and a frame footer for each remote control segment according to the above definition, thereby constructing a pseudo remote control transmission frame with the field "frame sequence number" being empty, and transmits each pseudo remote control transmission frame to the frame sequence number determination unit in sequence according to the time sequence of the construction. The frame sequence number determination unit is associated with a pre-set queue, so that each pseudo remote control transmission frame can be arranged in the queue according to the time sequence of the pseudo remote control transmission frame construction. Thus, the technical solution of this embodiment can use a plurality of transmission processing units set in parallel to process a plurality of remote control segments in parallel, thereby constructing a corresponding pseudo remote control transmission frame. Thus, in this way, the efficiency of the transmission layer of the ground system 200 in constructing the remote control transmission frame is greatly improved, which is conducive to improving the transmission efficiency of the ground system.

[0095] Optionally, the operation of determining the frame sequence number of the remote control transmission frame to be sent in an ascending order includes: determining the program unit through the frame sequence number, and determining the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frame in the queue.

[0096] Specifically, as described above, the present embodiment can determine the program unit through the frame sequence number in the transmission layer, and determine the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frame in the queue. Since the technical solution of the present embodiment constructs multiple pseudo remote control transmission frames in parallel, by arranging the pseudo remote control transmission frames in the queue and then determining the frame sequence number of the corresponding remote control transmission frame, it is possible to effectively avoid conflicts that may occur when determining the frame sequence numbers of multiple pseudo remote control transmission frames generated at the same time, thereby effectively avoiding errors in the ground system 200 when constructing the remote control transmission frame.

[0097] In addition, optionally, the method further includes receiving feedback information corresponding to the remote control transmission frame from the spacecraft 100. Specifically, as described above, after receiving the remote control transmission frame, the spacecraft 100 can add 1 to the value of the frame sequence number to be received, and then send the frame sequence number to be received to the ground system 200 in the form of a remote control channel control word. Thus, the ground system 200 can determine the transmission status of the remote control transmission frame according to the feedback information.

[0098] In addition, in order to better understand the method described in the first aspect of this embodiment, Fig.12 A specific flow chart of the method according to the first aspect of this embodiment is shown.

[0099] refer to Fig.12 As shown, first, the user can configure the data uplink mode of the remote control application data in the ground system 200, for example, whether to uplink the remote control application data in a manner that prioritizes transmission efficiency or in a manner specified by existing standards. Thus, the ground system 200 receives the user's configuration information on the uplink mode (S1202).

[0100] Then, the packaging layer of the ground system 200 segments and packages the remote control application data, thereby constructing remote control packages corresponding to each segment, and sets the identification bit related to the data uplink mode in the sub-header of the remote control package according to the configuration information about the uplink mode input by the user (S1204).

[0101] Then, the packaging layer of the ground system 200 transmits the remote control packet downward to the segmentation layer (S1206).

[0102] The segmentation layer of the ground system 200 reads the sub-header of the remote control packet and extracts the identification bit related to the data uplink mode (S1208).

[0103] Then, the segmentation layer determines, based on the identification bit, whether the data uplink mode set by the user is an uplink mode that prioritizes transmission efficiency (S1210).

[0104] If it is determined that the data uplink mode set by the user is not an uplink mode that prioritizes transmission efficiency, the ground system 200 sends the remote control application data of the remote control packet to the spacecraft 100 in a manner specified by existing standards (S1212).

[0105] If it is determined that the data uplink mode set by the user is an uplink mode that prioritizes transmission efficiency, the segmentation layer constructs a remote control segment corresponding to each segment, and writes the segment sequence number corresponding to the remote control segment into the segment data field of the remote control segment (for example, writes the first byte of the segment data field) (S1214).

[0106] The segmentation layer then transmits the generated remote control segment to the transport layer (S1216).

[0107] The transport layer constructs a pseudo remote control frame (i.e., a remote control frame without a frame sequence number filled in) based on the remote control segment, and transmits the pseudo remote control frame to the queue while the pseudo remote control frame is generated, thereby filling in the frame sequence number in the frame header of each pseudo remote control frame in ascending order according to the generation order of the pseudo remote control frame (S1218).

