Satellite navigation receiver fault monitoring and autonomous processing method and system

Abstract

The embodiment of the application discloses a kind of satellite navigation receiver fault monitoring and autonomous processing method and system.Judge whether satellite navigation receiver has been powered on and whether satellite computer has read satellite navigation receiver telemetry data;If powered on and telemetry data has been read, then clear no telemetry data frame count and multiple flags are set to initial value, after analyzing telemetry data, in turn carry out data validity judgment, data invalid processing, fault autonomous processing and autonomous power-on processing;If not powered on and / or not read telemetry data, then no telemetry data frame count is accumulated;Judge whether the no telemetry data frame count after accumulation is greater than or equal to no telemetry data frame threshold;If greater than or equal to, then no telemetry data frame count is assigned to no telemetry data frame threshold, and the data valid flag in multiple flags is set to initial value;After setting data valid flag to initial value, carry out autonomous power-on processing;If less, carry out autonomous power-on processing.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology. More specifically, it relates to a method and system for fault monitoring and autonomous processing of spaceborne navigation receivers. Background Technology

[0002] Onboard navigation receivers provide satellites with high-precision time, position, and velocity information for orbit and attitude measurement. Prolonged malfunctions of the onboard navigation receiver will severely impact the accuracy of satellite orbit measurements, thereby affecting satellite attitude and orbit control.

[0003] Currently, due to increased solar activity, anomalies in the local magnetic field environment in near-Earth space are occurring, leading to frequent single-event upsets (SEE) for spaceborne equipment. This includes problems such as frequent communication failures of spaceborne navigation receivers near electromagnetic anomaly regions. Therefore, it is essential for satellites to possess the capability for navigation receiver fault monitoring and autonomous processing. Consequently, there is an urgent need to provide a method and system for on-orbit fault monitoring and handling of navigation receivers, effectively improving the on-orbit operational safety of satellites. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for fault monitoring and autonomous processing of spaceborne navigation receivers, so as to solve at least one of the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of this invention provides a method for fault monitoring and autonomous processing of a spaceborne navigation receiver, the method comprising:

[0007] Determine whether the onboard navigation receiver is powered on and whether the onboard computer has read the latest telemetry data from the onboard navigation receiver;

[0008] If the onboard navigation receiver is powered on and the onboard computer has read the telemetry data, then the count of no telemetry data frames in the onboard computer is cleared to zero and multiple flags are set to initial values. The telemetry data is then parsed, and based on the parsing results, data validity is judged, invalid data is processed, fault is handled autonomously, and power-on is performed autonomously.

[0009] If the onboard navigation receiver is not powered on and / or the onboard computer does not read the telemetry data, then the count of the frames without telemetry data is incremented.

[0010] Determine whether the accumulated count of no telemetry data frames is greater than or equal to the threshold for no telemetry data frames;

[0011] If the number of no telemetry data frames is greater than or equal to the threshold value of no telemetry data frames, then the number of no telemetry data frames is assigned to the threshold value of no telemetry data frames, and the data validity flag among the plurality of flags is set to the initial value.

[0012] After setting the data validity flag to an initial value, autonomous power-on processing is performed;

[0013] If the number of no telemetry data frames is less than the threshold of no telemetry data frames, autonomous power-on processing is performed.

[0014] Optionally, the parsing of the telemetry data includes

[0015] Determine whether the onboard computer has successfully read the latest telemetry data from the onboard navigation receiver;

[0016] If the onboard computer successfully reads the telemetry data, it parses and stores the telemetry data into a temporary variable to obtain the time week count, week-second integer, week-second decimal, positioning status, single-point positioning position and velocity, and navigation positioning accuracy factor value.

[0017] If the onboard computer fails to read the telemetry data, the communication fault flag among the multiple flags is set to a fault state.

[0018] Optionally, the step of sequentially determining data validity based on the parsing results includes...

