Intelligent autonomous safety assessment and control decision-making method and system for carrier rocket

Abstract

The invention discloses an intelligent autonomous safety assessment and control decision method and system for a carrier rocket, and particularly relates to the field of autonomous safety control, and the method comprises the steps: receiving safety control satellite navigation data, inertial measurement unit data and flight control satellite navigation data from an autonomous safety control system of the carrier rocket, and carrying out the data verification to ensure the accuracy and consistency; then, according to the flight stage of the rocket and a preset safety control time period, whether autonomous safety control needs to be carried out currently or not is judged; based on the attitude data and the flight path of the rocket, whether the rocket is in a stable flight state is analyzed, and whether the rocket exceeds a preset safe pipeline range is judged; according to the predicted landing point of the rocket and a preset protection area range, whether the rocket has the risk of falling into the protection area or not is judged; and finally, according to the output type, executing a corresponding safety control alarm, a blow-up instruction or quitting an autonomous safety control judgment operation.

Description

Technical Field

[0001] The present invention relates to the field of autonomous safety control technology, and more specifically, to a method and system for intelligent autonomous safety assessment and control decision-making of a launch vehicle. Background Art

[0002] As an important carrier of modern aerospace, launch vehicles are responsible for transporting satellites and related aerospace equipment to outer space. However, due to the complexity and uncertainty of rocket flight, any problem in any link may lead to major safety accidents. Therefore, it is crucial to ensure the safety and reliability of launch vehicles during flight.

[0003] At present, some research results have been achieved in the field of autonomous safety control of launch vehicles at home and abroad. For example, some countries have successfully developed rocket models with autonomous obstacle avoidance, fault diagnosis and other functions. However, most of these studies focus on the application of specific technologies and lack a systematic and comprehensive judgment criteria method.

[0004] However, it still has some shortcomings in actual use. For example, the traditional safety control method mainly relies on real-time monitoring and manual intervention of the ground control system, but this method has low reliability, requires human subjective judgment, and requires additional ground stations, which are expensive. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a launch vehicle intelligent autonomous safety assessment and control decision-making method and system to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: Step A1: receiving safety control satellite navigation data, inertial group data and flight control satellite navigation data from the launch vehicle autonomous safety control system; Step A2: Verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; Step A3: According to the flight phase of the rocket and the preset safety control period, determine whether the current period is within the period requiring autonomous safety control; Step A4: Analyze whether the rocket is in a stable flight state based on the rocket's attitude data; Step A5: Based on the flight trajectory and safety parameters, determine whether the rocket exceeds the preset safety pipeline range; Step A6: Based on the rocket's expected landing point and the preset protection zone, determine whether the rocket is at risk of falling into the protection zone; Step A7: Perform an operation based on the output type.

[0007] Preferably, in step A1, the security control, satellite and navigation data are collected through a satellite navigation system; the satellite navigation system includes Beidou and GPS, which can provide high-precision position, speed and time information; the receiver installed on the launch vehicle will receive signals from the satellite and extract the required data; the inertial group data is collected by an inertial sensor installed inside the rocket; the flight control, satellite and navigation data are obtained through the satellite navigation system; the flight control, satellite and navigation data include navigation status information, track information, and target point information.

[0008] Preferably, in step A2, the received data is formatted and checked for consistency, and the steps of the check are as follows: Checksum calculation and comparison: Use the checksum method to check data consistency. Calculate the checksum of the received data and compare it with the checksum provided by the sender. If the two are inconsistent, the data is damaged and erroneous during transmission. Logical rule check: Check whether the data meets specific conditions based on the business rules and logical relationships of the data; For example, check whether the control instructions in the security control and satellite navigation data match the execution instructions in the flight control and satellite navigation data, and whether the position, speed and other information in the inertial group data are consistent with the corresponding information in the flight control and satellite navigation data.

[0009] Multi-source data comparison: Check data consistency by comparing data between different data sources.

