A spacecraft fault diagnosis processing method and device

Abstract

The application provides a spacecraft fault diagnosis processing method and device, and relates to the technical field of measurement and control. The method comprises the following steps: acquiring telemetry result data, and performing data preprocessing on the telemetry result data; a relationship between the telemetry result data and a spacecraft fault is represented through a spacecraft fault rule based on time sequence logic; fault rule calculation based on a state transition sequence is performed on the telemetry result data after the data preprocessing, and the spacecraft fault is diagnosed according to a fault rule calculation result. The device executes the above method. The spacecraft fault diagnosis processing method and device provided in the embodiment of the application can realize spacecraft fault diagnosis without programming by a developer, and improve the universality of the spacecraft fault diagnosis processing method.

Description

Technical Field

[0001] This invention relates to the field of measurement and control technology, specifically to a method and apparatus for diagnosing and handling spacecraft faults. Background Technology

[0002] With the continuous development of aerospace engineering technology, the density of space missions is increasing, flight tracking and control tasks are becoming more complex, and the probability of spacecraft malfunctions is rapidly increasing. In order to ensure that the tracking and control system can quickly judge and accurately control the operational status of spacecraft, high requirements are placed on the real-time performance and ease of use of spacecraft fault diagnosis.

[0003] In space missions, fault diagnosis is primarily achieved through fault expert programming. While this method can accurately identify fault rules, it tightly binds software development to domain knowledge, hindering the separation of developers and users and impeding efficient system construction and flexible use. Furthermore, some systems have very limited time-series descriptions, making the use of time-series rules complex or unable to accurately describe the fault judgment logic. Summary of the Invention

[0004] In view of the problems in the prior art, the present invention provides a spacecraft fault diagnosis and processing method and apparatus, which can at least partially solve the problems existing in the prior art.

[0005] On the one hand, this invention proposes a spacecraft fault diagnosis and processing method, including:

[0006] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0007] Perform syntax validation on user-written spacecraft fault rules;

[0008] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0009] The data preprocessing of the telemetry results includes:

[0010] Place the telemetry result data at the end of the cache queue;

[0011] If it is determined that the length of the cache queue exceeds the preset cache queue length, the starting data of the cache queue is deleted so that the length of the cache queue is equal to the preset cache queue length.

[0012] Calculate the mean and variance of the cache queue data, and determine whether to delete the telemetry result data based on the telemetry result data, the mean, and the variance.

[0013] The data preprocessing of the telemetry results includes:

[0014] If it is determined that there are missing values ​​in the telemetry result data, then the missing values ​​are filled with the telemetry result data from the most recent time.

[0015] The spacecraft fault rules include items; prior to the step of acquiring telemetry result data, the spacecraft fault diagnosis and processing method further includes performing syntax verification on the user-written spacecraft fault rules; correspondingly, the syntax verification of the user-written spacecraft fault rules includes:

[0016] Perform character content validation on the input string and output the validation result of the item based on the character content validation result.

[0017] The spacecraft fault rules include formulas; correspondingly, the syntax validation of user-written spacecraft fault rules includes:

[0018] The input formula string and / or formula logic relationship are validated, and the validation result of the formula is output based on the validation result.

[0019] The step of calculating fault rules based on state transition sequences for the telemetry results data after data preprocessing includes:

[0020] The formulaic logic relationship of the spacecraft fault rules is calculated based on the state transition sequence. The calculated rule premise results are then recursively calculated to obtain the rule consequent results.

[0021] The process of diagnosing spacecraft faults based on the calculation results of fault rules includes:

[0022] If it is determined that the consequent of the rule includes a fault predicate, the premise of the rule is true, and the rule has not yet issued a fault warning, then the spacecraft fault diagnosis result is to issue a fault warning.

[0023] If it is determined that the consequent of the rule includes a fault predicate, the premise result of the rule is false, and the rule has previously issued a fault warning, then the spacecraft fault diagnosis result is to end the fault warning, and the rule is set to a state where no fault warning has been issued.

[0024] On one hand, the present invention proposes a spacecraft fault diagnosis and processing device, comprising:

[0025] An acquisition unit is used to acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic.

[0026] The diagnostic unit is used to perform fault rule calculations based on state transition sequences on the telemetry results data after data preprocessing, and to diagnose spacecraft faults based on the fault rule calculation results.

