Autonomous task planning data storage management method based on partition strategy

Abstract

The invention relates to an autonomous task planning data storage management method based on a partition strategy, and belongs to the technical field of heterogeneous data storage. Setting four data storage mechanisms of a computer memory space, wherein the four data storage mechanisms comprise an annular storage mechanism, a repeated erasing and writing mechanism, a full-write stop mechanism and a progressive storage mechanism; one partition mechanism is selected for data storage according to requirements every time the data are stored; establishing a unified address allocation mechanism for each data storage mechanism; establishing a unified storage processing mode for each data storage mechanism; establishing a unified computer memory partition state query mechanism for each data storage mechanism; establishing a computer memory partition resource recovery mechanism; the current partition is logged out, and the memory space of the partition is released and used for opening up a new partition; completing autonomous task planning data storage management design; according to the invention, a unified real-time data storage management function is realized by calling unified registration, storage, query and logout service functions.

Description

Technical Field

[0001] The present invention belongs to the technical field of heterogeneous data storage, and relates to an autonomous task planning data storage management method based on a partition strategy. Background Art

[0002] The onboard autonomous mission planning software needs to store and manage different types of massive heterogeneous data during operation, including:

[0003] a) Storage management of ground injection tasks;

[0004] b) Data storage management and in-orbit update of pre-installed data transmission stations, relay satellites, and tactical distribution nodes;

[0005] c) Receiving, storing and managing data transmission resources on the ground;

[0006] d) On-board mission queue storage and management;

[0007] e) Quickly complete conflict resolution and insertion of emergency task data;

[0008] f) Store the planning data of single-track, continuous, multiple, and different-mode imaging tasks, resolve conflicts according to task priority, and manage task conflicts in order of priority;

[0009] g) Management of mission data storage information;

[0010] h) Read the onboard autonomous mission planning data and feed it back to the satellite affairs department.

[0011] The sources, storage frequencies, storage methods, and reading methods of these massive data vary. At the same time, due to the dynamic use of storage space, the security protection requirements for memory are extremely high. It is urgent to establish a general storage management method based on partitioning strategies for autonomous task planning data storage management functions. Summary of the invention

[0012] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose an autonomous task planning data storage management method based on a partition strategy, which realizes a unified real-time data storage management function by calling unified registration, storage, query and deregistration service functions.

[0013] The solution of the present invention is:

[0014] A method for storing and managing autonomous task planning data based on a partitioning strategy, comprising:

[0015] Set up four data storage mechanisms for computer memory space, including circular storage mechanism, repeated erasing mechanism, stop-on-full mechanism and progressive storage mechanism; select one partition mechanism for data storage according to needs each time data is stored;

[0016] Establish a unified address allocation mechanism for each data storage mechanism; realize the registration, memory address allocation, and security protection functions when using any data storage mechanism through the address allocation mechanism;

[0017] Establish a unified storage processing method for each data storage mechanism; use the storage processing method to save, stop saving, and refresh the area after reinitialization of data in various data storage mechanisms;

[0018] Establish a unified computer memory partition status query mechanism for each data storage mechanism; realize real-time query of the storage status, data frame number, and storage capacity information of a certain data partition;

[0019] Establish a computer memory partition resource recovery mechanism; cancel the current partition and release the memory space of the partition for the development of new partitions;

[0020] Complete the design of autonomous mission planning data storage management.

[0021] In the above-mentioned autonomous task planning data storage management method based on partition strategy, the ring storage mechanism is: when the write pointer reaches the end of the data area, the next write data starts again from the beginning of the data area, overwriting the past data

[0022] The repeated erase and write mechanism is: in the same memory area, when the latest data needs to be written, the entire area data content is erased first, and then the latest data content is overwritten;

[0023] The write-full stop mechanism is: from the start of storage, storage is carried out sequentially, and when the write pointer reaches the end of the data area, storage is stopped;

[0024] The progressive storage mechanism is: progressive storage, when the latest data is required to be written, the old data is moved to the end of the data area in sequence, the oldest data is at the end of the data area, and the latest data is written to the beginning of the data area.