[0010] For example, the inertial group data can be compared with the flight control satellite navigation data to check whether the position, speed and other information between the two are consistent; According to the results of data consistency check, analyze whether there are errors and inconsistencies in the data; If errors and inconsistencies are found, the cause and location of the error are determined, and error handling measures are taken based on the cause and location of the error; for example, if the data is damaged during transmission, you can try to receive the data again; if there are logical errors in the data, the data needs to be repaired and corrected; Cross-check the safety control satellite navigation data, inertial group data and flight control satellite navigation data to check whether the logical relationships between them are consistent; For example, compare the position, speed and other information in the satellite navigation data and the inertial group data to see if there are significant differences.

[0011] Preferably, in step A3, first, the current flight phase of the rocket is compared with a preset safety control period; if the rocket is currently in a preset safety control period, further safety control judgment is performed; After determining that the rocket is within the preset safety control period, analyze the real-time flight parameters; compare the actual parameter values ​​with the preset theoretical data and safety thresholds; if the actual parameter values ​​are within the preset fault line range, the rocket's flight status is considered normal and no autonomous safety control is required.

[0012] If the actual parameter value exceeds the fault line range and does not reach the allowable explosion line, the system will issue a warning signal to indicate that action is needed, but autonomous safety control is not required at this time.

[0013] If the actual parameter value reaches and exceeds the allowable destruction line and the rocket lands at the boundary of the protected area, autonomous safety control will be performed.

[0014] Preferably, in step A4, if the pitch or yaw attitude angle deviation is greater than ±30° for 3 consecutive seconds, an alarm of the fault type of "abnormal flight attitude" is established; if the pitch or yaw attitude angle deviation is greater than ±45° for 4 consecutive seconds, a crash of the fault type of "abnormal flight attitude" is established; If the rocket's pitch angle and yaw angle deviate from the theoretical trajectory and fail to complete normal flight, this flight state is classified as an "abnormal flight attitude" fault type; if the rocket's pitch angle and yaw angle meet the theoretical trajectory and complete normal flight, this flight state is classified as a normal type; The source of safety judgment information for abnormal flight attitude is the inertial group; the flight control combination makes validity and consistency judgments on the abnormal attitude data, and if the judgment is valid, it serves as the source of safety control judgment information for abnormal flight attitude.

[0015] Preferably, in step A5, in the takeoff monitoring section and the initial safety control section, the "out of safety pipeline" fault type combines three fault modes: falling flight, reverse flight, and abnormal vertical flight; In the basic safety control stage, if the rocket deviates from the theoretical trajectory and flies out of the boundary lines on both sides of the safety pipeline, this flight state is classified as the "out of safety pipeline" fault type; In the basic safety control stage, if the rocket's flight speed or position deviates from the theoretical value due to abnormal operation of the power device or other reasons, and a falling flight occurs, and the predicted landing point falls outside the designated landing point pipeline, such flight status will be classified as the "out of the landing point safety pipeline" fault type; if the predicted landing point falls into the designated pipeline, such flight status will be classified as a normal state; In the takeoff monitoring section and the initial safety control section, within 30 seconds after takeoff, if the flight trajectory exceeds the corresponding set pipeline for 3 consecutive seconds, the "exceeding the safety pipeline" fault type alarm and "exceeding the safety pipeline" fault type explosion will be established; among which, the set pipeline is set according to the flight trajectory.

[0016] Preferably, in step A6, if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area for 3 consecutive seconds, the "falling into the protection area" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area for 6 consecutive seconds, the "falling into the protection area" fault type explosion is established; if the flight trajectory does not exceed the corresponding set pipeline and the landing point falls within the boundary of any protection area, the output is normal.

[0017] Preferably, in step A7, if the output of steps 4, 5 and 6 is one of the aircraft fault types, the operation is performed according to the security control warning and the destruction instruction; if the output is a normal state, the autonomous security control judgment is exited.