[0027] In another aspect, embodiments of the present invention provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the following method:

[0028] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0029] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0030] This invention provides a computer-readable storage medium, comprising:

[0031] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the following method:

[0032] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0033] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0034] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the following method:

[0035] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0036] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0037] The spacecraft fault diagnosis and processing method and apparatus provided in this invention acquire telemetry result data and preprocess the telemetry result data. The relationship between the telemetry result data and the spacecraft fault is represented by spacecraft fault rules based on time-series logic. Fault rules based on state transition sequences are calculated on the preprocessed telemetry result data, and spacecraft faults are diagnosed based on the fault rule calculation results. This not only eliminates the need for developers to write programs to achieve spacecraft fault diagnosis, but also improves the versatility of the spacecraft fault diagnosis and processing method. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0039] Figure 1 This is a schematic flowchart of a spacecraft fault diagnosis and processing method provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic flowchart of a spacecraft fault diagnosis and processing method provided in another embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of the structure of a spacecraft fault diagnosis and processing device provided in an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0044] Figure 1 This is a schematic flowchart of a spacecraft fault diagnosis and processing method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the spacecraft fault diagnosis and processing method provided in this embodiment of the invention includes:

[0045] Step S1: Obtain telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic.

[0046] Step S2: Perform fault rule calculation based on state transition sequence on the telemetry results data after data preprocessing, and diagnose spacecraft faults based on the fault rule calculation results.

[0047] In step S1 above, the device acquires telemetry result data and performs data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic. The device can be a computer device, such as a server, that executes this method. The acquisition, storage, use, and processing of data in this application's technical solution all comply with relevant national laws and regulations.

[0048] Telemetry results data can be obtained by receiving telemetry results data from the aerospace telemetry and control network.

[0049] like Figure 2 As shown, data preprocessing can include outlier removal and gap filling, which are explained below:

[0050] The data preprocessing of the telemetry results includes:

[0051] Place the telemetry result data at the end of the cache queue;

[0052] If it is determined that the length of the cache queue exceeds the preset cache queue length, the starting data of the cache queue is deleted so that the length of the cache queue is equal to the preset cache queue length; the preset cache queue length can be set independently according to the actual situation.

[0053] Calculate the mean and variance of the cache queue data, and determine whether to delete the telemetry result data based on the telemetry result data, the mean, and the variance. Determining whether to delete the telemetry result data based on the telemetry result data, the mean, and the variance includes:

[0054] If the following expression is satisfied, then the telemetry result data is deleted:

[0055] |v-mu|>6×theta

[0056] Where v is the telemetry result data, mu is the mean, and theta is the variance.

[0057] If the above expression is not satisfied, the telemetry result data is retained.

[0058] The data preprocessing of the telemetry results includes:

[0059] If a missing value is found in the telemetry result data, the missing value is filled using the telemetry result data from the most recent time point. If the rule needs to check multiple telemetry parameters simultaneously, and different telemetry parameters have different download times, resulting in telemetry parameter A receiving a value at the same time point in the list while parameter B does not, meaning parameter B has a missing value at that moment, the missing value at the current time can be filled using the most recent value from the previous time point of parameter B.

[0060] Examples are given below:

[0061] The correspondence between the parameters required for the fault rules and the time is shown in Table 1:

[0062] Table 1

[0063] Parameter A1 Parameter A2 …… Parameter An Time 1 1.2 …… 5 …… …… …… …… …… Time m-1 3.3 3.4 …… 4.8 Time m 3.5 3.5 ……

[0064] Referring to Table 1, if parameter An has no value at time m, then the telemetry result data 4.8 from the most recent time m-1 is used to fill the gap at time m.

[0065] The rules for spacecraft failures are explained below:

[0066] This invention proposes a rule system for spacecraft faults, which mainly includes five parts: function, predicate, constant, operator, and temporal operator. This rule system is the basis for writing rule configuration and for subsequent rule verification and detection.

[0067] Let D be the domain of discourse. Then the n-ary predicate P: D*D*...*D --> bool is usually represented by uppercase letters P and Q. Propositions are zero-ary predicates. The n-ary function f: D*D*...*D --> D is usually represented by lowercase letters f, g, and h. Constants are represented by a, b, and c, and variables by x, y, and z. [t], <t>{n,m} are temporal operators, and the set of temporal operators is denoted as TOP. t>=0 indicates counting back t (historical) time from the current time.