[0019] Determine whether the communication fault flag is in a fault state;

[0020] If the communication fault flag is not a fault state, then determine whether the positioning state is normal;

[0021] If the positioning status is normal, then calculate the position vector magnitude and velocity vector magnitude of the single-point positioning;

[0022] Determine whether the magnitude of the position vector and the magnitude of the velocity vector are both less than or equal to the position threshold and the velocity threshold, respectively;

[0023] If both the position vector magnitude and the velocity vector magnitude are less than or equal to the position threshold and the velocity threshold, then determine whether the navigation positioning accuracy factor value is less than or equal to the navigation positioning accuracy factor threshold.

[0024] If the navigation positioning accuracy factor value is less than or equal to the navigation positioning accuracy factor threshold, then the absolute time of the current frame and the absolute time of the previous frame are calculated based on the time week count, the integer of the week second, and the decimal of the week second.

[0025] Determine whether the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to a time threshold;

[0026] If the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to the time threshold, then the data validity flag is set to valid, and the temporary variable is updated to the global variable;

[0027] Update the absolute time of the current frame to the absolute time of the previous frame.

[0028] Optionally, the data invalidation process includes

[0029] Determine whether the data validity flag is invalid or the communication failure flag is faulty, and whether the time in the onboard computer exceeds the startup time and reset waiting time;

[0030] If the data validity flag is invalid or the communication failure flag is faulty and the time in the onboard computer exceeds the startup time and reset waiting time, then the fault count is accumulated.

[0031] Determine whether the accumulated fault count is greater than or equal to the fault threshold.

[0032] If the accumulated fault count is greater than or equal to the fault threshold, then the accumulated fault count is limited to the fault threshold.

[0033] Optionally, the step of determining whether the data validity flag is invalid or the communication failure flag is faulty, and whether the time in the onboard computer exceeds the startup time and reset waiting time, further includes...

[0034] If the data validity flag is valid, the communication fault flag is normal, and the time in the onboard computer has not exceeded the startup time and reset waiting time, then the fault count is cleared to zero.

[0035] Optionally, the autonomous fault handling includes

[0036] Determine whether the accumulated fault count is greater than or equal to the fault threshold;

[0037] If the accumulated fault count is greater than or equal to the fault threshold, then determine whether the reset count is greater than or equal to the reset threshold.

[0038] If the reset count is greater than or equal to the reset threshold, then the device fault flag is set to a fault state;

[0039] Determine whether the navigation receiver is allowed to perform an autonomous restart;

[0040] If the navigation receiver is allowed to restart autonomously, then determine whether the number of autonomous restarts exceeds the autonomous restart threshold.

[0041] If the number of autonomous restarts exceeds the threshold number of autonomous restarts, then a primary / standby machine switching process will be performed.

[0042] Optionally, determining whether the reset count is greater than or equal to the reset threshold further includes...

[0043] If the reset count is less than the reset threshold, a reset process is performed.

[0044] Optionally, determining whether the number of autonomous restarts exceeds the autonomous restart threshold also includes...

[0045] If the number of autonomous restarts is not greater than the threshold number of autonomous restarts, then an autonomous power-off process is performed.

[0046] Optionally, the autonomous power-on process includes

[0047] Determine whether the navigation receiver is in a delayed power-on state;

[0048] If the navigation receiver is in a delayed power-on state, then determine whether the time interval between the current time in the onboard computer and the delayed power-on time is greater than the delayed power-on waiting time;

[0049] If the time interval is greater than the delayed power-on waiting time, then autonomous power-on processing is performed.

[0050] A second aspect of the present invention provides a fault monitoring and autonomous processing system for a spaceborne navigation receiver, the system comprising:

[0051] The first judgment module is used to determine whether the on-board navigation receiver has been powered on and whether the on-board computer has read the latest telemetry data of the on-board navigation receiver.