[0108] Then, the transport layer sends each remote control transmission frame to the spacecraft 100 in the order of the frame sequence number (S1220).

[0109] In addition, according to a second aspect of this embodiment, a method for uplinking remote control application data is provided, the method comprising: Figure 3 The spacecraft 100 shown in FIG. Fig.13 A schematic diagram showing the process of the method is shown in FIG. Fig.13 As shown, the method includes:

[0110] S1302: receiving a remote control transmission frame from the ground system 200;

[0111] S1304: extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame;

[0112] S1306: extracting the remote control segment contained in the remote control transmission frame when it is determined according to the frame sequence number that no transmission error occurs;

[0113] S1308: extracting the segment number of the remote control segment from the segment data field of the remote control segment; and

[0114] S1310: Combine the data in the segment data field of the remote control segment according to the position sequence of the segment sequence number to construct a remote control packet corresponding to the remote control segment.

[0115] Specifically, referring to the first aspect of this embodiment, the spacecraft 100 receives a remote control transmission frame from the ground system 200 through the transmission layer (S1302).

[0116] Then, the spacecraft 100 extracts the corresponding frame sequence number from the field “frame sequence number” of the leading header (ie, frame header) of the remote control transmission frame through the transmission layer (S1304).

[0117] Then, the spacecraft 100 determines whether a transmission error occurs according to the frame sequence number. Specifically, the spacecraft 100 is provided with a register of the frame sequence number to be received, and automatically increases the frame sequence number to be received by 1 each time a remote control transmission frame is received, and this value is fed back to the ground system 200 through the remote control channel control word. Thus, the spacecraft 100 can compare the extracted frame sequence number with the frame sequence number to be received. If the frame sequence number is consistent with the frame sequence number to be received, it is determined that no transmission error has occurred. Otherwise, it is determined that a transmission error such as a missed transmission frame has occurred.

[0118] Then, when the spacecraft 100 determines that no transmission error has occurred according to the frame sequence number (for example, the frame sequence number is consistent with the frame sequence number to be received), it extracts the remote control segment contained in the remote control transmission frame (S1306). Fig.10 As shown, the spacecraft 100 can read the remote control segment contained in the remote control frame from the transmission frame data field of the remote control transmission frame.

[0119] Then, the spacecraft 100 extracts the segment number of the remote control segment from the segment data field of the remote control segment through the segment layer (S1308). For example, referring to the first aspect of this embodiment, the spacecraft 100 can extract the segment number of the remote control segment from the first byte of the segment data field of the remote control segment.

[0120] Then, the spacecraft 100 constructs a remote control segment by combining the data in the segment data field of the extracted remote control segment in the order of the segment sequence number. Fig. 6A The remote control package (S1310) shown in FIG.

[0121] Therefore, in the process of the spacecraft 100 (i.e., the receiving end) rebuilding the remote control user data unit of the remote control package, the sequence position of each remote control frame data unit can be adjusted at the segment layer according to the segment number written in the segment data field. Since the segment layer itself is configured to splice the remote control frame data units, it is relative to adjusting the order of the remote control transmission frames at the transmission layer. The adjustment of the segment layer is limited to the splicing according to the read segment number during the splicing process, so the change to the existing segment layer is very small. Therefore, according to this embodiment, it is not necessary to make many changes to the existing remote control system to be applicable to the existing remote control system. This solves the technical problem that it is difficult to fully improve the transmission efficiency of the transmitting end of the ground system 200 by adapting the sub-packet remote control scheme adapted to the existing standard.