[0068] [t]P: P holds true for the time interval t up to the current moment.

[0069] <t>P: P was true within time t before the current moment.

[0070] oP: P is true at the time before the current time (the previous time).

[0071] {n,m}P: There are m frames where P holds true within the n frames prior to the current time.

[0072] 1. Definition of special function terms

[0073] A.Para("pname", t = 0, isTime = 0): Retrieves the value of the parameter "pname" within time / frame t. The default value is t = 0, which retrieves the current parameter value. If t > 0, it retrieves the value t time / frame before the current time (historical). If t < 0, it retrieves the value t time / frame after the current time (future). The default value isTime = 0, which means t represents the number of frames. Otherwise, t represents time. The default value can be left blank. When t is time, the unit is seconds.

[0074] B.Mean("pname",t=0,isTime=0): Retrieves the average value of the parameter with the parameter code "pname" over time / frame t.

[0075] C.Max("pname",t=0,isTime=0): Retrieves the maximum value of the parameter with the parameter code "pname" within time / frame t.

[0076] D.Min("pname",t=0,isTime=0): Retrieves the minimum value of the parameter with the parameter code "pname" within time / frame t.

[0077] E.Time(): Gets the task time.

[0078] F.Time("pname"): Gets the time on the device of the parameter with the parameter code "pname".

[0079] 2. Definition of Special Predicates

[0080] A.Fault("fault describe", k=1): Publishes a fault occurrence message. This predicate publishes a fault named "fault describe". k represents the fault level, with values ​​of 1: general fault; 2: non-urgent major fault; 3: urgent major fault. "fault describe" is a Chinese string, and k=1 by default and can be omitted.

[0081] B.Tag*: Declare a rule identifier, where * represents a numeric code. For example, Tag1 declares a rule identifier named Tag1.

[0082] C.Cmd("Cmdname", t=0): Determines whether the instruction with instruction code "Cmdname" was successfully sent within time t at the current time. t defaults to 0. If not specified, it indicates whether "Cmdname" was successfully sent at the current time.

[0083] "Cmdname" can be used for fuzzy matching.

[0084] D.ZRCmd("ZRCmdname", t=0): Determines whether the injection of data named "ZRCmdname" within time t at the current moment was successful. t defaults to 0. If not specified, it indicates whether "ZRCmdname" was successfully injected at the current moment. "ZRCmdname" can be used for fuzzy matching.

[0085] E.Plan("Planname", "fieldname", t=0): Determines whether the event with field name "fieldname" in the plan named "Planname" has started execution at time t. t defaults to 0. If not specified, it indicates whether the event "fieldname" has started execution at the current time.

[0086] F.Increase("pname",t=0,isTime=0): Determines whether the parameter with the code "pname" continues to increase within time / frame t.

[0087] G.Decrease("pname",t=0,isTime=0): Determines whether the parameter with the parameter code "pname" continues to decrease within time / frame t.

[0088] H.PreCond(condition1, time interval delta, condition2): If condition2 is true after time interval delta has elapsed since condition1 is true, then this predicate is true.

[0089] 3. Numerical Calculation

[0090] Numerical operations can be performed between parameters, values, and functions, and the results can be used for further numerical calculations. Let A and B be computable numbers, then the numerical calculation relationships can be defined as shown in Table 2:

[0091] Table 2

[0092]

[0093]

[0094] Before the step of acquiring telemetry result data, the spacecraft fault diagnosis and processing method further includes syntax validation of the user-written spacecraft fault rules. This step ensures that the rules conform to the required input format. An example is given below:

[0095] Example 1:

[0096] If Para("ABC")>10 is written as Par("ABC")>10, a syntax error will be given because Par is not a valid predicate, requiring the user to correct it before submitting.

[0097] Example 2:

[0098] If Para("ABC")>10, and ABC is not a correct telemetry parameter code, a message will be given indicating that the parameter does not exist, requiring the user to correct it and submit it again.

[0099] The spacecraft fault rules include items; correspondingly, the syntax validation of user-written spacecraft fault rules includes:

[0100] Perform character content validation on the input string and output the validation result of the item based on the character content validation result.

