Satellite on-orbit autonomous management method, device and medium for large-scale constellations

Abstract

The embodiment of the present invention discloses a method, device and medium for autonomous on-orbit management of satellites for large-scale constellations; the device comprises: a data storage part, used to store the on-board subsystem data of the satellite within a set retrospective date; a management part, configured to configure a general fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and perform fault diagnosis through the corresponding on-board subsystem data according to the configured general fault diagnosis model to obtain a fault diagnosis result; and generate constellation configuration control data according to the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite; and maintain an inter-satellite routing table for data transmission; a data transmission part, configured to frame the on-board subsystem data to be transmitted according to the communication protocol corresponding to the data channel to be transmitted, obtain a transmitted data frame, and transmit the transmitted data frame to the corresponding data channel for transmission.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of spacecraft autonomous management technology, and in particular, to an on-orbit autonomous management method, device and medium for satellites of large-scale constellations. Background Art

[0002] Traditional satellite systems usually have only a single star, or a small-scale satellite constellation consisting of a few to dozens of satellites. With the rise of commercial aerospace, the future space segment will be a large-scale satellite constellation consisting of hundreds, thousands or even tens of thousands of satellites; the business scope of these satellite constellations includes communications, navigation, remote sensing and hybrid services. However, the current conventional satellite management and control solutions are mostly to inject control instructions or control information to the target satellite through ground stations during the period when the satellite is visible. This consumes too much manpower and material resources, has low management and control efficiency, and is difficult to adapt to the management and control scenarios of large-scale constellations. Therefore, it is currently necessary to provide solutions that enable satellites to perform some or even all management tasks in orbit in large-scale constellation scenarios. Summary of the invention

[0003] In view of this, the embodiments of the present invention are intended to provide a method, device and medium for autonomous on-orbit management of satellites for large-scale constellations; these methods are capable of completing some on-orbit management tasks on board the satellite, thereby improving the efficiency of large-scale constellation management and control.

[0004] The technical solution of the embodiment of the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides an on-orbit autonomous management device for satellites in a large-scale constellation, the device being applied to each satellite in the large-scale constellation, the device comprising: a data storage part, a management and control part, and a data transmission part; wherein:

[0006] The data storage part is used to store the onboard subsystem data of the satellite within the set retrospective date;

[0007] The management part is configured to configure a universal fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and perform fault diagnosis through the corresponding on-board subsystem data according to the configured universal fault diagnosis model to obtain a fault diagnosis result;

[0008] And, generating constellation configuration control data based on the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite;

[0009] and, maintaining an inter-satellite routing table for data transmission;

[0010] The data transmission part is configured to frame the on-board subsystem data to be transmitted according to the communication protocol corresponding to the data channel to be transmitted, obtain the transmitted data frame, and transmit the transmitted data frame to the corresponding data channel for transmission.

[0011] In a second aspect, an embodiment of the present invention provides an on-orbit autonomous management method for satellites for a large-scale constellation, the method being applied to the on-orbit autonomous management device for satellites for a large-scale constellation described in the first aspect, the method comprising:

[0012] The onboard subsystem data of the satellite within the set retrospective date is stored;

[0013] Configuring a general fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and performing fault diagnosis through the corresponding on-board subsystem data according to the configured general fault diagnosis model to obtain a fault diagnosis result;

[0014] Generate constellation configuration control data based on the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite;

[0015] maintaining inter-satellite routing tables for data transmission;

[0016] The satellite subsystem data to be transmitted is framed according to the communication protocol corresponding to the data channel to be transmitted, a transmission data frame is obtained, and the transmission data frame is transmitted to the corresponding data channel for transmission.

[0017] In a third aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores an on-orbit autonomous management program for satellites for large-scale constellations, and when the on-orbit autonomous management program for satellites for large-scale constellations is executed by at least one processor, the steps of the on-orbit autonomous management method for satellites for large-scale constellations described in the second aspect are implemented.

[0018] The embodiments of the present invention provide a method, device and medium for autonomous on-orbit management of satellites for large-scale constellations; some or all management tasks are autonomously completed on the satellite through a data storage part and a management part, and there is no need to wait for entering the visible area of ​​a ground station. The constellation management tasks are completed by exchanging data with the ground station, thereby improving the management and control efficiency; in addition, during the implementation process, even if there is still a need to exchange data with the ground station, the management tasks are autonomously completed on the satellite, which reduces the amount of data transmitted, thereby reducing resource consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the composition of a large-scale satellite constellation system provided by an embodiment of the present invention;

[0020] Figure 2A schematic diagram of the composition of an on-orbit autonomous management device for satellites for large-scale constellations provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of another on-orbit autonomous management device for satellites for large-scale constellations provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the division of storage space provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the division of the storage area provided in an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a data extraction process provided by an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of a fault diagnosis process provided by an embodiment of the present invention;