[0122] In addition, according to a third aspect of this embodiment, a method for uplinking remote control application data is provided, the method comprising: Figure 3 The satellite remote control system shown in is implemented. Fig.14 A schematic diagram showing the process of the method is shown in FIG. Fig.14 As shown, the method includes:

[0123] S1402: determining, by the ground system 200, a segment sequence number of a remote control segment to be generated based on the remote control application data of the remote control packet to be sent, wherein the segment sequence number is used to indicate a position of the remote control segment in a remote control segment sequence corresponding to the remote control application data;

[0124] S1404: Generate a remote control segment through the ground system 200, and write the segment number into the segment data field of the remote control segment;

[0125] S1406: determining the frame sequence number of the remote control transmission frame to be sent in an ascending order through the ground system 200;

[0126] S1408: Generate a remote control transmission frame based on the frame sequence number and the remote control segment through the ground system 200, and send the remote control transmission frame to the spacecraft 100 in the order of the frame sequence number;

[0127] S1410: receiving a remote control transmission frame from the ground system 200 via the spacecraft 100;

[0128] S1412: extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame by the spacecraft 100;

[0129] S1414: extracting the remote control segment contained in the remote control transmission frame by the spacecraft 100 when it is determined according to the frame sequence number that no transmission error occurs;

[0130] S1416: extracting the segment sequence number of the remote control segment from the segment data field of the remote control segment through the spacecraft 100; and

[0131] S1418: The spacecraft 100 combines the data in the segment data field of the remote control segment in the order of the segment sequence numbers to construct a remote control package.

[0132] Regarding the technical solution of the third aspect of this embodiment, reference may be made to the uplink method of remote control application data described in the first and second aspects of this embodiment, which will not be repeated here.

[0133] In addition, reference Figure 3 As shown, according to a fourth aspect of this embodiment, a storage medium is provided, wherein the storage medium includes a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0134] According to the technical solution of this embodiment, the transmission layer of the ground system 200 still determines the frame sequence number of each remote control transmission frame in a sequentially increasing manner during the process of receiving the remote control segment and generating the remote control transmission frame according to the remote control segment. Therefore, when the ground system 200 transmits the remote control transmission frame to the spacecraft 100 in the order of the frame sequence number, it can still be compatible with the transmission layer of the existing packetized remote control system without error. In addition, according to the technical solution of this embodiment, the segmentation layer writes the segment sequence number used to sort the segmented data in the remote control segment into the segment data field of the remote control segment during the process of generating the remote control segment. Therefore, this embodiment does not indicate the sequence position of the remote control frame data unit in the remote control transmission frame in the corresponding remote control packet by the frame sequence number of the remote control transmission frame, so that the spacecraft 100 determines the sequence position of the remote control frame data unit by reading the segment sequence number in the segment data field, so as to accurately reconstruct the data of the remote control packet. Moreover, according to the technical solution of this embodiment, the frame sequence number of the remote control transmission frame is determined according to the generation order of the remote control transmission frame (corresponding to its order in the queue). Therefore, this embodiment can realize that the first generated remote control frame can be preferentially transmitted to the spacecraft 100 without waiting for the generation and transmission of other remote control transmission frames. Thus, the waiting time for the remote control transmission frame to be sent is reduced, and the transmission efficiency is improved. In addition, in the process of the spacecraft 100 (i.e., the receiving end) rebuilding the remote control user data unit of the remote control package, the sequence position of each remote control frame data unit can be adjusted at the segment layer according to the segment number written in the segment data field. Since the segment layer itself is set to splice the remote control frame data unit, it is relative to adjusting the order of the remote control transmission frame at the transmission layer. The adjustment of the segment layer is limited to splicing according to the read segment number during the splicing process, so the change to the existing segment layer is very small. Therefore, according to this embodiment, it is not necessary to make many changes to the existing remote control system to be applicable to the existing remote control system. Thus, the technical problem that the sub-packet remote control scheme adapted to the existing standard is difficult to fully improve the transmission efficiency of the sending end of the ground system 200 is solved.