[0018] The present invention also provides a launch vehicle intelligent autonomous safety assessment and control decision system, using the above-mentioned launch vehicle intelligent autonomous safety assessment and control decision method, the autonomous safety assessment and control decision system comprises: Data acquisition module: used to receive safety control, satellite guidance data, inertial group data and flight control, satellite guidance data from the launch vehicle's autonomous safety control system; Data verification module: used to verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; Judgment module: used to judge whether the rocket is currently in a period requiring autonomous safety control according to the rocket's flight phase and the preset safety control period; Analysis module: used to analyze whether the rocket is in a stable flight state based on the rocket's attitude data; Safety pipeline range judgment module: used to judge whether the rocket exceeds the preset safety pipeline range based on the flight trajectory and safety parameters; Protection zone judgment module: used to judge whether the rocket has the risk of falling into the protection zone according to the rocket's expected landing point and the preset protection zone range; Execution module: used to perform operations based on output type.

[0019] Technical effects and advantages of the present invention: High reliability: Rocket safety and control is performed by highly reliable onboard equipment, which shortens the equipment chain and does not rely on human subjective judgment, thus improving reliability. Strong applicability: This method can be applied to both land-launched and sea-launched launch vehicles; Good economical performance: Only on-board equipment is needed, and no additional ground station is required, which can greatly save costs: BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a schematic diagram of the method flow of the present invention.

[0021] Figure 2 It is a schematic diagram of the autonomous safety control determination process of the present invention.

[0022] Figure 3 It is a schematic diagram of module connection of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1 , Figure 2 As shown, the present invention provides a launch vehicle intelligent autonomous safety assessment and control decision method, the method is: Step A1: receiving safety control satellite navigation data, inertial group data and flight control satellite navigation data from the launch vehicle autonomous safety control system; In step A1, the security, control, satellite and navigation data are collected through a satellite navigation system; the satellite navigation system includes Beidou and GPS, which can provide high-precision position, speed and time information; the receiver installed on the launch vehicle receives the signal from the satellite and extracts the required data; The inertial group data is collected by the inertial sensor installed inside the rocket. The specific collection method is as follows: Before the rocket is launched, the gyroscope and accelerometer are initialized, including calibrating the sensor and setting the sampling frequency; during the flight of the rocket, the gyroscope and accelerometer will collect the angular velocity and acceleration data of the rocket in real time; these data are output in the form of analog signals or digital signals; the collected data is stored in the memory inside the rocket and extracted when it is used; Flight control and satellite navigation data are obtained through the satellite navigation system; flight control and satellite navigation data include navigation status information, track information, and target point information.

[0025] Step A2: Verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; In step A2, the received data is formatted and checked for consistency. The specific steps of the check are: Checksum calculation and comparison: Use the checksum method to check data consistency. Calculate the checksum of the received data and compare it with the checksum provided by the sender. If the two are inconsistent, the data is damaged and erroneous during transmission. Logical rule check: Check whether the data meets specific conditions based on the business rules and logical relationships of the data; For example, check whether the control instructions in the security control and satellite navigation data match the execution instructions in the flight control and satellite navigation data, and whether the position, speed and other information in the inertial group data are consistent with the corresponding information in the flight control and satellite navigation data.

[0026] Multi-source data comparison: Check data consistency by comparing data between different data sources.

[0027] For example, the inertial group data can be compared with the flight control satellite navigation data to check whether the position, speed and other information between the two are consistent; According to the results of data consistency check, analyze whether there are errors and inconsistencies in the data; If errors and inconsistencies are found, the cause and location of the error are determined, and error handling measures are taken based on the cause and location of the error; for example, if the data is damaged during transmission, you can try to receive the data again; if there are logical errors in the data, the data needs to be repaired and corrected; Cross-check the safety control satellite navigation data, inertial group data and flight control satellite navigation data to check whether the logical relationships between them are consistent; For example, compare the position, speed and other information in the satellite navigation data and the inertial group data to see if there are significant differences.