[0026] Figure 8 A schematic flow chart of an on-orbit autonomous management method for satellites in large-scale constellations provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] like Figure 1 The large-scale satellite constellation system 1 shown includes at least N orbits. Figure 1 Only two orbits indicated by dashed lines and dot-dash lines are shown in FIG. 1 , and other orbits are not shown. The orbital heights and / or orbital inclinations of the orbits are different, and multiple satellites are arranged on each orbit, such as Figure 1 In the dotted line orbit, there are M1 satellites, but only six satellites are shown, labeled S11, S12, S13, S14, S15 and S16, and the remaining satellites are not shown because they are blocked by the earth. In the dot-dash line orbit, there are M2 satellites, but only five satellites are shown, labeled S21, S22, S23, S24 and S25, and the remaining satellites are not shown because they are blocked by the earth. Figure 1 For the numerous satellites of the large-scale satellite constellation 1 shown, when they need to be controlled, the conventional solution is to realize information exchange between the satellite and the ground station 11 through the measurement and control data channel when the satellite moves to the visible area of ​​the ground station 11, which causes problems such as excessive resource consumption and low control efficiency, and is difficult to adapt to the control scenarios of large-scale constellations.

[0029] Based on this, the embodiment of the present invention expects to set up an on-orbit autonomous management device for each satellite, so as to complete part of the control tasks by relying on the satellite's on-board computing resources, thereby improving the control efficiency of large-scale satellite constellations. Figure 2 , which shows an on-orbit autonomous management device 20 for a large-scale constellation of satellites provided by an embodiment of the present invention. The device 20 can be implemented as an independent stand-alone device with data storage and data processing functions, or as a software module that can run independently in an onboard computer, which is not limited by the embodiment of the present invention; and the device 20 can be applied to Figure 1 Any satellite in the constellation shown in the figure, the device 20 may include: a data storage part 201, a management part 202 and a data transmission part 203; wherein,

[0030] The data storage part 201 is used to store the onboard subsystem data of the satellite within the set retrospective date;

[0031] The management part 202 is configured to configure a universal fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and perform fault diagnosis through the corresponding on-board subsystem data according to the configured universal fault diagnosis model to obtain a fault diagnosis result;

[0032] And, generating constellation configuration control data based on the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite;

[0033] and, maintaining an inter-satellite routing table for data transmission;

[0034] The data transmission part 203 is configured to frame the satellite subsystem data to be transmitted according to the communication protocol corresponding to the data channel to be transmitted, obtain the transmitted data frame, and transmit the transmitted data frame to the corresponding data channel for transmission.

[0035] pass Figure 2 The technical solution shown in the figure can realize the autonomous completion of some or all management tasks on the satellite through the data storage part 201 and the management part 202, without waiting for entering the visible area of ​​the ground station, and the constellation management tasks can be completed by exchanging data with the ground station, thereby improving the management and control efficiency; in addition, Figure 2 During the implementation of the technical solution, even if there is still a need to transmit data to and from the ground station, the management tasks are completed autonomously on the satellite, which reduces the amount of data transmitted and thus reduces resource consumption.

[0036] for Figure 2 In some examples, see Figure 3The data storage part 201 includes a local storage space 2011 which is divided into multiple data storage areas; wherein each storage area corresponds to a date interval within the set back date, and the data integrity in each storage area is related to the distance between the corresponding date interval and the current moment.

[0037] In some examples, each storage area includes a storage block corresponding to an onboard subsystem, and the capacity of each storage block corresponds to the total amount of data of the corresponding onboard subsystem; accordingly, continue to refer to Figure 3 The data storage part 201 further includes: a data extraction unit 2012, which is configured to:

[0038] When there is a full storage block in the storage area corresponding to the higher integrity among the adjacent data integrity degrees, in the process of storing data into the full storage block, part of the data frames at the end of the full storage block are deleted according to the corresponding integrity, and another part of the data frames at the end of the full storage block are extracted according to the lower integrity among the adjacent data integrity degrees and stored in the storage block corresponding to the lower integrity degree in the storage area corresponding to the storage block of the same on-board subsystem.

[0039] For the above example, it can be understood that the satellite's onboard subsystem data can be stored in the storage space through the satellite's data bus. The storage space can be implemented as a large-capacity solid-state memory, and the interface form of the data bus can include but is not limited to CAN bus, RS485 bus, I2C bus, RS422 interface, etc. It should be noted that if the data is stored for too long, it will lead to excessive storage capacity requirements; if the data is stored for too short a time, when a problem occurs in the satellite, it may be impossible to trace the data to the time when the problem occurs, and the meaning of data storage is lost. Therefore, in order to balance the relationship between data storage capacity and storage time, the embodiment of the present invention divides the storage space into multiple storage areas, each storage area corresponds to the satellite data within a date interval within the retrospective date. In order to increase the length of the retrospective date, the data integrity in the storage area storing the date interval farther from the current time can be set to the lowest, and the data integrity in the storage area storing the date interval closer to the current time can be set to the highest. For example, based on 20% of the maximum load of the CAN bus rate of 500kbps, the amount of raw data for 24 hours is about 1.03GB, and the storage space with a capacity of 6GB can at most store all the raw data for 6 days at full load; but if Figure 4As shown, the storage space is divided into three storage areas, each of which has a capacity of 2GB. The first storage area (area 1) is used to store the original data generated in the date interval closest to the current time (such as within 2 days from the current time). This part of the data can be stored in area 1 without distinction, that is, the data integrity is 100%; the second storage area (area 2) is used to store the data generated in the medium term (such as within 3 to 6 days from the current time). This part of the data can be stored in area 2 after 50% extraction according to the on-board subsystem identifier (nID), that is, the data integrity is 50%; the third storage area (area 3) is used to store the data generated in the far early period (such as within 7 to 14 days from the current time). This part of the data can be stored in area 3 after 25% extraction according to the on-board subsystem identifier (nID), that is, the data integrity is 25%. In this way, the original storage space can store all the original data of 6 days at full load. By extracting and storing through the corresponding relationship between time distance and integrity, data can be stored as far back as 14 days.