[0052] The first processing module is used to, if the onboard navigation receiver has been powered on and the onboard computer has read the telemetry data, clear the count of no telemetry data frames in the onboard computer and set multiple flags to initial values, and parse the telemetry data, and perform data validity judgment, data invalidation processing, fault autonomous processing and autonomous power-on processing in sequence according to the parsing results.

[0053] The second processing module is used to increment the count of frames without telemetry data if the onboard navigation receiver is not powered on and / or the onboard computer does not read the telemetry data.

[0054] The second judgment module is used to determine whether the accumulated count of no telemetry data frames is greater than or equal to the threshold of no telemetry data frames.

[0055] The third processing module is used to assign the number of no telemetry data frames to the threshold value if the number of no telemetry data frames is greater than or equal to the threshold value of no telemetry data frames, and to set the data validity flag among the plurality of flags to the initial value.

[0056] After setting the data validity flag to an initial value, autonomous power-on processing is performed;

[0057] The fourth processing module is used to perform autonomous power-on processing if the number of no telemetry data frames is less than the threshold of no telemetry data frames.

[0058] The beneficial effects of this invention are as follows:

[0059] This invention provides a method for fault monitoring and autonomous processing of spaceborne navigation receivers. This method is simple and reliable, can effectively monitor fault information, and ensures the effectiveness of spaceborne navigation receivers through autonomous processing. It has good dynamic applicability and is widely applicable to fault monitoring and autonomous processing of all spaceborne navigation receivers. Attached Figure Description

[0060] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0061] Figure 1 This diagram illustrates a flow chart of a satellite navigation receiver fault monitoring and autonomous processing method provided in an embodiment of the present invention.

[0062] Figure 2 The diagram illustrates the telemetry data parsing execution flow in the fault monitoring and autonomous processing method for a spaceborne navigation receiver provided in the embodiments of the invention.

[0063] Figure 3 This diagram illustrates the data validity judgment execution flow in the fault monitoring and autonomous processing method for a spaceborne navigation receiver provided in an embodiment of the invention.

[0064] Figure 4 The diagram illustrates the data invalidation processing flow in the fault monitoring and autonomous processing method for a spaceborne navigation receiver provided in the embodiments of the invention.

[0065] Figure 5 This diagram illustrates the fault autonomous processing execution flow in the fault monitoring and autonomous processing method for a spaceborne navigation receiver provided in an embodiment of the invention.

[0066] Figure 6 This diagram illustrates the autonomous power-on process of the satellite navigation receiver fault monitoring and autonomous handling method provided in the embodiments of the invention. Detailed Implementation

[0067] To more clearly illustrate the present invention, the following description, in conjunction with embodiments and accompanying drawings, further explains the invention. Similar components in the drawings are indicated by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be construed as limiting the scope of protection of the present invention.

[0068] Currently, due to increased solar activity, anomalies in the local magnetic field environment in near-Earth space are occurring, leading to frequent single-event upsets (SEE) for spaceborne equipment. This includes problems such as frequent communication failures of spaceborne navigation receivers near electromagnetic anomaly regions. Therefore, it is essential for satellites to possess the capability for navigation receiver fault monitoring and autonomous processing. Consequently, there is an urgent need to provide a method and system for on-orbit fault monitoring and handling of navigation receivers, effectively improving the on-orbit operational safety of satellites.

[0069] In view of this, one embodiment of the present invention provides a method for fault monitoring and autonomous processing of a spaceborne navigation receiver. The method includes determining whether the spaceborne navigation receiver is powered on and whether the spaceborne computer has read the latest telemetry data from the spaceborne navigation receiver; if the spaceborne navigation receiver is powered on and the spaceborne computer has read the telemetry data, then the count of no telemetry data frames in the spaceborne computer is cleared and multiple flags are set to initial values, and the telemetry data is parsed, and based on the parsing results, data validity is determined, data invalidity is handled, fault is handled autonomously, and autonomous power-on is performed sequentially; if the spaceborne… If the navigation receiver is not powered on and / or the onboard computer does not read the telemetry data, the count of the no-telemetry data frames is incremented; it is determined whether the incremented count of no-telemetry data frames is greater than or equal to the no-telemetry data frame threshold; if the count of no-telemetry data frames is greater than or equal to the no-telemetry data frame threshold, the count of no-telemetry data frames is assigned to the no-telemetry data frame threshold, and the data validity flag among the plurality of flags is set to an initial value; after the data validity flag is set to the initial value, autonomous power-on processing is performed; if the count of no-telemetry data frames is less than the no-telemetry data frame threshold, autonomous power-on processing is performed.