[0135] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0137] Example 2

[0138] Fig.15 The device 1500 for uplinking remote control application data according to the first aspect of this embodiment is shown. The device 1500 is used in a ground system and corresponds to the method according to the first aspect of embodiment 1. Fig.15 As shown, the device 1500 includes: a segment number determination module 1510, which is used to determine the segment number of the remote control segment to be generated based on the remote control application data of the remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in the remote control segment sequence corresponding to the remote control application data; a remote control segment generation module 1520, which is used to generate the remote control segment and write the segment number into the segment data field of the remote control segment; a frame number determination module 1530, which is used to determine the frame number of the remote control transmission frame to be sent in a sequentially increasing manner; and a first transmission module 1540, which is used to generate the remote control transmission frame based on the frame number and the remote control segment, and send the remote control transmission frame to the spacecraft in the order of the frame number.

[0139] Optionally, the segment number determination module 1510 includes: a sub-leader reading sub-module, used to read the sub-leader of the remote control packet; a data uplink mode determination sub-module, used to determine the data uplink mode associated with the remote control packet according to the sub-leader; and a segment number determination sub-module, used to determine the segment number of the remote control segment to be generated when the data uplink mode is a data uplink mode that prioritizes transmission efficiency.

[0140] Optionally, the device further includes a second transmission module, configured to send remote control application data to the spacecraft according to the existing standard when the data uplink mode is a data uplink mode matching the existing standard.

[0141] Optionally, the remote control segment generation module 1520 includes a remote control segment generation submodule, which is used to generate a remote control segment by using multiple segment processing program units arranged in parallel in the segment layer, and write the segment sequence number into the segment data field of the remote control segment.

[0142] Optionally, the device also includes: a pseudo remote control transmission frame generation module, which is used to generate a pseudo remote control transmission frame corresponding to the remote control segment by using multiple transmission processing program units corresponding to the segmentation processing program units set in parallel in the transmission layer, wherein the corresponding frame sequence number is not written in the pseudo remote control transmission frame; and a queue input module, which is used to input the pseudo remote control transmission frame into the queue associated with the frame sequence number determination program unit set in the transmission layer in the order of generation.

[0143] Optionally, the frame sequence number determination module 1530 includes a frame sequence number determination submodule, which is used to determine the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frames in the queue through the frame sequence number determination program unit.

[0144] Optionally, it also includes a feedback information receiving module for receiving feedback information corresponding to the remote control transmission frame from the spacecraft.

[0145] also, Fig.16 The figure shows an uplink device 1600 for remote control application data according to the second aspect of this embodiment. The device 1600 is used in a spacecraft and corresponds to the method according to the second aspect of embodiment 1. Fig.16 As shown, the device 1600 includes: a frame receiving module 1610, which is used to receive a remote control transmission frame from a ground system; a frame sequence number extraction module 1620, which is used to extract a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; a remote control segment extraction module 1630, which is used to extract the remote control segment contained in the remote control transmission frame when it is determined that no transmission error has occurred according to the frame sequence number; a segment sequence number extraction module 1640, which is used to extract the segment sequence number of the remote control segment from the segment data field of the remote control segment; and a remote control packet construction module 1650, which is used to combine the data in the segment data field of the remote control segment according to the position order of the segment sequence number to construct a remote control packet corresponding to the remote control segment.