[0040] against Figure 4 In any storage area shown in , in detail, the storage blocks can be divided according to the on-board subsystems, each storage block corresponds to an on-board subsystem identifier (nID), and the storage block capacity corresponding to each nID is not evenly divided, but divided according to the total amount of data sent by each on-board subsystem (such as a single machine, a payload, a platform center, etc.) within 24 hours, which is 20% of the maximum load of the CAN bus. Based on this, taking the first storage area (area 1) as an example, Figure 5 As shown, the satellite subsystem identifier nID can be represented by 00-FF, and the storage block capacity corresponding to each nID in area 1 is different, and the capacity corresponds to the amount of data sent by the satellite subsystem corresponding to the storage block; it can be understood that for other storage areas, they can be represented by Figure 4 The capacity ratio shown divides the storage blocks corresponding to each on-board subsystem identifier nID respectively, that is, in different storage areas, the storage blocks corresponding to the same nID have the same capacity.

[0041] Combination Figure 4 as well as Figure 5 The storage areas and storage blocks shown are, in detail, Figure 6As shown in the flowchart, the data extraction unit can receive the data frame sent by nID 00 from the data bus as shown by the solid arrow 1, and store it in the storage block corresponding to nID 00 in area 1; if the storage block corresponding to nID 00 in area 1 is full, it is necessary to extract the data frame in the storage block that is far away from the current time and transfer it to the storage block corresponding to nID 00 in area 2. Specifically, when the storage block corresponding to nID00 in area 1 is full, the counter of the number of received data is started; whenever the counter is an odd number, the tail data frame of the storage block corresponding to nID00 in area 1 is packaged and transferred to the storage block corresponding to nID 00 in area 2 as shown by the solid arrow 2; whenever the counter is an even number, the tail data frame of the storage block corresponding to nID 00 in area 1 is deleted as shown by the dotted arrow 1; thereby realizing the data extraction from area 1 data to area 2 data with a completeness from 100% to 50%.

[0042] Correspondingly, if the storage block corresponding to nID 00 in area 2 is full, the data extraction unit needs to extract the data frame in the storage block that is farther away from the current time and transfer it to the storage block corresponding to nID 00 in area 3. Specifically, when the storage block corresponding to nID 00 in area 2 is full, the counter of the number of received data is started; whenever the counter is an odd number, the tail data frame of the storage block corresponding to nID 00 in area 2 is packaged and transferred to the storage block corresponding to nID00 in area 3 as shown by the solid arrow 3; whenever the counter is an even number, the tail data frame of the storage block corresponding to nID 00 in area 2 is deleted as shown by the dotted arrow 2; thereby realizing the data extraction from area 2 data to area 3 data with a completeness of 50% to 25%.

[0043] Correspondingly, if the storage block corresponding to nID 00 in area 3 is full, the tail data frame in the storage block corresponding to nID 00 may be deleted as indicated by the dotted arrow 3 .

[0044] For some examples, see Figure 3 , the data storage part 201 also includes: a neighboring star storage space 2013 corresponding to each of the set number of neighboring stars adjacent to the host star; accordingly, each neighboring star storage space is divided into multiple data storage areas, and each storage area corresponds to a date interval within the set back date, and the data integrity in each storage area is related to the distance between the corresponding date interval and the current moment; each storage area includes a storage block corresponding to the onboard subsystem of the neighboring star, and the capacity of each storage block corresponds to the total amount of data of the onboard subsystem of the corresponding neighboring star.

[0045] For the above example, it should be noted that if the data is only stored locally on the satellite, when the satellite has a serious fault and cannot respond to the instruction to download the data, the stored data will lose its meaning. Therefore, in order to ensure the reliable download of the stored data, realize the data backtracking of the failed satellite, thereby completing the relevant data analysis and problem location, and laying the foundation for the subsequent satellite optimization design, it is necessary to back up the stored data. Different from the traditional data backup method, the embodiment of the present invention adopts the neighboring backup method to back up the stored data on the neighboring satellite. Generally, in a large-scale constellation, each satellite (local satellite) can establish a stable communication link for data exchange with four surrounding satellites (two on the same track and two on different tracks, which can be called neighboring satellites) through intersatellite lasers. When the local data volume reaches a minimum storage unit (such as a sector, a fixed-size file, etc.), the local satellite can back up the data to four neighboring satellites through four laser terminals. The local satellite is only responsible for sending the original data to the neighboring satellite, and the neighboring satellite uses the same extraction strategy as above to complete the data extraction. It is understandable that since each satellite needs to store the data of five satellites (i.e. one satellite and four neighboring satellites), if the above Figures 4 to 6 According to the calculation of the CAN bus data volume shown in the figure, the solid storage required for each satellite should not be less than 30GB. In other words, the large-capacity storage currently used in aerospace can fully meet the above backup needs.