[0070] Specifically, this embodiment provides a method for fault monitoring and autonomous processing of satellite navigation receiver equipment. This method can monitor the health status of the navigation receiver equipment by judging key data and status quantities in the telemetry data of the navigation receiver equipment, and autonomously set fault autonomous processing threshold parameters according to equipment characteristics and orbital period, design fault autonomous processing execution process, and then perform autonomous reset operation, autonomous power-off restart and main / backup automatic switching of the generated faults, so as to avoid abnormal satellite orbital attitude control caused by long-term failure of navigation receiver, thereby improving the safety of satellite on-orbit operation.

[0071] Furthermore, such as Figure 1As shown, if the device (spaceborne navigation receiver) is powered on and the onboard computer has read the latest telemetry data, the count of no telemetry data frames is reset to zero, and the single-point positioning data exceeding the limit, navigation positioning accuracy factor (PDOP) valid flag, communication fault flag, and data valid flag are set to their initial values. Then, the following steps are performed sequentially: telemetry data parsing, data validity judgment, data invalidation handling, fault autonomous handling, and device autonomous power-on processing. If the device is not powered on and / or has not read the latest telemetry data, the count of no telemetry data frames is incremented. When the count is greater than or equal to the no telemetry frame threshold, the frame count is assigned the threshold value, the data valid flag is set to its initial invalid state, and device autonomous power-on processing is executed.

[0072] This embodiment is simple and reliable, can effectively monitor fault information, and ensures the effectiveness of the spaceborne navigation receiver through autonomous processing. It has good dynamic applicability and is widely applicable to fault monitoring and autonomous processing of all spaceborne navigation receivers.

[0073] In one possible implementation, parsing the telemetry data includes determining whether the onboard computer has successfully read the latest telemetry data from the onboard navigation receiver; if the onboard computer successfully reads the telemetry data, the telemetry data is parsed and stored in a temporary variable to obtain the week count, week-second integer, week-second decimal, positioning status, position and velocity of single-point positioning, and navigation positioning accuracy factor value; if the onboard computer fails to read the telemetry data, the communication fault flag among the multiple flags is set to a fault status.

[0074] Specifically, such as Figure 2 As shown, if telemetry data is successfully acquired, the received telemetry data packet from the navigation receiver is unpacked according to the device communication protocol to obtain information such as time week count, integer week second, decimal week second, positioning status, single-point positioning position and speed, and PDOP value. If telemetry data is not successfully acquired, the communication fault flag is set to a fault state.

[0075] In one possible implementation, the step of sequentially determining data validity based on the parsing results includes determining whether the communication fault flag is in a fault state; if the communication fault flag is not in a fault state, determining whether the positioning state is normal; if the positioning state is normal, calculating the position vector magnitude and velocity vector magnitude of the single-point positioning; determining whether both the position vector magnitude and the velocity vector magnitude are less than a position threshold and a velocity threshold; if both the position vector magnitude and the velocity vector magnitude are less than the position threshold and the velocity threshold, determining whether the navigation positioning accuracy factor value is less than a navigation positioning accuracy factor threshold; if the navigation positioning accuracy factor value is less than the navigation positioning accuracy factor threshold, calculating the absolute time of the current frame and the absolute time of the previous frame based on the time week count, the integer of the week second, and the decimal of the week second; determining whether the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to a time threshold; if the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to the time threshold, setting the data validity flag to valid and updating the temporary variable to a global variable; and updating the absolute time of the current frame to the absolute time of the previous frame.