[0101] The spacecraft fault rules include formulas; correspondingly, the syntax validation of user-written spacecraft fault rules includes:

[0102] The system validates the input formula string and / or the formula's logical relationships, and outputs the validation result based on the validation outcome. Specific details are as follows:

[0103] The steps for the rule verification device to verify an "item" are as follows:

[0104] Method name: checkTerm(t)

[0105] Input parameter: t---string

[0106] Output: Boolean value, true indicates that t is an item, false indicates that t is not an item.

[0107] 1. If t is a string that starts with x (i.e., a variable), then return true;

[0108] 2. If t is a parameter identifier string (i.e., it exists in the telemetry parameter list), then return true;

[0109] 3. If t is (t'), then return checkTerm(t');

[0110] 4. If t = f(t1, t2, ..., tn), and f is an n-ary function, then return checkTerm(t1) and ... and checkTerm(tn); otherwise, return false.

[0111] The steps of a rule verification device in verifying a "logic formula":

[0112] Method name: checkFm(A)

[0113] Input parameter: A---string

[0114] Output: Boolean value, true indicates that A is a formula, false indicates that A is not a formula.

[0115] 1. If A is a string that starts with x (i.e., a variable), then return true;

[0116] 2. If A is a string of the form P(t1,...,tn), and P is an n-ary predicate, then checktFm(A) = checkTerm(t1)and...checkTerm(tn);

[0117] 3. If A is of the form (P), then checkFm(A) = checkFm(P);

[0118] 4. If A is of the form PVQ or P / \Q, then checkFm(A) = checkFm(P) and checkFm(Q);

[0119] 5. If A is of the form ~P, op P, and op TOP, then checkFm(A) = checkFm(P).

[0120] A logical rule R is a logical expression of the form P-->Q, where P and Q are formulas. That is, whether the rule R is valid depends on checkFm(P) and checkFm(Q). Therefore, the validity of the rule can be checked by applying checkFm to the premise P and the result Q of the rule respectively.

[0121] In step S2 above, the device performs fault rule calculation based on state transition sequence on the telemetry result data after data preprocessing, and diagnoses spacecraft faults based on the fault rule calculation results.

[0122] The calculation of fault rules based on state transition sequences for the telemetry results data after data preprocessing includes:

[0123] The formulaic logic relationship of the spacecraft fault rules is calculated based on the state transition sequence. The calculated rule premise results are then recursively calculated to obtain the rule consequent results.

[0124] Adopting structure<S,I,R,Label> A method for defining computation rules, where S is a set of states. It is the initial state set. It's a transformation relationship: Label:S -->2 AP This is a state labeling function. In this device, the spacecraft's telemetry parameter Ai has a value vi at every instant. Each instant represents a possible world (i.e., a state, determined by all parameter values). The transition from one instant to the next is a transition. The transition process is determined by the spacecraft's operational state, and each state is determined by all telemetry parameters and their values ​​at that instant. Label defines a true predicate / proposition for each state (instantaneous world). Let the state transition sequence be σ = s0s1...sm = σ0 = s0σ1, 0 <= t <= m. Therefore, the logical relationship of the formula is calculated as follows:

[0125] Name: compute(A)

[0126] Input: A — Formula;

[0127] Output: True values, where true indicates that the formula is satisfied, and false indicates that the formula is not satisfied.

[0128] If A=P(a1,...,an), then σ(A)=σ(P(a1,...,an))=σ(P)(σ(a1),...,σ(an));

[0129] Where a = f(b1,...,bn), then σ(a) = σ(f(b1,...,bn)) = σ(f)(σ(b1),...,σ(b1)), where a is any one of a1,...,an above; if a is a telemetry parameter symbol, then σ(a) = s0(a), which is the value of telemetry parameter a at time s0.