[0046] for Figure 2 In some examples, see Figure 3 As shown, the satellite on-orbit autonomous management device 20 for large-scale constellations further includes: a data standardization part 204, which is configured to: add the number information of the satellite in the constellation and the corresponding on-board subsystem identification information to the on-board subsystem data to form primary standardized data of the on-board subsystem;

[0047] The primary standardized data is converted according to the set data format configuration corresponding to the on-board subsystem to form standardized data in a unified data format.

[0048] For the above example, specifically, the data standardization part unifies the satellite data produced by different manufacturers and different satellite compositions, which can effectively reduce the difficulty of constellation management and control, and at the same time provide the data premise for unified health management and configuration management of each node in the constellation. In detail, first, the satellites in the same constellation need to be uniformly numbered, a total of 4 bytes, and the specific definition is shown in Table 1:

[0049] Table 1

[0050] Reserved (1 Byte) Track type number (1 Byte) Track surface number (1 Byte) Satellite number in the plane (1 Byte)

[0051] In Table 1, the constellation orbits are divided according to the two factors of orbital altitude and orbital inclination. For example, number 1 represents an orbit with an altitude of 500 km and an inclination of 87°, number 2 represents an orbit with an altitude of 500 km and an inclination of 60°, number 3 represents an orbit with an altitude of 1150 km and an inclination of 60°, and so on. 1 byte can represent 256 orbit types, and 1 byte is reserved for expansion; under the same type of orbit, different ascending node right ascensions represent different orbital planes. In this embodiment, the orbit with the ascending node right ascension closest to 0 degrees can be set as number 1, and the number can be increased in the direction of increasing ascending node right ascension; for satellites on the same track, different satellites can be distinguished by different numbers. In this embodiment, the satellite with the phase closest to 0 degrees in the positive direction can be set as number 1 at a certain agreed time, and the number can be increased in the direction of orbital movement. In this way, the numbering information of the satellite in the constellation can be formed, so as to distinguish the downlink data of specific satellites in the constellation.

[0052] Next, for the satellite, the central computer can uniformly allocate the identification fields corresponding to the on-board subsystem identification to distinguish the data of different on-board subsystems; for example, the AXH field is used for the single machine number of non-control entities, such as thermal control-A0H, power supply-A1H, USB measurement and control-A2H, A3H, camera lower computer-A4H, data transmission-A5H, compression-A6H, UXB measurement and control-A7H, UV measurement and control-A8H, A9H; BXH and C The XH field is used for attitude and orbit control unit numbering, such as sun sensor-B0H, B1H, GPS-B2H, star sensor B3H~B5H, gyro B6H~B8H, flywheel B9H~BEH, magnetometer BFH, electric propulsion-C0H; the EXH field is used for virtual unit numbering, such as satellite service-E0H, attitude and orbit control-E1H, time system-E2H; the 9XH field is used for communication payload unit numbering, and the 8XH field is used for navigation payload unit numbering, etc. Through the above field numbering, combined with the aforementioned satellite numbering, it is possible to distinguish and clearly identify the downlink data of a specific satellite's specific onboard subsystem.

[0053] Finally, based on a unified configuration file, including the selection, quantity, data protocol, etc. of each component product, the relevant parameters within the onboard subsystem can also be uniformly numbered, so that the management part 202 can process data in a unified data format. Taking star sensor data as an example, the aforementioned onboard subsystem identification field is B3H~B5H. Then in B3H~B5H, no matter which manufacturer's star sensor is selected by the satellite, no matter what form its data protocol adopts, it can uniformly follow the format shown in Table 2.

[0054] Table 2

[0055]

[0056] It can be understood that the data standardization part does not change the original satellite data stored in the data storage part 201, but requires standardization when downlinking or the management part 202 performs data processing. That is to say, if a component on the satellite fails, the original data can still be downlinked to the ground station for fault analysis.

[0057] It should be noted that after obtaining standardized data, on the one hand, it is convenient to distinguish between satellites and onboard subsystems for the downlinked data after it is transmitted to the ground station; on the other hand, the unified data format facilitates the management part 202 to process the data according to a unified configuration during the data processing process, without the need for separate data format conversion, thereby improving the processing efficiency of the management process.