[0076] Specifically, such as Figure 3 As shown, if the device communication is fault-free, the positioning status of the navigation receiver is judged; if the positioning status is normal, the magnitude of the position and velocity vectors is calculated. If the magnitudes of both the position and velocity vectors are within the threshold range, the single-point positioning is not exceeded, and the PDOP value judgment continues; otherwise, the single-point positioning flag is set to exceed the limit, and the data validity flag is set to invalid; if the positioning status is abnormal, the data validity flag is set to invalid.

[0077] Furthermore, if the single-point positioning data does not exceed the limit, it is determined whether the PDOP value meets the threshold condition. If it does, the absolute GPS time is calculated from the week count, the integer of the week second, and the decimal of the week second. It is then determined whether the absolute GPS time difference between two adjacent frames is less than the time threshold. If it is not less than the threshold, the data validity flag is set to valid; otherwise, the data validity flag is set to invalid, and the temporary variable information is updated to the global variable. If the PDOP value exceeds the threshold, the PDOP over-limit flag is set to over-limit, and the data validity flag is set to invalid.

[0078] In one possible implementation, the data invalidation processing includes determining whether the data validity flag is invalid or the communication fault flag is faulty and whether the time in the onboard computer exceeds the startup time and reset waiting time; if the data validity flag is invalid or the communication fault flag is faulty and the time in the onboard computer exceeds the startup time and reset waiting time, then a fault count is accumulated; it is determined whether the accumulated fault count is greater than or equal to a fault threshold; if the accumulated fault count is greater than or equal to the fault threshold, then the accumulated fault count is limited to the fault threshold.

[0079] In one possible implementation, determining whether the data validity flag is invalid or the communication fault flag is faulty, and whether the time in the onboard computer exceeds the startup time and reset waiting time, further includes resetting the fault count to zero if the data validity flag is valid, the communication fault flag is normal, and the time in the onboard computer does not exceed the startup time and reset waiting time.

[0080] Specifically, such as Figure 4 As shown, when invalid data is determined after device startup, data error counting and limiting are performed. This includes incrementing the fault count if the data validity flag is valid or the communication fault flag is faulty, and the device startup time and reset waiting time have exceeded the threshold; otherwise, the fault count is reset to zero. After incrementing the fault count, it is determined whether the fault count is greater than or equal to the threshold. If it is, the fault count is limited to the threshold.

[0081] In one possible implementation, the autonomous fault handling includes determining whether the accumulated fault count is greater than or equal to a fault threshold; if the accumulated fault count is greater than or equal to the fault threshold, then determining whether the reset count is greater than or equal to a reset threshold; if the reset count is greater than or equal to the reset threshold, then setting the device fault flag to a fault state; determining whether to allow the navigation receiver to perform an autonomous restart; if the navigation receiver is allowed to perform an autonomous restart, then determining whether the number of autonomous restarts is greater than an autonomous restart count threshold; if the number of autonomous restarts is greater than the autonomous restart count threshold, then performing a primary / standby machine switching process.

[0082] In one possible implementation, determining whether the reset count is greater than or equal to the reset threshold further includes performing a reset process if the reset count is less than the reset threshold.

[0083] In one possible implementation, determining whether the number of autonomous restarts is greater than the autonomous restart threshold also includes performing an autonomous power-off process if the number of autonomous restarts is not greater than the autonomous restart threshold.

[0084] Specifically, such as Figure 5 As shown, the system judges parameters such as equipment data fault count and reset count, and performs equipment reset, autonomous power-on / off, and master / standby autonomous switching processes. If the fault count is greater than or equal to the threshold and the reset count is less than the reset threshold, the system requests the current equipment to be reset, increments the reset count, records the reset time, and clears the fault count. If the fault count is greater than or equal to the threshold and the reset count is greater than or equal to the reset threshold, the system sets the equipment fault flag to a fault state, and then performs autonomous restart processing.