[0130] If A=~C, then σ(A)=~σ(C);

[0131] If A=B / \C, then σ(A)=σ(B / \C)=σ(B) / \σ(C);

[0132] If A=BVC, then σ(A)=σ(BVC)=σ(B)Vσ(C);

[0133] If A=[t]B, then when t>0, σ(A)=σ1(s0(B)) / \σ1([t-1]o(B))=σ0(B) / \σ1(B) / \... / \σt(B);

[0134] When t = 0, σ(A) = σ(B);

[0135] If A = <t>B, then σ(A)=σ0(B)Vσ0( <t-1>o(B)) = σ0(B) ∨ σ1(B) ∨... ∨ σt(B);

[0136] If A = {n, m}B, where 0 < m < n, then σ(A) = (σ0(B) ∧ σ1({n - 1, m - 1}B)) ∨ (s0(~B) ∧ σ1({n - 1, m}B)), and for any σ and i, σ({i, 0}B) = True, σ({i, i}B) = σ0(B) ∧ σ1({i - 1, i - 1}B) =

[0137] σ0(B) ∧... ∧ σi - 1(B).

[0138] With the above calculation formula method, the calculation of the rule P --> Q is: σ(Q) = σ(P), that is, the truth value of Q is defined by P. That is, when the result of the rule premise P is True / False after recursive calculation according to the above definition, the rule consequent Q is True / False. Q can only be a Fault predicate or a Tagn label.

[0139] Diagnosing the spacecraft fault according to the result of the fault rule calculation includes:

[0140] If it is determined that the result of the rule consequent includes a fault predicate, and the result of the rule premise is true, and the rule has not issued a fault warning yet, then the spacecraft fault diagnosis result is to issue a fault warning;

[0141] If it is determined that the result of the rule consequent includes a fault predicate, and the result of the rule premise is false, and the rule has issued a fault warning before, then the spacecraft fault diagnosis result is to end the fault warning, and set the rule to the state of not having issued a fault warning. If Q is a Fault predicate, then when P is true and the rule has not issued a fault warning, a fault start warning is issued. When P is false and the rule has issued a fault warning before, a fault end message is issued, which sets the rule to the state of not having issued a fault warning. If Q is the nth tag Tagn, the truth value of Tagn is the same as the truth value of P.

[0142] The fault calculation devices of multiple targets can be connected together. The fault rule takes the combination of AND / OR / NOT of "target name.tag n" as the precondition, and the rule consequent Q can be a Fault predicate or a Tagn label.

[0143] In specific implementation, the fault rules of different targets are organized by a hash table structure OT. The hash table T for obtaining the fault rule information of the target with the target name as the key value. T can index its truth value according to the Fault predicate or the Tagn label as the key value.

[0144] In the joint judgment of multi-target faults, if the premise is ObjCode.Tagn, then first obtain T = OT(objectCode), and then obtain the truth value of Tagn as T(Tagn). Then, calculate the truth value of the rule premise P through logical operations of AND / OR / NOT, thereby determining the truth value of the rule consequent Q, thus achieving the goal of joint judgment of multi-target spacecraft faults.

[0145] The method provided by this invention has the following advantages:

[0146] (1) Only by being familiar with the rule writing specifications can one write very complex time-related spacecraft fault rules, avoiding the need to write complex programs and reducing the professional requirements of users.

[0147] (2) It can quickly complete spacecraft fault detection and handle cross-target fault judgment of multiple spacecraft.

[0148] (3) The calculation method is highly versatile and can be applied to fault detection in other fields.

[0149] (4) The computation method can be parallelized and can be applied to large-scale fault detection.

[0150] This invention addresses the failure modes of spacecraft payloads that cannot handle themselves or whose handling is ineffective, requiring intervention from ground support systems. It designs a spacecraft fault diagnosis device based on temporal logic. This device uses temporal logic to describe fault rules, solving the problem of unified description of fault rules containing time information. It also designs a fast calculation method for temporal logic rules, realizing rapid diagnosis of spacecraft faults and achieving the goal of separating software developers and software users. This provides strong support for multiple missions in the field of space exploration.

[0151] The spacecraft fault diagnosis and processing method provided in this invention acquires telemetry result data and performs data preprocessing on the telemetry result data. The relationship between the telemetry result data and the spacecraft fault is represented by spacecraft fault rules based on time-series logic. Fault rules based on state transition sequences are calculated on the preprocessed telemetry result data, and spacecraft faults are diagnosed based on the fault rule calculation results. This method not only eliminates the need for developers to write programs to diagnose spacecraft faults but also improves the versatility of the spacecraft fault diagnosis and processing method.

[0152] Furthermore, the data preprocessing of the telemetry result data includes:

[0153] The telemetry results data are placed at the end of the cache queue; please refer to the above description, which will not be repeated here.