[0025] In the above-mentioned autonomous task planning data storage management method based on partition strategy, the method for establishing the address allocation mechanism is:

[0026] S11, creating a new partition in the computer memory space for storing data; inputting the current area ID number, area start address, area size, and area type of the new partition;

[0027] S12, calculating the end address of the new partition according to the size of the stored data;

[0028] S13, determine whether the new partition address range exceeds the computer memory space range; if so, proceed to step S16; otherwise, proceed to step S14;

[0029] S14, traverse the existing partitions, if the address range of the new partition does not overlap with the addresses of other existing partitions, go to step S15; otherwise, go to step S16;

[0030] S15, registration is successful, output successful registration information, and exit;

[0031] S16. If the registration fails, the registration failure information and the reason for the failure are output, and the system exits.

[0032] In the above-mentioned autonomous task planning data storage management method based on partition strategy, in S11, the current area ID number is the area ID number, which serves as the identifier of this area; the area start address is the absolute address in the computer memory; the unit of the area size is byte; the type of this area is selected from the ring storage mechanism, repeated erase mechanism, stop-on-full mechanism, and progressive storage mechanism.

[0033] In the above-mentioned autonomous task planning data storage management method based on partition strategy, the method for establishing the storage processing mode is:

[0034] S21, input the data length of this storage, the content of this storage, and the partition ID number of this storage;

[0035] S22, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S23; otherwise, execute step S29;

[0036] S23, determine whether the length of the data to be stored exceeds the current partition address range limit; if not, execute step S24; otherwise, execute step S29;

[0037] S24, when the current partition is a ring storage mechanism, update the first address of the latest frame, move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; after the current partition is full, the address is rolled back to the first address of the partition, and storage is restarted, and step S28 is executed; otherwise, step S25 is executed;

[0038] S25, when the current partition is a repeated erase and write mechanism, update the first address of the latest frame, the first address of the latest frame is always equal to the first address of the region; the frame number of the latest frame is always 1; update the memory space usage percentage; erase all data contents of the current partition, write new data, and execute step S28; otherwise, execute step 26;

[0039] S26, when the current partition is in the write-full stop mechanism, update the first address of the latest frame, move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; update the memory space usage percentage, write new data, and execute step S28; otherwise, execute step S27;

[0040] S27, when the current partition is a progressive storage mechanism, update the first address of the latest frame, and move the first address of the latest frame forward by the length of the data stored this time; progressively move the existing data content in the current partition to the low address space, write new data, and execute step S28; otherwise, execute step S29;

[0041] S28, the partition data is stored successfully, the successful storage information is output, and the system exits;

[0042] S29: The partition data storage fails. The system outputs the storage failure information and the reason for the failure and exits.

[0043] In the above-mentioned autonomous task planning data storage management method based on partition strategy, in S21, the data length stored this time supports variable-length information storage; the content stored this time is the first address of the data buffer; the ID number of the area stored this time is the area ID number entered when the computer memory partition address is successfully allocated, which serves as the identifier of this area.

[0044] In the above-mentioned autonomous task planning data storage management method based on partition strategy, the method for establishing the computer memory partition status query mechanism is as follows:

[0045] S31, input the partition ID number;

[0046] S32, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S23; otherwise, execute step S24;

[0047] S33, the data query of this partition is successful, the storage percentage, the first address of the latest stored data, the data frame number of the latest data stored in this partition are output, and then exit;

[0048] S34. The partition data query is unsuccessful. The reason for the query failure is output and the system exits.

[0049] In the above-mentioned autonomous task planning data storage management method based on partition strategy, in S31, the partition ID number is the area ID number input when the computer memory partition address is successfully allocated, which serves as the identifier of this area.

[0050] In the above-mentioned autonomous task planning data storage management method based on partition strategy, in S33, the storage percentage represents the percentage of the stored content to the total number of frames in the area, and for the repeated erase and write mechanism, the percentage represents the proportion of the latest stored data to the total size of this S area; for the write-on-full mechanism, the percentage represents the proportion of the latest stored data to the total size of this area; for the progressive storage mechanism, before it is full, it represents the proportion of the latest stored data to the total size of this area, and it is 100% after it is full; for the ring storage mechanism, if it is not rolled back in this area, it represents the proportion of the latest stored data to the total size of this area, and it is 100% after it is full.