[0028] Step A3: According to the flight phase of the rocket and the preset safety control period, determine whether the current period is within the period requiring autonomous safety control; In step A3, first, the current flight phase of the rocket is compared with the preset safety control period; if the rocket is currently in a preset safety control period, further safety control judgment is performed; After determining that the rocket is within the preset safety control period, analyze the real-time flight parameters; compare the actual parameter values ​​with the preset theoretical data and safety thresholds; if the actual parameter values ​​are within the preset fault line range, the rocket's flight status is considered normal and no autonomous safety control is required.

[0029] If the actual parameter value exceeds the fault line range and does not reach the allowable explosion line, the system will issue a warning signal to indicate that action is needed, but autonomous safety control is not required at this time.

[0030] If the actual parameter value reaches and exceeds the allowable destruction line and the rocket lands at the boundary of the protected area, autonomous safety control will be performed.

[0031] Step A4: Analyze whether the rocket is in a stable flight state based on the rocket's attitude data; In step A4, if the pitch or yaw attitude angle deviation is greater than ±30° for 3 consecutive seconds, the "flight attitude abnormality" fault type alarm is established; if the pitch or yaw attitude angle deviation is greater than ±45° for 4 consecutive seconds, the "flight attitude abnormality" fault type explosion is established; If the rocket's pitch angle and yaw angle deviate from the theoretical trajectory and fail to complete normal flight, this flight state is classified as an "abnormal flight attitude" fault type; if the rocket's pitch angle and yaw angle meet the theoretical trajectory and complete normal flight, this flight state is classified as a normal type; The source of safety judgment information for abnormal flight attitude is the inertial group; the flight control combination makes validity and consistency judgments on the abnormal attitude data, and if the judgment is valid, it serves as the source of safety control judgment information for abnormal flight attitude.

[0032] Step A5: Based on the flight trajectory and safety parameters, determine whether the rocket exceeds the preset safety pipeline range; In step A5, in the takeoff monitoring section and the initial safety control section, the "out of safety pipeline" fault type combines the three fault modes of falling flight, reverse flight, and abnormal vertical flight; In the basic safety control stage, if the rocket deviates from the theoretical trajectory and flies out of the boundary lines on both sides of the safety pipeline, this flight state is classified as the "out of safety pipeline" fault type; In the basic safety control stage, if the rocket's flight speed or position deviates from the theoretical value due to abnormal operation of the power device or other reasons, and a falling flight occurs, and the predicted landing point falls outside the designated landing point pipeline, such flight status will be classified as the "out of the landing point safety pipeline" fault type; if the predicted landing point falls into the designated pipeline, such flight status will be classified as a normal state; In the takeoff monitoring section and the initial safety control section, within 30 seconds after takeoff, if the flight trajectory exceeds the corresponding set pipeline for 3 consecutive seconds, the "exceeding the safety pipeline" fault type alarm and "exceeding the safety pipeline" fault type explosion will be established; among which, the set pipeline is set according to the flight trajectory; 30 seconds after takeoff, if the flight trajectory exceeds the corresponding set pipeline for 3 consecutive seconds, the "exceeding safety pipeline" fault type alarm and "exceeding safety pipeline" fault type explosion will be established; In the basic safety control section, if the flight trajectory exceeds the corresponding set pipeline for 3 consecutive seconds, the "exceeding the safety pipeline" fault type alarm will be established; if the flight trajectory exceeds the corresponding set pipeline for 4 consecutive seconds, the "exceeding the safety pipeline" fault type explosion will be established.

[0033] If the flight trajectory exceeds the corresponding set pipeline and the landing point is outside the landing point safety pipeline for 3 consecutive seconds, the "exceeding the landing point safety pipeline" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline and the landing point is outside the landing point safety pipeline for 4 consecutive seconds, the "exceeding the landing point safety pipeline" fault type explosion is established.