[0154] If it is determined that the length of the cache queue exceeds the preset cache queue length, the starting data of the cache queue is deleted so that the length of the cache queue is equal to the preset cache queue length; this can be referred to the above description and will not be repeated here.

[0155] Calculate the mean and variance of the cache queue data, and determine whether to delete the telemetry result data based on the telemetry result data, the mean, and the variance. Refer to the above description; further details are omitted.

[0156] Furthermore, the data preprocessing of the telemetry result data includes:

[0157] If a missing value is found in the telemetry data, the missing value will be filled with the telemetry data from the most recent time point. This is similar to the explanation above and will not be repeated here.

[0158] Furthermore, the spacecraft fault rule includes items; prior to the step of acquiring telemetry result data, the spacecraft fault diagnosis and processing method further includes performing syntax verification on the user-written spacecraft fault rule; correspondingly, the syntax verification on the user-written spacecraft fault rule includes:

[0159] Perform character content validation on the input string and output the validation result based on the validation result. Refer to the above explanation; further details are omitted.

[0160] Furthermore, the spacecraft fault rules include formulas; correspondingly, the syntax validation of the user-written spacecraft fault rules includes:

[0161] The input formula string and / or formula logic are validated, and the validation result is output based on the validation result. Refer to the above explanation; further details are omitted.

[0162] Furthermore, the calculation of fault rules based on state transition sequences for the telemetry results data after data preprocessing includes:

[0163] The formulaic logic relationship of the spacecraft fault rules is calculated based on the state transition sequence. The calculated rule premise results are then recursively calculated to obtain the rule consequent results. This can be referred to the above explanation and will not be repeated here.

[0164] Furthermore, the diagnosis of spacecraft faults based on the calculation results of fault rules includes:

[0165] If it is determined that the consequent of the rule includes a fault predicate, and the premise result of the rule is true, and the rule has not yet issued a fault warning, then the spacecraft fault diagnosis result is to issue a fault warning; please refer to the above explanation, which will not be repeated here.

[0166] If it is determined that the consequent of the rule includes a fault predicate, the premise result of the rule is false, and the rule has previously issued a fault warning, then the spacecraft fault diagnosis result is "end fault warning," and the rule is set to a state where no fault warning has been issued. Refer to the above explanation; further details are omitted.

[0167] Figure 3 This is a schematic diagram of the structure of a spacecraft fault diagnosis and processing device provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the spacecraft fault diagnosis and processing device provided in this embodiment of the invention includes an acquisition unit 301 and a diagnosis unit 302, wherein:

[0168] The acquisition unit 301 is used to acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic; the diagnosis unit 302 is used to perform fault rule calculation based on state transition sequence on the telemetry result data that has completed data preprocessing, and diagnose spacecraft faults according to the fault rule calculation results.

[0169] Specifically, the acquisition unit 301 in the device is used to acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and the spacecraft fault is represented by spacecraft fault rules based on time-series logic; the diagnosis unit 302 is used to perform fault rule calculation based on state transition sequence on the telemetry result data that has completed data preprocessing, and diagnose the spacecraft fault according to the fault rule calculation results.

[0170] The spacecraft fault diagnosis and processing method provided in this invention acquires telemetry result data and performs data preprocessing on the telemetry result data. The relationship between the telemetry result data and the spacecraft fault is represented by spacecraft fault rules based on time-series logic. Fault rules based on state transition sequences are calculated on the preprocessed telemetry result data, and spacecraft faults are diagnosed based on the fault rule calculation results. This method not only eliminates the need for developers to write programs to diagnose spacecraft faults but also improves the versatility of the spacecraft fault diagnosis and processing method.

[0171] The embodiments of the spacecraft fault diagnosis and processing device provided in this invention can be used to execute the processing flow of the above-described method embodiments. Its functions will not be repeated here, but can be referred to the detailed description of the above-described method embodiments.

[0172] Figure 4 This is a schematic diagram of the physical structure of a computer device provided in an embodiment of the present invention, such as... Figure 4 As shown, the computer device includes: a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor 402. When the processor 402 executes the computer program, it implements the following method:

[0173] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0174] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0175] This embodiment discloses a computer program product, which includes a computer program that, when executed by a processor, implements the following method:

[0176] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0177] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0178] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the following method:

[0179] Acquire telemetry result data and perform data preprocessing on the telemetry result data; the relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic;

[0180] Fault rules based on state transition sequences are calculated on the telemetry results data after data preprocessing, and spacecraft faults are diagnosed based on the fault rule calculation results.