[0051] In the above-mentioned autonomous task planning data storage management method based on partition strategy, the method for establishing the computer memory partition resource recovery mechanism is:

[0052] S41, input the partition ID number; the partition ID number is the area ID number input when the computer memory partition address is successfully allocated, which serves as the identifier of this area;

[0053] S42, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S43; otherwise, execute step S45;

[0054] S43, all partition data is erased, and the partition address space is released;

[0055] S44, resource recovery is successful, output success information, and exit;

[0056] S45: If resource recovery fails, output failure information and failure reasons, and exit.

[0057] The beneficial effects of the present invention compared with the prior art are:

[0058] (1) The present invention has good versatility: various data storage requirements of the autonomous task planning software in the computer memory are classified and summarized, and the commonalities are extracted to form four universal data storage areas; the operation requirements of various data storage areas of the control system software in the computer memory are classified and summarized, and the commonalities are extracted to form three universal data storage services;

[0059] (2) The present invention is easy to use: after the autonomous mission planning software of a specific satellite model configures the storage mode and storage area size of each usage area, the data content is packaged into a buffer, and a unified storage function, query function, and monitoring function are called to realize a unified software real-time data storage management function;

[0060] (3) The present invention is flexible in application: in the past, the autonomous mission planning software of satellite models needed to bind the address allocation and storage mode of each area when it was powered on and initialized. The present invention can dynamically allocate the address range and storage mode of each area, and can dynamically cancel the partition to release the regional memory space for the development and use of new areas;

[0061] (4) The present invention facilitates ground station monitoring: it can query in real time the percentage of used status, the number of erases and writes, the first address of the latest data, the first address of the data of the instruction frame sequence number, and other information of each data area, which is convenient for on-orbit monitoring and data transmission from the ground to the data storage area;

[0062] (5) The present invention has high security: when registering data partitions, address conflict protection and real-time registration information maintenance of the newly applied partitions will be performed according to the current memory address allocation. Address range protection will be performed during each real-time data writing process to prevent data access conflicts and abnormal data rewriting. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a flow chart of data storage management for autonomous task planning in the present invention.

[0064] Figure 2 Schematic diagram of four data storage mechanisms of the present invention. DETAILED DESCRIPTION

[0065] The present invention will be further described below in conjunction with the embodiments.

[0066] The present invention provides a data storage management method for autonomous task planning based on partition strategy, and formulates a general autonomous task planning real-time data storage management service based on a unified interface and its supporting query service and overall management service, so that the model can select different partition services according to the data usage scenario. After the upper-layer application of the autonomous task planning software configures the storage mode and storage area size of each real-time data partition, it can call a unified registration, storage, query, and deregistration service function to realize a unified software real-time data storage management function.

[0067] Autonomous task planning data storage management method based on partition strategy, such as Figure 1 As shown, the specific steps include:

[0068] Set up four data storage mechanisms in the computer memory space, including a ring storage mechanism, a repeated erase and write mechanism, a stop-on-full mechanism, and a progressive storage mechanism; each time data is stored, select a partition mechanism for data storage according to needs.

[0069] Specifically, the circular storage mechanism is: when the write pointer reaches the end of the data area, the next write of data starts again from the beginning of the data area, overwriting the past data.

[0070] The repeated erase and write mechanism is as follows: in the same memory area, when the latest data is required to be written, the data content of the entire area is erased first, and then the latest data content is overwritten.

[0071] The write-full stop mechanism is: from the start of storage, storage is carried out sequentially, and storage stops when the write pointer reaches the end of the data area.

[0072] The progressive storage mechanism is: progressive storage, when the latest data is required to be written, the old data is moved to the end of the data area in sequence, the oldest data is at the end of the data area, and the latest data is written to the beginning of the data area.

[0073] A unified address allocation mechanism is established for each data storage mechanism; the registration, memory address allocation, and security protection functions are implemented when any data storage mechanism is used through the address allocation mechanism.

[0074] The address allocation mechanism is established as follows:

[0075] S11. Create a new partition in the computer memory space for storing data; input the current area ID number, area start address, area size, and area type of the new partition.

[0076] The current area ID is the area ID, which serves as the identifier of this area; the area start address is the absolute address in the computer memory; the unit of the area size is byte; the area type is selected from the ring storage mechanism, repeated erase mechanism, write-full stop mechanism, and progressive storage mechanism.

[0077] S12. Calculate the end address of the new partition according to the size of the stored data.

[0078] S13, determine whether the new partition address range exceeds the computer memory space range; if so, go to step S16; otherwise, go to step S14.