[0146] According to the technical solution of this embodiment, the transmission layer of the ground system 200 still determines the frame sequence number of each remote control transmission frame in a sequentially increasing manner during the process of receiving the remote control segment and generating the remote control transmission frame according to the remote control segment. Therefore, when the ground system 200 transmits the remote control transmission frame to the spacecraft 100 in the order of the frame sequence number, it can still be compatible with the transmission layer of the existing packetized remote control system without error. In addition, according to the technical solution of this embodiment, the segmentation layer writes the segment sequence number used to sort the segmented data in the remote control segment into the segment data field of the remote control segment during the process of generating the remote control segment. Therefore, this embodiment does not indicate the sequence position of the remote control frame data unit in the remote control transmission frame in the corresponding remote control packet by the frame sequence number of the remote control transmission frame, so that the spacecraft 100 determines the sequence position of the remote control frame data unit by reading the segment sequence number in the segment data field, so as to accurately reconstruct the data of the remote control packet. Moreover, according to the technical solution of this embodiment, the frame sequence number of the remote control transmission frame is determined according to the generation order of the remote control transmission frame (corresponding to its order in the queue). Therefore, this embodiment can realize that the first generated remote control frame can be preferentially transmitted to the spacecraft 100 without waiting for the generation and transmission of other remote control transmission frames. Thus, the waiting time for the remote control transmission frame to be sent is reduced, and the transmission efficiency is improved. In addition, in the process of the spacecraft 100 (i.e., the receiving end) rebuilding the remote control user data unit of the remote control package, the sequence position of each remote control frame data unit can be adjusted at the segment layer according to the segment number written in the segment data field. Since the segment layer itself is set to splice the remote control frame data unit, it is relative to adjusting the order of the remote control transmission frame at the transmission layer. The adjustment of the segment layer is limited to splicing according to the read segment number during the splicing process, so the change to the existing segment layer is very small. Therefore, according to this embodiment, it is not necessary to make many changes to the existing remote control system to be applicable to the existing remote control system. Thus, the technical problem that the sub-packet remote control scheme adapted to the existing standard is difficult to fully improve the transmission efficiency of the sending end of the ground system 200 is solved.

[0147] Example 3

[0148] Fig.17 FIG. 1 shows an uplink device 1700 for remote control application data according to the first aspect of this embodiment. The device 1700 corresponds to the method according to the first aspect of embodiment 1. Fig.17As shown, the device 1700 includes: a first processor 1710; and a first memory 1720, which is connected to the first processor 1710 and is used to provide the first processor 1710 with instructions for processing the following processing steps: determining a segment number of a remote control segment to be generated based on remote control application data of a remote control packet to be sent, wherein the segment number is used to indicate the position of the remote control segment in a remote control segment sequence corresponding to the remote control application data; generating a remote control segment and writing the segment number into a segment data field of the remote control segment; determining a frame number of a remote control transmission frame to be sent in a sequentially increasing manner; and generating a remote control transmission frame based on the frame number and the remote control segment, and sending the remote control transmission frame to the spacecraft in the order of the frame number.

[0149] Optionally, the operation of determining the segment number of the remote control segment to be generated based on the remote control application data of the remote control packet to be sent includes: reading the sub-leader of the remote control packet; determining the data uplink mode associated with the remote control packet according to the sub-leader; and when the data uplink mode is a data uplink mode that prioritizes transmission efficiency, determining the segment number of the remote control segment to be generated.

[0150] Optionally, the first memory 1720 is also used to provide the first processor 1710 with instructions for processing the following processing steps: when the data uplink method is a data uplink method that matches the existing standard, sending remote control application data to the spacecraft according to the existing standard.

[0151] Optionally, the operation of generating a remote control segment and writing the segment serial number into the segment data field of the remote control segment includes: using multiple segment processing program units arranged in parallel in the segment layer to generate the remote control segment and write the segment serial number into the segment data field of the remote control segment.

[0152] Optionally, the first memory 1720 is also used to provide the first processor 1710 with instructions for processing the following processing steps: using multiple transmission processing program units corresponding to the segmentation processing program units set in parallel in the transmission layer to generate a pseudo remote control transmission frame corresponding to the remote control segment, wherein the corresponding frame sequence number is not written in the pseudo remote control transmission frame; and inputting the pseudo remote control transmission frame into a queue associated with the frame sequence number determination program unit set in the transmission layer in the order of generation.

[0153] Optionally, the operation of determining the frame sequence number of the remote control transmission frame to be sent in an ascending order includes: determining the program unit through the frame sequence number, and determining the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frame in the queue.

[0154] Optionally, the first memory 1720 is further used to provide the first processor 1710 with instructions for processing the following processing steps: receiving feedback information corresponding to the remote control transmission frame from the spacecraft.