[0085] Furthermore, if the device is allowed to restart autonomously, and the number of autonomous restarts is less than the threshold, then the device is requested to be powered off, the autonomous restart count is incremented, the delayed power-on status flag is set, the delayed power-on time is recorded, the device power-on flag is set to the power-off status, the power-off time is recorded, and the data validity flag is set to invalid.

[0086] If the number of autonomous restarts exceeds the threshold, set the device unavailable flag to unavailable, disable autonomous restarts, reset the autonomous power-off count to zero, determine if the current device is the master device, request the master device to power off and the standby device to power on; if the master device powers off and the standby device powers on, set the master device power-on flag to power-off, record the master device power-off time, and set the data validity flag to invalid; set the standby device power-on flag to power-on, record the standby device power-on time, set the standby device unavailable flag to its initial value, set the standby device fault flag to its initial value, and reset the fault count and reset count to zero.

[0087] In one possible implementation, the autonomous power-on process includes determining whether the navigation receiver is in a delayed power-on state; if the navigation receiver is in a delayed power-on state, then determining whether the time interval between the current time in the onboard computer and the delayed power-on time is greater than the delayed power-on waiting time; if the time interval is greater than the delayed power-on waiting time, then performing the autonomous power-on process.

[0088] Specifically, such as Figure 6 As shown, if the device is in a delayed power-on state, and the time interval between the current time and the delayed power-on time is greater than the delayed power-on waiting time, the device is requested to be powered on, the delayed power-on state is set to the initial value, the current device power-on flag is set to the power-on state, the power-on time is recorded, the unavailable flag is set to the initial value, the fault flag is set to the initial value, and the fault count and reset count are cleared to zero.

[0089] The fault monitoring and autonomous handling method for satellite navigation receivers provided in this embodiment is simple and reliable. It can effectively monitor fault information such as equipment communication failures, single-point positioning status, PDOP value, and GPS time, and perform fault reset, autonomous restart, and autonomous switching to ensure the effectiveness of the satellite navigation receiver. The threshold parameters and autonomous fault handling flags can be dynamically set according to the specific equipment status and satellite-related parameters, making it widely applicable to fault monitoring and autonomous handling of all satellite navigation receivers.

[0090] Another embodiment of the present invention provides a fault monitoring and autonomous processing system for a spaceborne navigation receiver. The system includes a first judgment module for judging whether the spaceborne navigation receiver is powered on and whether the spaceborne computer has read the latest telemetry data from the spaceborne navigation receiver; a first processing module for, if the spaceborne navigation receiver is powered on and the spaceborne computer has read the telemetry data, resetting the count of no telemetry data frames in the spaceborne computer to zero and setting multiple flags to initial values, parsing the telemetry data, and sequentially performing data validity judgment, data invalidation processing, fault autonomous processing, and autonomous power-on processing based on the parsing results; and a second processing module for, if the spaceborne navigation receiver is powered on and the spaceborne computer has read the telemetry data, resetting the count of no telemetry data frames in the spaceborne computer and setting multiple flags to initial values, parsing the telemetry data, and sequentially performing data validity judgment, data invalidation processing, fault autonomous processing, and autonomous power-on processing; and a second processing module for, if the spaceborne navigation receiver is powered on and the spaceborne computer has read the telemetry data, resetting the count of no telemetry data frames in the spaceborne computer and setting multiple flags to initial values, parsing the telemetry data, and sequentially performing data validity judgment, data invalidation processing, fault autonomous processing, and autonomous power-on processing based on the parsing results .... If the receiver is not powered on and / or the onboard computer does not read the telemetry data, the count of the no-telemetry data frames is incremented; the second judgment module is used to determine whether the incremented count of no-telemetry data frames is greater than or equal to the no-telemetry data frame threshold; the third processing module is used to assign the count of no-telemetry data frames to the no-telemetry data frame threshold if the count of no-telemetry data frames is greater than or equal to the no-telemetry data frame threshold, and set the data validity flag among the multiple flags to an initial value; after setting the data validity flag to the initial value, autonomous power-on processing is performed; the fourth processing module is used to perform autonomous power-on processing if the count of no-telemetry data frames is less than the no-telemetry data frame threshold.