[0181] Compared with existing technologies, this invention acquires telemetry result data and preprocesses it. The relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on time-series logic. Fault rules based on state transition sequences are calculated on the preprocessed telemetry result data, and spacecraft faults are diagnosed based on the calculation results. This not only eliminates the need for developers to write programs to diagnose spacecraft faults but also improves the versatility of spacecraft fault diagnosis and processing methods.

[0182] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0183] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0184] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0185] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0186] In the description of this specification, references to terms such as "an embodiment," "a specific embodiment," "some embodiments," "for example," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0187] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. < / t> < / t> < / t>

Claims

1. A spacecraft fault diagnosis and processing method, characterized in that, It includes: Obtain telemetry result data and perform data preprocessing on the telemetry result data; The relationship between the telemetry result data and spacecraft faults is represented by spacecraft fault rules based on temporal logic; Spacecraft fault rules based on temporal logic include: [t]P: P has always been true within t time before the current moment, t is a temporal operator, and P represents a predicate; <t>P: P has been true at some time within t time before the current moment; < / t> oP: P was true at the moment before the current moment; {n,m}P: P holds in m frames within n frames before the current moment; Perform fault rule calculation based on the state transition sequence on the telemetry result data after data preprocessing is completed, and diagnose spacecraft faults according to the fault rule calculation results; Fault rules based on the state transition sequence include: Adopting structure<S,I,R,Label> Define the method for computation rules, where S is the set of states, I ⊆ S is the initial state set, R ⊆ S*S is the transformation relation, and Label: S-->2 AP This is a state labeling function. The spacecraft's telemetry parameter Ai has a value vi at every moment. Each instant represents a state, and the transition from one instant to the next is a transition. The transition process is determined by the spacecraft's operational state, and each state is determined by all telemetry parameters and their values ​​at that moment. Label defines a predicate / proposition that is true for each state. Let the state transition sequence be σ = s0s1...sm = σ0 = s0σ1, 0 <= t <= m. The logical relationship of the formula is calculated as follows: Name: compute(A) Input: A - formula; Output: truth value, true indicates that the formula is satisfied, and false indicates that the formula is not satisfied; If A = P(a1,…,an), then σ(A)= σ(P(a1,...,an))=σ(P)(σ(a1),...,σ(an)); Among them, if a = f(b1,...,bn), then σ(a)=σ(f(b1,...,bn))=σ(f)(σ(b1),..., σ(b1)), where a is any one of the above a1,…,an; if a is a telemetry parameter code, then σ(a)=s0(a), that is, the value of telemetry parameter a at time s0; If A = ~C, then σ(A)=~σ(C); If A = B / \C, then σ(A)=σ(B / \C)=σ(B) / \σ(C); If A = BVC, then σ(A)=σ(BVC)=σ(B)Vσ(C); If A = [t]B, then when t>0, σ(A)=σ1(s0(B)) / \σ1([t-1]o(B))=σ0(B) / \σ1(B) / \... / \σt(B); When t = 0, σ(A)=σ(B); If A= <t>B, then σ(A)= σ0(B)Vσ0( <t-1>o(B))= σ0(B)Vσ1(B)V... V σt(B); < / t> If A = {n,m}B, where 0<m<n, then σ(A)=( σ0(B) / \σ1({n-1,m-1}B)) V (s0(~B) / \ σ1({n-1, m}B)), and for any σ and i, σ({i,0}B)=True, σ({i,i}B)= σ0(B) / \σ1({i-1,i-1}B)= σ0(B) / \... / \ σi-1(B).

2. The spacecraft fault diagnosis and processing method according to claim 1, characterized in that, The data preprocessing of the telemetry result data includes: Put the telemetry result data at the end of the cache queue; If it is determined that the length of the cache queue exceeds the preset cache queue length, delete the starting data of the cache queue so that the length of the cache queue is equal to the preset cache queue length; Calculate the mean and variance of the cache queue data, and determine whether to delete the telemetry result data according to the telemetry result data, the mean, and the variance.