[0058] In the above example, continue to see Figure 3 Preferably, the data transmission part 203 may include: a data encryption unit 2031 and a protocol conversion unit 2032; wherein,

[0059] The data encryption unit 2031 is configured as follows:

[0060] If the standardized data to be transmitted is in plain text, the standardized data to be transmitted is directly transmitted to the protocol conversion unit;

[0061] If the standardized data to be transmitted is to be transmitted in secret, the standardized data to be transmitted is encrypted according to the set encryption strategy and then transmitted to the protocol conversion unit;

[0062] The protocol conversion unit 2032 is configured as follows:

[0063] Corresponding to the satellite being in the visible area of ​​the ground station, the data to be transmitted is framed according to the measurement and control protocol, and the obtained first downlink data frame is transmitted to the measurement and control channel of the satellite to be transmitted to the ground station;

[0064] Corresponding to the fact that the local satellite is not in the visible area of ​​the ground station, the data to be downlinked is framed according to the inter-satellite communication protocol, and the obtained second downlink data frame is transmitted to the inter-satellite communication link of the local satellite, so as to be transmitted to the satellite in the constellation that can downlink through the inter-satellite communication link and transmitted to the ground station.

[0065] For the above preferred examples, during the specific implementation process, the encryption strategy can be updated by the ground station to ensure the flexibility of the encryption strategy. The downlinked data can be directly transmitted to the ground station through the measurement and control channel when the local satellite is visible to the ground station; or it can be forwarded to other satellites visible to the current ground station through inter-satellite communication links, such as laser communication links, when the local satellite is invisible to the ground station, and then transmitted to the ground station by the satellite through the measurement and control channel. It can be understood that since the downlinked data are standardized, even if they are downlinked to the ground station by other satellites, the ground station can also distinguish the downlinked data of the satellite and the local satellite.

[0066] In the above example, continue to see Figure 3 Preferably, the management part 202 includes: a local health management unit 2021, a configuration management unit 2022 and a routing management unit 2023; wherein,

[0067] The local health management unit 2021 is configured as follows:

[0068] Determine the fault detection type corresponding to the standardized data transmitted by the data standardization part according to the preset fault detection type corresponding to each standardized data;

[0069] configuring a universal fault diagnosis model to adapt to the fault detection type corresponding to the standardized data transmitted by the data standardization part;

[0070] Performing diagnosis based on the standardized data transmitted by the data standardization part through the configured fault diagnosis model and outputting the diagnosis result;

[0071] Generate a corresponding control strategy based on the diagnosis result and transmit it to the onboard control system of the satellite;

[0072] The configuration management unit 2022 is configured as follows:

[0073] The standardized data transmitted by the data standardization part is standardized data about orbital parameters, and the standardized data about orbital parameters is compared with the pre-stored standard orbital parameters of the local star;

[0074] If the comparison difference is within the set deviation threshold, it is determined that the position of the local star in the constellation configuration is stable;

[0075] If the comparison difference is greater than the set deviation threshold, an attitude and orbit adjustment strategy is generated according to the comparison difference between the standardized data on the orbital parameters and the pre-stored standard orbital parameters of the local satellite, and transmitted to the attitude and orbit subsystem for execution so that the orbital parameters of the local satellite are restored to a stable state;

[0076] The routing management unit 2023 is configured as follows:

[0077] Corresponding to the fact that the computing resource margin of the local satellite is less than the set threshold, the routing table of the local satellite is updated according to the data received by the measurement and control channel of the local satellite and the inter-satellite communication link;

[0078] If the computing resource margin of the local satellite is greater than the set threshold, the routing table of the local satellite is updated based on the relevant routing discovery algorithm.

[0079] For the above preferred example, in the specific implementation of the technical solution of the embodiment of the present invention, the management part 202 can respectively implement the three management and control tasks of the health management, configuration management and routing management of the local satellite through the local satellite health management unit 2021, the configuration management unit 2022 and the routing management unit 2023. Specifically, for the health management task, the local satellite health management unit 2021 may include a general fault diagnosis model, which includes an identifier, a classifier and a diagnostic device, and can be adapted to diagnose and determine different types of faults based on the parameter configuration of the configuration file, such as Figure 7 In the fault diagnosis process shown, the configuration file may include rule parameters adapted to constant value faults, jump faults, threshold faults, expected value faults, etc. When the general fault diagnosis model is configured based on the rule parameters of a certain fault type, the corresponding fault type can be judged, and the standardized data comes from various on-board subsystems on the satellite. Therefore, different types of standardized data can be used to judge or diagnose different types of faults. The standardized data transmitted by the data standardization part can not only determine the type of fault to be diagnosed, but also serve as the data basis for fault diagnosis. After the general fault diagnosis model is configured with the parameters of the configuration file, the fault diagnosis is performed through the input standardized data, and the diagnosis result is used to indicate whether there is a corresponding type of fault; if the diagnosis result indicates that there is a corresponding type of fault, a corresponding control strategy is generated, and the control signal carrying the control strategy is fed back to the central control system of the satellite (such as the on-board computer), so that the central control system of the satellite controls the corresponding on-board subsystem according to the control strategy to eliminate the fault.