[0034] Step A6: Based on the rocket's expected landing point and the preset protection zone, determine whether the rocket is at risk of falling into the protection zone; In step A6, if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area within 3 consecutive seconds, the "falling into the protection area" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area within 6 consecutive seconds, the "falling into the protection area" fault type explosion is established; if the flight trajectory does not exceed the corresponding set pipeline and the landing point falls within the boundary of any protection area, the output is normal.

[0035] Step A7: Perform an operation based on the output type.

[0036] In step A7, if the output of steps 4, 5 and 6 is one of the aircraft failure types, the operation is performed according to the security warning and destruction instructions; if the output is a normal state, the autonomous security judgment is exited.

[0037] See also Figure 3 As shown, the present invention also provides a method for intelligent autonomous safety assessment and control decision-making of a launch vehicle, using the above-mentioned intelligent autonomous safety assessment and control decision-making system for a launch vehicle, and the solution system includes: Data acquisition module: used to receive safety control, satellite guidance data, inertial group data and flight control, satellite guidance data from the launch vehicle's autonomous safety control system; Data verification module: used to verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; Judgment module: used to judge whether the rocket is currently in a period requiring autonomous safety control according to the rocket's flight phase and the preset safety control period; Analysis module: used to analyze whether the rocket is in a stable flight state based on the rocket's attitude data; Safety pipeline range judgment module: used to judge whether the rocket exceeds the preset safety pipeline range based on the flight trajectory and safety parameters; Protection zone judgment module: used to judge whether the rocket has the risk of falling into the protection zone according to the rocket's expected landing point and the preset protection zone range; Execution module: used to perform operations based on output type.

[0038] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A launch vehicle intelligent autonomous safety assessment and control decision method, characterized in that: include: Step A1: receiving safety control satellite navigation data, inertial group data and flight control satellite navigation data from the launch vehicle autonomous safety control system; Step A2: Verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; Step A3: According to the flight phase of the rocket and the preset safety control period, determine whether the current period is within the period requiring autonomous safety control; Step A4: Analyze whether the rocket is in a stable flight state based on the rocket's attitude data; Step A5: Based on the flight trajectory and safety parameters, determine whether the rocket exceeds the preset safety pipeline range; Step A6: Based on the rocket's expected landing point and the preset protection zone, determine whether the rocket is at risk of falling into the protection zone; Step A7: Perform an operation based on the output type.

2. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A1, the security, control, satellite and navigation data are collected through a satellite navigation system; the satellite navigation system includes Beidou and GPS, which can provide high-precision position, speed and time information; the receiver installed on the launch vehicle receives the signal from the satellite and extracts the required data; The inertial group data is collected by the inertial sensor installed inside the rocket. The specific collection method is as follows: Before the rocket is launched, the gyroscope and accelerometer are initialized, including calibrating the sensor and setting the sampling frequency; during the flight of the rocket, the gyroscope and accelerometer will collect the rocket's angular velocity and acceleration data in real time; these data are output in the form of analog signals and digital signals; the collected data is stored in the rocket's internal memory and extracted when used; Flight control and satellite navigation data are obtained through the satellite navigation system; flight control and satellite navigation data include navigation status information, track information, and target point information.

3. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A2, the received data is formatted and checked for consistency. The specific steps of the check are: Checksum calculation and comparison: Use the checksum method to check data consistency, calculate the checksum of the received data, and compare it with the checksum provided by the sender; If the two are inconsistent, the data has been damaged and erroneous during transmission; Logical rule check: Check whether the data meets specific conditions based on the business rules and logical relationships of the data; Multi-source data comparison: Check data consistency by comparing data between different data sources; According to the results of data consistency check, analyze whether there are errors and inconsistencies in the data; If errors and inconsistencies are found, determine the cause and location of the error, and take error handling measures based on the cause and location of the error; Cross-check the safety control satellite navigation data, inertial group data and flight control satellite navigation data to check whether the logical relationships between them are consistent.

4. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A3, first, the current flight phase of the rocket is compared with the preset safety control period; If the rocket is currently in a preset safety control period, further safety control judgment is made; After confirming that the rocket is within the preset safety control period, the next step is to analyze the real-time flight parameters; compare the actual parameter values ​​with the preset theoretical data and safety thresholds; If the actual parameter value is within the preset fault line range, the rocket is considered to be in normal flight status and no autonomous safety control is required; If the actual parameter value exceeds the fault line range and does not reach the allowable explosion line, the system will issue a warning signal to indicate that action is needed, but autonomous safety control is not required at this time; If the actual parameter value reaches and exceeds the allowable destruction line and the rocket lands at the boundary of the protected area, autonomous safety control will be performed.

5. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A4, if the pitch or yaw attitude angle deviation is greater than ±30° for 3 consecutive seconds, a "flight attitude abnormality" fault type alarm is established; if the pitch or yaw attitude angle deviation is greater than ±45° for 4 consecutive seconds, a "flight attitude abnormality" fault type explosion is established; If the rocket's pitch angle and yaw angle of flight attitude deviate from the theoretical trajectory and fail to complete normal flight, this flight state is classified as an "abnormal flight attitude" fault type; if the rocket's pitch angle and yaw angle of flight attitude conform to the theoretical trajectory and complete normal flight, this flight state is classified as a normal type.

6. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A5, in the takeoff monitoring section and the initial safety control section, the "out of safety pipeline" fault type combines the three fault modes of falling flight, reverse flight, and abnormal vertical flight; 30 seconds after takeoff, if the flight trajectory exceeds the corresponding set pipeline for 3 consecutive seconds, the "exceeding safety pipeline" fault type alarm and "exceeding safety pipeline" fault type explosion will be established; In the basic safety control section, if the flight trajectory exceeds the corresponding set pipeline within 3 consecutive seconds, the "exceeding the safety pipeline" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline within 4 consecutive seconds, the "exceeding the safety pipeline" fault type explosion is established; If the flight trajectory exceeds the corresponding set pipeline and the landing point is outside the landing point safety pipeline for 3 consecutive seconds, the "exceeding the landing point safety pipeline" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline and the landing point is outside the landing point safety pipeline for 4 consecutive seconds, the "exceeding the landing point safety pipeline" fault type explosion is established.

7. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A6, if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area within 3 consecutive seconds, the "falling into the protection area" fault type alarm is established; if the flight trajectory exceeds the corresponding set pipeline and the landing point falls within the boundary of any protection area within 6 consecutive seconds, the "falling into the protection area" fault type explosion is established; if the flight trajectory does not exceed the corresponding set pipeline and the landing point falls within the boundary of any protection area, the output is normal.

8. The method for intelligent autonomous safety assessment and control decision-making of a launch vehicle according to claim 1, characterized in that: In step A7, if the output of steps 4, 5 and 6 is one of the aircraft failure types, the operation is performed according to the security warning and destruction instructions; if the output is a normal state, the autonomous security judgment is exited.

9. A launch vehicle intelligent autonomous safety assessment and control decision system, using a launch vehicle intelligent autonomous safety assessment and control decision method as claimed in any one of claims 1 to 8, characterized in that: The autonomous safety assessment and control decision system includes: Data acquisition module: used to receive safety control, satellite guidance data, inertial group data and flight control, satellite guidance data from the launch vehicle's autonomous safety control system; Data verification module: used to verify the received security control satellite navigation data, inertial group data and flight control satellite navigation data to determine the accuracy and consistency of the data; Judgment module: used to judge whether the rocket is currently in a period requiring autonomous safety control according to the rocket's flight phase and the preset safety control period; Analysis module: used to analyze whether the rocket is in a stable flight state based on the rocket's attitude data; Safety pipeline range judgment module: used to judge whether the rocket exceeds the preset safety pipeline range based on the flight trajectory and safety parameters; Protection zone judgment module: used to judge whether the rocket has the risk of falling into the protection zone according to the rocket's expected landing point and the preset protection zone range; Execution module: used to perform operations based on output type.

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