[0155] also, Fig.18The device 1800 for uplinking remote control application data according to the second aspect of this embodiment is shown. The device 1800 is used in a spacecraft and corresponds to the method according to the second aspect of embodiment 1. Fig.18 As shown, the device 1800 includes: a second processor 1810; and a second memory 1820, which is connected to the second processor 1810 and is used to provide the second processor 1810 with instructions for processing the following processing steps: receiving a remote control transmission frame from a ground system; extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; extracting a remote control segment contained in the remote control transmission frame when it is determined according to the frame sequence number that no transmission error has occurred; extracting the segment sequence number of the remote control segment from the segment data field of the remote control segment; and combining the data in the segment data field of the remote control segment according to the position order of the segment sequence numbers to construct a remote control packet corresponding to the remote control segment.

[0156] According to the technical solution of this embodiment, the transmission layer of the ground system 200 still determines the frame sequence number of each remote control transmission frame in a sequentially increasing manner during the process of receiving the remote control segment and generating the remote control transmission frame according to the remote control segment. Therefore, when the ground system 200 transmits the remote control transmission frame to the spacecraft 100 in the order of the frame sequence number, it can still be compatible with the transmission layer of the existing packetized remote control system without error. In addition, according to the technical solution of this embodiment, the segmentation layer writes the segment sequence number used to sort the segmented data in the remote control segment into the segment data field of the remote control segment during the process of generating the remote control segment. Therefore, this embodiment does not indicate the sequence position of the remote control frame data unit in the remote control transmission frame in the corresponding remote control packet by the frame sequence number of the remote control transmission frame, so that the spacecraft 100 determines the sequence position of the remote control frame data unit by reading the segment sequence number in the segment data field, so as to accurately reconstruct the data of the remote control packet. Moreover, according to the technical solution of this embodiment, the frame sequence number of the remote control transmission frame is determined according to the generation order of the remote control transmission frame (corresponding to its order in the queue). Therefore, this embodiment can realize that the first generated remote control frame can be preferentially transmitted to the spacecraft 100 without waiting for the generation and transmission of other remote control transmission frames. Thus, the waiting time for the remote control transmission frame to be sent is reduced, and the transmission efficiency is improved. In addition, in the process of the spacecraft 100 (i.e., the receiving end) rebuilding the remote control user data unit of the remote control package, the sequence position of each remote control frame data unit can be adjusted at the segment layer according to the segment number written in the segment data field. Since the segment layer itself is set to splice the remote control frame data unit, it is relative to adjusting the order of the remote control transmission frame at the transmission layer. The adjustment of the segment layer is limited to splicing according to the read segment number during the splicing process, so the change to the existing segment layer is very small. Therefore, according to this embodiment, it is not necessary to make many changes to the existing remote control system to be applicable to the existing remote control system. Thus, the technical problem that the sub-packet remote control scheme adapted to the existing standard is difficult to fully improve the transmission efficiency of the sending end of the ground system 200 is solved.

[0157] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0158] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0160] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0163] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for uplinking remote control application data, used in ground systems, It is characterized in that include: Determining, based on the remote control application data of the remote control packet to be sent, a segment sequence number of the remote control segment to be generated, wherein the segment sequence number is used to indicate the position of the remote control segment in the remote control segment sequence corresponding to the remote control application data; generating the remote control segment and writing the segment sequence number into the segment data field of the remote control segment; Determine the frame sequence number of the remote control transmission frame to be sent in an ascending order; as well as The remote control transmission frame is generated based on the frame sequence number and the remote control segment, and the remote control transmission frame is sent to the spacecraft in the order of the frame sequence number, and wherein The operation of generating the remote control segment and writing the segment serial number into the segment data field of the remote control segment comprises: using a plurality of segment processing program units arranged in parallel in the segment layer to generate the remote control segment and write the segment serial number into the segment data field of the remote control segment, and The method further comprises: using a plurality of transmission processing program units corresponding to the segment processing program units and arranged in parallel in the transmission layer to generate a pseudo remote control transmission frame corresponding to the remote control segment, wherein the corresponding frame sequence number is not written in the pseudo remote control transmission frame; and inputting the pseudo remote control transmission frame into a queue associated with the frame sequence number determination program unit arranged in the transmission layer in the order of generation, and wherein The operation of determining the frame sequence number of the remote control transmission frame to be sent in an ascending order includes: determining the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frame in the queue through the frame sequence number determination program unit.