[0091] The fault monitoring and autonomous handling method for satellite navigation receivers provided in this embodiment is simple and reliable. It can effectively monitor fault information such as equipment communication failures, single-point positioning status, PDOP value, and GPS time, and perform fault reset, autonomous restart, and autonomous switching to ensure the effectiveness of the satellite navigation receiver. The threshold parameters and autonomous fault handling flags can be dynamically set according to the specific equipment status and satellite-related parameters, making it widely applicable to fault monitoring and autonomous handling of all satellite navigation receivers.

[0092] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0093] It should also be noted that, in the description of this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0094] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A method for fault monitoring and autonomous processing of a spaceborne navigation receiver, characterized in that, The method includes Determine whether the onboard navigation receiver is powered on and whether the onboard computer has read the latest telemetry data from the onboard navigation receiver; If the onboard navigation receiver is powered on and the onboard computer has read the telemetry data, then the count of no telemetry data frames in the onboard computer is cleared to zero and multiple flags are set to initial values. The telemetry data is then parsed, and based on the parsing results, data validity is judged, invalid data is processed, fault is handled autonomously, and power-on is performed autonomously. If the onboard navigation receiver is not powered on and / or the onboard computer does not read the telemetry data, then the count of the frames without telemetry data is incremented. Determine whether the accumulated count of no telemetry data frames is greater than or equal to the threshold for no telemetry data frames; If the number of no telemetry data frames is greater than or equal to the threshold value of no telemetry data frames, then the number of no telemetry data frames is assigned to the threshold value of no telemetry data frames, and the data validity flag among the plurality of flags is set to the initial value. After setting the data validity flag to an initial value, autonomous power-on processing is performed; If the number of no telemetry data frames is less than the threshold of no telemetry data frames, autonomous power-on processing is performed. The parsing of the telemetry data includes Determine whether the onboard computer has successfully read the latest telemetry data from the onboard navigation receiver; If the onboard computer successfully reads the telemetry data, it parses and stores the telemetry data into a temporary variable to obtain the time week count, week-second integer, week-second decimal, positioning status, single-point positioning position and velocity, and navigation positioning accuracy factor value. If the onboard computer fails to read the telemetry data, the communication fault flag among the multiple flags is set to a fault state.

2. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 1, characterized in that, The step of sequentially judging data validity based on the parsing results includes... Determine whether the communication fault flag is in a fault state; If the communication fault flag is not a fault state, then determine whether the positioning state is normal; If the positioning status is normal, then calculate the position vector magnitude and velocity vector magnitude of the single-point positioning; Determine whether the magnitude of the position vector and the magnitude of the velocity vector are both less than or equal to the position threshold and the velocity threshold, respectively; If both the position vector magnitude and the velocity vector magnitude are less than or equal to the position threshold and the velocity threshold, then determine whether the navigation positioning accuracy factor value is less than or equal to the navigation positioning accuracy factor threshold. If the navigation positioning accuracy factor value is less than or equal to the navigation positioning accuracy factor threshold, then the absolute time of the current frame and the absolute time of the previous frame are calculated based on the time week count, the integer of the week second, and the decimal of the week second. Determine whether the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to a time threshold; If the difference between the absolute time of the current frame and the absolute time of the previous frame is greater than or equal to the time threshold, then the data validity flag is set to valid, and the temporary variable is updated to the global variable; Update the absolute time of the current frame to the absolute time of the previous frame.

3. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 2, characterized in that, The data invalidation handling includes Determine whether the data validity flag is invalid or the communication failure flag is faulty, and whether the time in the onboard computer exceeds the startup time and reset waiting time; If the data validity flag is invalid or the communication failure flag is faulty and the time in the onboard computer exceeds the startup time and reset waiting time, then the fault count is accumulated. Determine whether the accumulated fault count is greater than or equal to the fault threshold. If the accumulated fault count is greater than or equal to the fault threshold, then the accumulated fault count is limited to the fault threshold.

4. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 3, characterized in that, The process of determining whether the data validity flag is invalid or the communication fault flag is faulty, and whether the time in the onboard computer exceeds the startup time and reset wait time, also includes... If the data validity flag is valid, the communication fault flag is normal, and the time in the onboard computer has not exceeded the startup time and reset waiting time, then the fault count is cleared to zero.

5. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 4, characterized in that, The autonomous fault handling includes Determine whether the accumulated fault count is greater than or equal to the fault threshold; If the accumulated fault count is greater than or equal to the fault threshold, then determine whether the reset count is greater than or equal to the reset threshold. If the reset count is greater than or equal to the reset threshold, then the device fault flag is set to a fault state; Determine whether the navigation receiver is allowed to perform an autonomous restart; If the navigation receiver is allowed to restart autonomously, then determine whether the number of autonomous restarts exceeds the autonomous restart threshold. If the number of autonomous restarts exceeds the threshold number of autonomous restarts, then a primary / standby machine switching process will be performed.

6. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 5, characterized in that, The step of determining whether the reset count is greater than or equal to the reset threshold also includes... If the reset count is less than the reset threshold, a reset process is performed.

7. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 5, characterized in that, The method of determining whether the number of autonomous restarts exceeds the threshold also includes... If the number of autonomous restarts is not greater than the threshold number of autonomous restarts, then an autonomous power-off process is performed.

8. The method for fault monitoring and autonomous processing of a spaceborne navigation receiver according to claim 7, characterized in that, The autonomous power-on process includes Determine whether the navigation receiver is in a delayed power-on state; If the navigation receiver is in a delayed power-on state, then determine whether the time interval between the current time in the onboard computer and the delayed power-on time is greater than the delayed power-on waiting time; If the time interval is greater than the delayed power-on waiting time, then autonomous power-on processing is performed.

9. A fault monitoring and autonomous processing system for a spaceborne navigation receiver, characterized in that, The system includes The first judgment module is used to determine whether the on-board navigation receiver has been powered on and whether the on-board computer has read the latest telemetry data of the on-board navigation receiver. The first processing module is used to, if the onboard navigation receiver has been powered on and the onboard computer has read the telemetry data, clear the count of no telemetry data frames in the onboard computer and set multiple flags to initial values, and parse the telemetry data, and perform data validity judgment, data invalidation processing, fault autonomous processing and autonomous power-on processing in sequence according to the parsing results. The second processing module is used to increment the count of frames without telemetry data if the onboard navigation receiver is not powered on and / or the onboard computer does not read the telemetry data. The second judgment module is used to determine whether the accumulated count of no telemetry data frames is greater than or equal to the threshold of no telemetry data frames. The third processing module is used to assign the number of no telemetry data frames to the threshold value if the number of no telemetry data frames is greater than or equal to the threshold value of no telemetry data frames, and to set the data validity flag among the plurality of flags to the initial value. After setting the data validity flag to an initial value, autonomous power-on processing is performed; The fourth processing module is used to perform autonomous power-on processing if the number of no telemetry data frames is less than the threshold of no telemetry data frames. The parsing of the telemetry data includes Determine whether the onboard computer has successfully read the latest telemetry data from the onboard navigation receiver; If the onboard computer successfully reads the telemetry data, it parses and stores the telemetry data into a temporary variable to obtain the time week count, week-second integer, week-second decimal, positioning status, single-point positioning position and velocity, and navigation positioning accuracy factor value. If the onboard computer fails to read the telemetry data, the communication fault flag among the multiple flags is set to a fault state.

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