[0080] For the configuration management unit 2022, the preferred configuration management scheme of the embodiment of the present invention adopts a distributed control strategy of absolute phase to ensure the stability of the constellation system configuration. In detail, after the constellation design is completed, the standard height and standard phase of each satellite have been determined. Such standard values ​​can be pre-stored on the satellite or injected into the satellite via the ground station. If each satellite ensures that the height and phase of its own position are stable within a given constraint range, the configuration of the entire constellation is stable. For example, the maximum deviation threshold of the height is set to ±5km, and the maximum deviation threshold of the phase is ±1°. When the satellite height is reduced to the original orbital height -5km or the phase deviation reaches 1° due to factors such as atmospheric resistance, the configuration management unit 2022 generates an orbital height increase or phase adjustment strategy accordingly, and transmits it to the attitude and orbit subsystem for execution so that the orbital parameters of the satellite are restored to the constraint range. It should be noted that the advantage of the distributed control strategy of absolute phase is that it does not require inter-satellite ranging or obtaining the position information of other satellites, and only relies on the orbital data of each satellite to maintain the stability of the constellation configuration.

[0081] For the routing management unit 2023, its main function is to maintain the routing table. When the satellite needs to send data to other satellites or ground nodes, it can determine the optimal routing path based on the latest routing table, thereby ensuring the effectiveness and timeliness of data transmission. If the on-board computing resources are tight and it is impossible to independently perform routing calculations, the routing management unit 2023 can receive data through the measurement and control channel and the inter-satellite channel (such as the inter-satellite communication link) to complete the update of its own routing table; if the on-board computing resources are sufficient, the routing management unit 2023 can use the pre-integrated related routing calculation algorithm and routing discovery algorithm to independently complete the update of the routing table, thereby ensuring that the routing table is in the latest state.

[0082] It can be understood that in this embodiment, "part" can be part of a circuit, part of a processor, part of a program or software, etc., and of course it can also be a unit, a module, or a non-modular one.

[0083] In addition, each component in this embodiment 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 integrated unit may be implemented in the form of hardware or in the form of software function modules.

[0084] If the integrated unit is implemented in the form of a software function module and is not 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 this embodiment is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0085] Based on the same inventive concept as the above technical solution, see Figure 8 , which shows a satellite on-orbit autonomous management method for a large-scale constellation provided by an embodiment of the present invention. The method is applied to the satellite on-orbit autonomous management device 20 for a large-scale constellation described in the above technical solution. The method may include:

[0086] S801: storing the satellite subsystem data of the satellite within the set retrospective date;

[0087] S802: configuring a general fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and performing fault diagnosis through the corresponding on-board subsystem data according to the configured general fault diagnosis model to obtain a fault diagnosis result;

[0088] S803: Generate constellation configuration control data according to the orbit data measured by the attitude and orbit subsystem of the local satellite and the configuration data of the local satellite;

[0089] S804: Maintaining an inter-satellite routing table for data transmission;

[0090] S805: Frame the onboard subsystem data to be transmitted according to the communication protocol corresponding to the data channel to be transmitted, obtain a transmission data frame, and transmit the transmission data frame to the corresponding data channel for transmission.

[0091] For the above scheme, in some examples, the storage space on the satellite for storage is divided into multiple data storage areas; wherein each storage area corresponds to a date interval within the set backtracking date, and the data integrity in each storage area is related to the distance between the corresponding date interval and the current moment; each storage area includes a storage block corresponding to the on-board subsystem, and the capacity of each storage block corresponds to the total amount of data of the corresponding on-board subsystem.

[0092] Based on the above example, preferably, the method further includes:

[0093] When there is a full storage block in the storage area corresponding to the higher integrity among the adjacent data integrity degrees, in the process of storing data into the full storage block, part of the data frames at the end of the full storage block are deleted according to the corresponding integrity, and another part of the data frames at the end of the full storage block are extracted according to the lower integrity among the adjacent data integrity degrees and stored in the storage block corresponding to the lower integrity degree in the storage area corresponding to the storage block of the same on-board subsystem.

[0094] Based on the above example, preferably, the method further includes:

[0095] When receiving a first data index instruction for a target on-board subsystem, extracting data in storage blocks corresponding to the target on-board subsystem in all storage areas according to the correspondence between the storage blocks and the on-board subsystem to respond to the first data index instruction;

[0096] When receiving a second data index instruction for a set time period, calculating the timestamp difference between the first and last data frames of each storage block in each storage area, and extracting data in all storage blocks whose timestamp difference is within the set time period to respond to the second data index instruction;

[0097] When a third data index instruction for the target satellite subsystem and a set time period is received, the timestamp difference of the first and last data frames of the storage blocks corresponding to the target satellite subsystem in all storage areas is calculated, and the data in the storage blocks corresponding to the target satellite subsystem and whose timestamp difference is within the set time period is extracted to respond to the third index instruction.

[0098] For the above preferred examples, it should be noted that, based on the storage space division scheme described in the above examples, after the data is stored, the data will usually be downloaded as needed, such as the time when the problem occurred, the operating status of a component, etc. At this time, the data needs to be indexed to reduce the pressure of data download. Based on the above preferred examples, in an embodiment of the present invention, the index conditions can include two categories: time period and subsystem ID.