2. The uplink method according to claim 1, It is characterized in that The operation of determining the segment sequence number of the remote control segment to be generated based on the remote control application data of the remote control packet to be sent includes: Read the auxiliary lead of the remote control package; Determining a data uplink mode associated with the remote control packet according to the secondary pilot; and In case that the data uplink mode is a data uplink mode that prioritizes transmission efficiency, a segment number of a remote control segment to be generated is determined.

3. The uplink method according to claim 2, It is characterized in that In case that the data uplink mode is a data uplink mode matching an existing standard, the method further includes: sending the remote control application data to the spacecraft according to the existing standard.

4. The uplink method according to claim 1, It is characterized in that Also includes: Feedback information corresponding to the telecontrol transmission frame is received from the spacecraft.

5. A method for uplinking remote control application data for spacecraft, It is characterized in that include: receiving a remote control transmission frame from a ground system; Extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame; extracting the remote control segment contained in the remote control transmission frame when it is determined according to the frame sequence number that no transmission error occurs; Extracting the segment serial number of the remote control segment from the segment data field of the remote control segment; as well as The data in the segment data field of the remote control segment are combined according to the position sequence of the segment sequence number to construct a remote control packet corresponding to the remote control segment.

6. A method for uplinking remote control application data, It is characterized in that include: Determining, by the ground system, a segment sequence number of a remote control segment to be generated based on the remote control application data of the remote control packet to be sent, wherein the segment sequence number is used to indicate the position of the remote control segment in the remote control segment sequence corresponding to the remote control application data; Generate the remote control segment through the ground system, and write the segment sequence number into the segment data field of the remote control segment; Determine the frame number of the remote control transmission frame to be sent in a sequentially increasing manner through the ground system; generating the remote control transmission frame based on the frame sequence number and the remote control segment through a ground system, and sending the remote control transmission frame to the spacecraft in the order of the frame sequence number; receiving the remote control transmission frame from the ground system via the spacecraft; extracting a frame sequence number corresponding to the remote control transmission frame from a frame header of the remote control transmission frame by a spacecraft; extracting the remote control segment contained in the remote control transmission frame by the spacecraft when determining that no transmission error occurs according to the frame sequence number; extracting the segment sequence number of the remote control segment from the segment data field of the remote control segment by the spacecraft; as well as The spacecraft combines the data in the segment data field of the remote control segment according to the position sequence of the segment sequence number to construct the remote control packet, and wherein The operation of generating the remote control segment and writing the segment serial number into the segment data field of the remote control segment comprises: using a plurality of segment processing program units arranged in parallel in the segment layer to generate the remote control segment and write the segment serial number into the segment data field of the remote control segment, and The method further comprises: generating a pseudo remote control transmission frame corresponding to the remote control segment by using a plurality of transmission processing program units corresponding to the segment processing program units and arranged in parallel in the transmission layer through the ground system, wherein the corresponding frame sequence number is not written in the pseudo remote control transmission frame; and inputting the pseudo remote control transmission frame into a queue associated with the frame sequence number determination program unit arranged in the transmission layer according to the order of generation through the ground system, and wherein The operation of determining the frame sequence number of the remote control transmission frame to be sent in an ascending order includes: determining the frame sequence number of the corresponding remote control transmission frame according to the order of the pseudo remote control transmission frame in the queue through the frame sequence number determination program unit.

7. A storage medium, It is characterized in that The storage medium includes a stored program, wherein when the program is run, the processor executes the method according to any one of claims 1 to 6.

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