[0079] S14, traverse the existing partitions, and when the address range of the new partition does not overlap with the addresses of other existing partitions, go to step S15; otherwise, execute step S16.

[0080] S15. Registration is successful, the successful registration information is output, and then exit.

[0081] S16. If the registration fails, the registration failure information and the reason for the failure are output, and the system exits.

[0082] A unified storage processing method is established for each data storage mechanism; the storage processing method is used to save data in various data storage mechanisms, stop saving data, and refresh the area after reinitialization.

[0083] The method for establishing the storage processing mode is:

[0084] S21, input the data length, content and partition ID of this storage. The data length of this storage supports variable length information storage; the content of this storage is the first address of the data buffer; the ID number of the area stored this time is the area ID number input when the computer memory partition address is successfully allocated, which serves as the identifier of this area.

[0085] S22, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S23; otherwise, execute step S29.

[0086] S23, determine whether the length of the data to be stored exceeds the current partition address range limit; if not, execute step S24; otherwise, execute step S29.

[0087] S24. When the current partition is a ring storage mechanism, update the first address of the latest frame, and move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; after the current partition is full, the address is rolled back to the first address of the partition, and storage is restarted, and execute step S28; otherwise, execute step S25.

[0088] S25. When the current partition is a repeated erase and write mechanism, update the first address of the latest frame, the first address of the latest frame is always equal to the first address of the area; the frame number of the latest frame is always 1; update the percentage of memory space usage; erase all data content of the current partition, write new data, and execute step S28; otherwise execute step 26.

[0089] S26. When the current partition is in the write-full stop mechanism, update the first address of the latest frame, and move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; update the memory space usage percentage, write new data, and execute step S28; otherwise, execute step S27.

[0090] S27. When the current partition is a progressive storage mechanism, update the first address of the latest frame, and move the first address of the latest frame forward by the length of the data stored this time; progressively move the existing data content in this partition to the low address space, write new data, and execute step S28; otherwise, execute step S29.

[0091] S28. The partition data is stored successfully, and the successful storage information is output and the system exits.

[0092] S29: The partition data storage fails. The system outputs the storage failure information and the reason for the failure and exits.

[0093] A unified computer memory partition status query mechanism is established for each data storage mechanism; the storage status, data frame number, and storage capacity information of a certain data partition can be queried in real time.

[0094] The method for establishing the computer memory partition status query mechanism is as follows:

[0095] S31. Input the partition ID number. The partition ID number is the area ID number input when the computer memory partition address is successfully allocated, and serves as the identifier of this area.

[0096] S32, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S23; otherwise, execute step S24.

[0097] S33. The data query of this partition is successful, and the storage percentage, the first address of the latest stored data, and the data frame number of the latest data stored in this partition are output, and then exit.

[0098] The storage percentage indicates the percentage of the stored content in the total number of frames in the area. For the repeated erase and write mechanism, the percentage represents the proportion of the latest stored data in the total size of this S area; for the write-on-full mechanism, the percentage represents the proportion of the latest stored data in the total size of this area; for the progressive storage mechanism, before it is full, it represents the proportion of the latest stored data in the total size of this area, and it is 100% after it is full; for the circular storage mechanism, this area is not rolled back, it represents the proportion of the latest stored data in the total size of this area, and it is 100% after it is full.

[0099] S34. The partition data query is unsuccessful. The reason for the query failure is output and the system exits.

[0100] Establish a computer memory partition resource recovery mechanism; cancel the current partition and release the memory space in this area for the development of new areas.

[0101] The method for establishing a computer memory partition resource recovery mechanism is:

[0102] S41. Input the partition ID number; the partition ID number is the area ID number input when the computer memory partition address is successfully allocated, and serves as the identifier of this area.

[0103] S42, determine whether the partition corresponding to the input area ID number can be queried; if it can be queried, execute step S43; otherwise, execute step S45.

[0104] S43, all partition data is erased and the partition address space is released.

[0105] S44. Resource recovery is successful, success information is output, and then exit is completed.

[0106] S45: If resource recovery fails, output failure information and failure reasons, and exit.

[0107] Complete the design of autonomous mission planning data storage management.