[0099] First, search by time period; specifically, combined with the above Figures 4 to 6 The storage space division example shown is to obtain the first and last data frames in each nID storage area in area 1, each nID storage area in area 2, and each nID storage area in area 3 in turn, and calculate whether the timestamp difference between the first and last data frames covers the time period indicated by the search condition: if it does, then all the stored data within the time period is accurately matched, and feedback is given after the text is composed according to the nID; if it does not cover, a prompt feedback is given.

[0100] Secondly, search according to the on-board subsystem identifier nID condition; specifically, if the nID is matched successfully, all the stored texts in the corresponding nID storage area in area 1, the corresponding nID storage area in area 2, and the corresponding nID storage area in area 3 are extracted in turn and fed back; if the nID is matched unsuccessfully, prompt feedback is given.

[0101] Next, search according to the combination of nID and time period; specifically, first, if the nID is matched successfully, obtain the first and last data frames in the corresponding nID storage area in area 1, the corresponding nID storage area in area 2, and the corresponding nID storage area in area 3 in turn, and calculate whether the timestamp difference covers the search condition time period. If it does, accurately match all the stored data in the time period, form a text and then feedback; if it does not cover, give prompt feedback.

[0102] Finally, all data are searched; specifically, the stored texts in area 1, area 2, and area 3 can be extracted and fed back in turn.

[0103] Based on the above technical solution and its examples, this embodiment provides a computer storage medium, which stores an on-orbit autonomous management program for satellites for large-scale constellations. When the on-orbit autonomous management program for satellites for large-scale constellations is executed by at least one processor, the steps of the on-orbit autonomous management method for satellites for large-scale constellations described in the above technical solution are implemented.

[0104] It can be understood that the exemplary technical solution of the satellite on-orbit autonomous management method for large-scale constellations and the technical solution of the satellite on-orbit autonomous management device for large-scale constellations belong to the same concept, therefore, the details not described in detail in the technical solution of the satellite on-orbit autonomous management method for large-scale constellations can be referred to the description of the technical solution of the satellite on-orbit autonomous management device for large-scale constellations. This embodiment of the present invention will not be described in detail.

[0105] It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.

[0106] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A satellite on-orbit autonomous management device for large-scale constellations, characterized in that: The device is applied to each satellite in a large-scale constellation, and the device includes: a data storage part, a management part and a data transmission part; wherein, The data storage part is used to store the onboard subsystem data of the satellite within the set retrospective date; The management part is configured to configure a universal fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and perform fault diagnosis through the corresponding on-board subsystem data according to the configured universal fault diagnosis model to obtain a fault diagnosis result; And, generating constellation configuration control data based on the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite; and, maintaining an inter-satellite routing table for data transmission; The data transmission part is configured to frame the satellite subsystem data to be transmitted according to the communication protocol corresponding to the data channel to be transmitted, obtain the transmitted data frame, and transmit the transmitted data frame to the corresponding data channel for transmission; Among them, the data storage part includes a local storage space divided into multiple data storage areas; wherein each storage area corresponds to a date interval within the set back date, and the correlation between the data integrity in each storage area and the distance between the corresponding date interval and the current moment is: the data integrity in the storage area storing the date interval farther from the current moment is set to the lowest, and the data integrity in the storage area storing the date interval closer to the current moment is set to the highest.

2. The device according to claim 1, characterized in that Each storage area includes a storage block corresponding to the on-board subsystem, and the capacity of each storage block corresponds to the total amount of data of the corresponding on-board subsystem; accordingly, the data storage part also includes: a data extraction unit, which is configured as follows: When there is a full storage block in the storage area corresponding to the higher integrity among the adjacent data integrity degrees, in the process of storing data into the full storage block, part of the data frames at the end of the full storage block are deleted according to the corresponding integrity, and another part of the data frames at the end of the full storage block are extracted according to the lower integrity among the adjacent data integrity degrees and stored in the storage block corresponding to the lower integrity degree in the storage area corresponding to the storage block of the same on-board subsystem.

3. The device according to claim 1, characterized in that The data storage part also includes: neighboring star storage spaces corresponding to a set number of neighboring stars adjacent to the current star; accordingly, each neighboring star storage space is divided into multiple data storage areas, and each storage area corresponds to a date interval within the set back date, and the data integrity in each storage area is related to the distance between the corresponding date interval and the current moment; each storage area includes storage blocks corresponding to the onboard subsystem of the neighboring star, and the capacity of each storage block corresponds to the total amount of data of the onboard subsystem of the corresponding neighboring star.

4. The device according to claim 1, characterized in that The device further comprises: a data standardization part configured to: add the number information of the satellite in the constellation and the corresponding identification information of the satellite subsystem to the satellite subsystem data to form primary standardized data of the satellite subsystem; The primary standardized data is converted according to the set data format configuration corresponding to the on-board subsystem to form standardized data in a unified data format.