3. The spacecraft fault diagnosis and processing method according to claim 1, characterized in that, The data preprocessing of the telemetry results includes: If it is determined that there are missing values ​​in the telemetry result data, then the missing values ​​are filled with the telemetry result data from the most recent time.

4. The spacecraft fault diagnosis and processing method according to claim 1, characterized in that, The spacecraft fault rules include items; prior to the step of acquiring telemetry result data, the spacecraft fault diagnosis and processing method further includes performing syntax verification on the user-written spacecraft fault rules; correspondingly, the syntax verification on the user-written spacecraft fault rules includes: Perform character content validation on the input string and output the validation result of the item based on the character content validation result.

5. The spacecraft fault diagnosis and processing method according to claim 4, characterized in that, The spacecraft fault rules include formulas; correspondingly, the syntax validation of user-written spacecraft fault rules includes: The input formula string and / or formula logic relationship are validated, and the validation result of the formula is output based on the validation result.

6. The spacecraft fault diagnosis and processing method according to any one of claims 1 to 5, characterized in that, The calculation of fault rules based on state transition sequences for the telemetry results data after data preprocessing includes: The formulaic logic relationship of the spacecraft fault rules is calculated based on the state transition sequence. The calculated rule premise results are then recursively calculated to obtain the rule consequent results.

7. A spacecraft fault diagnosis and processing device, characterized in that, include: The acquisition unit is used to acquire telemetry result data and perform data preprocessing on the telemetry result data; The relationship between the telemetry results and spacecraft faults is represented by spacecraft fault rules based on time-series logic. Spacecraft fault rules based on time-series logic include: [t]P: P holds true for the time interval t up to the current time, where t is the temporal operator and P represents the predicate; <t> P: P was true within time t before the current moment;< / t> oP: P is true at a time prior to the current time; {n,m}P: There are m frames where P holds true within the n frames prior to the current time. The diagnostic unit is used to perform fault rule calculation based on state transition sequence on the telemetry results data after data preprocessing, and to diagnose spacecraft faults based on the fault rule calculation results; Fault rules based on state transition sequences include: Adopting structure<S,I,R,Label> Define the method for computation rules, where S is the set of states, I ⊆ S is the initial state set, R ⊆ S*S is the transformation relation, and Label: S-->2 AP This is a state labeling function. The spacecraft's telemetry parameter Ai has a value vi at every moment. Each instant represents a state, and the transition from one instant to the next is a transition. The transition process is determined by the spacecraft's operational state, and each state is determined by all telemetry parameters and their values ​​at that moment. Label defines a predicate / proposition that is true for each state. Let the state transition sequence be σ = s0s1...sm = σ0 = s0σ1, 0 <= t <= m. The logical relationship of the formula is calculated as follows: Name: compute(A) Input: A — Formula; Output: Truth values, where true indicates that the formula is satisfied, and false indicates that the formula is not satisfied; If A=P(a1,...,an), then σ(A)= σ(P(a1,...,an))=σ(P)(σ(a1),...,σ(an)); Where a = f(b1,...,bn), then σ(a) = σ(f(b1,...,bn)) = σ(f)(σ(b1),..., σ(b1)), where a is any one of a1,...,an above; if a is a telemetry parameter symbol, then σ(a) = s0(a), which is the value of telemetry parameter a at time s0; If A = ~C, then σ(A) = ~σ(C); If A=B / \C, then σ(A)=σ(B / \C)=σ(B) / \σ(C); If A=BVC, then σ(A)=σ(BVC)=σ(B)Vσ(C); If A = [t]B, then when t > 0, σ(A) = σ1(s0(B)) / σ1([t - 1]o(B)) = σ0(B) / σ1(B) / ... / σt(B); When t = 0, σ(A) = σ(B); If A= <t>B, then σ(A)= σ0(B)Vσ0( <t-1>o(B)) = σ0(B) V σ1(B) V... V σt(B); < / t-1> < / t> If A = {n, m}B, where 0 < m < n, then σ(A) = (σ0(B) / σ1({n - 1, m - 1}B)) V (s0(~B) / σ1({n - 1, m}B)), and for any σ and i, σ({i, 0}B) = True, σ({i, i}B) = σ0(B) / σ1({i - 1, i - 1}B) = σ0(B) / ... / σi - 1(B).

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by the processor, it implements the method according to any one of claims 1 to 6.

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