5. The device according to claim 4, characterized in that The data transmission part includes: a data encryption unit and a protocol conversion unit; wherein, The data encryption unit is configured as follows: If the standardized data to be transmitted is in plain text, the standardized data to be transmitted is directly transmitted to the protocol conversion unit; If the standardized data to be transmitted is to be transmitted in secret, the standardized data to be transmitted is encrypted according to the set encryption strategy and then transmitted to the protocol conversion unit; The protocol conversion unit is configured as follows: Corresponding to the satellite being in the visible area of ​​the ground station, the data to be transmitted is framed according to the measurement and control protocol, and the obtained first downlink data frame is transmitted to the measurement and control channel of the satellite to be transmitted to the ground station; Corresponding to the fact that the local satellite is not in the visible area of ​​the ground station, the data to be downlinked is framed according to the inter-satellite communication protocol, and the obtained second downlink data frame is transmitted to the inter-satellite communication link of the local satellite, so as to be transmitted to the satellite in the constellation that can downlink through the inter-satellite communication link and transmitted to the ground station.

6. The device according to claim 4, characterized in that The management part includes: a satellite health management unit, a configuration management unit and a routing management unit; wherein, The local health management unit is configured as follows: Determine the fault detection type corresponding to the standardized data transmitted by the data standardization part according to the preset fault detection type corresponding to each standardized data; configuring a universal fault diagnosis model to adapt to the fault detection type corresponding to the standardized data transmitted by the data standardization part; Performing diagnosis based on the standardized data transmitted by the data standardization part through the configured fault diagnosis model and outputting the diagnosis result; Generate a corresponding control strategy based on the diagnosis result and transmit it to the onboard control system of the satellite; The configuration management unit is configured as follows: The standardized data transmitted by the data standardization part is standardized data about orbital parameters, and the standardized data about orbital parameters is compared with the pre-stored standard orbital parameters of the local star; If the comparison difference is within the set deviation threshold, it is determined that the position of the local star in the constellation configuration is stable; If the comparison difference is greater than the set deviation threshold, an attitude and orbit adjustment strategy is generated according to the comparison difference between the standardized data on the orbital parameters and the pre-stored standard orbital parameters of the local satellite, and transmitted to the attitude and orbit subsystem for execution so that the orbital parameters of the local satellite are restored to a stable state; The routing management unit is configured as follows: Corresponding to the fact that the computing resource margin of the local satellite is less than the set threshold, the routing table of the local satellite is updated according to the data received by the measurement and control channel of the local satellite and the inter-satellite communication link; Corresponding to the fact that the computing resource margin of the local satellite is greater than the set threshold, the routing table of the local satellite is updated based on the relevant routing discovery algorithm.

7. A method for autonomous on-orbit management of satellites for large-scale constellations, characterized in that: The method is applied to the satellite on-orbit autonomous management device for large-scale constellations according to any one of claims 1 to 6, and the method comprises: The onboard subsystem data of the satellite within the set retrospective date is stored; Configuring a general fault diagnosis model based on the fault detection type corresponding to the on-board subsystem data, and performing fault diagnosis through the corresponding on-board subsystem data according to the configured general fault diagnosis model to obtain a fault diagnosis result; Generate constellation configuration control data based on the orbit data measured by the attitude and orbit subsystem of the satellite and the configuration data of the satellite; maintaining inter-satellite routing tables for data transmission; The satellite subsystem data to be transmitted is framed according to the communication protocol corresponding to the data channel to be transmitted, a transmission data frame is obtained, and the transmission data frame is transmitted to the corresponding data channel for transmission.

8. The method according to claim 7, characterized in that The storage space of the satellite for storage is divided into a plurality of data storage areas; wherein each storage area corresponds to a date interval within the set retrospective date, and the data integrity in each storage area is related to the degree of distance between the corresponding date interval and the current time; each storage area includes a storage block corresponding to the on-satellite subsystem, and the capacity of each storage block corresponds to the total amount of data of the corresponding on-satellite subsystem; accordingly, the method further includes: When receiving a first data index instruction for a target on-board subsystem, extracting data in storage blocks corresponding to the target on-board subsystem in all storage areas according to the correspondence between the storage blocks and the on-board subsystem to respond to the first data index instruction; When receiving a second data index instruction for a set time period, calculating the timestamp difference between the first and last data frames of each storage block in each storage area, and extracting data in all storage blocks whose timestamp difference is within the set time period to respond to the second data index instruction; When a third data index instruction for the target satellite subsystem and a set time period is received, the timestamp difference of the first and last data frames of the storage blocks corresponding to the target satellite subsystem in all storage areas is calculated, and the data in the storage blocks corresponding to the target satellite subsystem whose timestamp difference is within the set time period is extracted to respond to the third data index instruction.

9. A computer storage medium, characterized in that: The computer storage medium stores an on-orbit autonomous management program for satellites for large-scale constellations. When the on-orbit autonomous management program for satellites for large-scale constellations is executed by at least one processor, the steps of the on-orbit autonomous management method for satellites for large-scale constellations described in claim 7 or 8 are implemented.

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