[0108] Example

[0109] The software mission book of a certain spacecraft puts forward complex requirements for the storage and management of characteristic parameters of autonomous mission planning software:

[0110] The characteristic parameter saving function is used to obtain more information on the ground when the system fails, so as to facilitate the analysis of abnormal events and take countermeasures. The characteristic parameter data is stored regularly by dividing the corresponding area in the RAM area. When the satellite is in the visible arc, the data is unloaded to the ground. After the CPU is reset, the content of this RAM area is not refreshed.

[0111] a) Storage area address range

[0112] The characteristic parameter area S2 is divided into two areas: S21 and S22, wherein the area S21 stores the data before the abnormal event, and the area S22 stores the data after the abnormal event.

[0113] The default storage space size is allocated as follows: S21 is 256K; S22 is 128K.

[0114] b) Storage data content and storage frequency

[0115] Storage frequency:

[0116] S21: 0.25s

[0117] S22: 0.25s

[0118] Storage contents of S21 and S22 areas:

[0119] S21 and S22 are fast frame telemetry packets and slow frame telemetry packets respectively.

[0120] Note: When the telemetry packet length is not an integer multiple of 4 bytes, it is padded with 00H to store it in an integer multiple of 4 bytes.

[0121] c) Storage start and stop conditions:

[0122] Define the status word BlackBoxControl (the initial value of power-on is A) to inject the start control word into the ground. Its meaning is as follows:

[0123] BlackBoxControl=A:Start S21 storage and allow S22 to start storage once;

[0124] =5: stop S21 storage;

[0125] =Others: Does not affect the storage status of S21 and S22.

[0126] Define FaultFlg2 (initialized to 5) as the control word stored in S2, and its meaning is as follows:

[0127] FaultFlg2=3: Allow S22 storage to start;

[0128] =5: stop or do not allow S22 storage to start;

[0129] =A: S22 starts storage and is storing;

[0130] =Others: Does not affect the S22 storage status.

[0131] BlackBoxControl is controlled by ground injection and FaultFlg2 is set by the application software.

[0132] Define the flag word FailureFlag (initial value is 0). When an abnormal event shown in the configuration table occurs, the application software sets FailureFlag to "1".

[0133] 1) S21 Zone

[0134] S21 start conditions: 1. Uplink injection BlackBoxControl = A; 2. Storage is allowed when AOCC is powered on.

[0135] S21 storage process: In each storage cycle, the application software will store the data packet into the S21 area according to the data format. When the area is full, it will continue to store from the beginning (overwriting the existing data).

[0136] S21 stop condition: Upstream injection BlackBoxControl = 5 or FailureFlag ≠ 0. At this time, BlackBoxControl is set to 5.

[0137] 2) S22 Zone

[0138] S22 start condition: judge that FailureFlag≠0 and FaultFlg2=3 (when the upstream injection BlackBoxControl=A, set FaultFlg2=3). At this time, set FaultFlg2=A and start S22 storage.

[0139] S22 storage process: In each storage cycle, the application software stores the data packet into the S22 area according to the data format requirements, and stops storing when it is full.

[0140] S22 stop condition: S22 is full (set FaultFlg2=5, and cannot exceed the storage area of ​​S22).

[0141] After the ground obtains the data stored on the satellite, BlackBoxControl=A is injected to make the satellite start storing data again.

[0142] Transformed into the general event data storage and management method of this patent:

[0143] 1) Calling the data storage area registration service API to register a ring storage mechanism S21;

[0144] 2) calling the data storage area registration service API to register a full stop mechanism S22;

[0145] 3) Before the failure occurs, the data storage area writing service API is called to write to the ring storage mechanism S21;

[0146] 4) After a failure occurs, the data storage area write service API is called to continue writing until the write-full stop mechanism S22.

[0147] The complex data storage and management requirements in the autonomous mission planning software task book can be easily implemented using the general API provided by this method. The application layer is separated from the specific general event data management method to achieve details.

[0148] The present invention has good versatility: various data storage requirements of autonomous task planning software in computer memory are classified and summarized, commonalities are extracted, and four universal data storage areas are formed; operation requirements of various data storage areas of control system software in computer memory are classified and summarized, commonalities are extracted, and three universal data storage services are formed.

[0149] The present invention is easy to use: after the autonomous mission planning software of a specific satellite model configures the storage mode and storage area size of each usage area, the data content is packaged into a buffer zone, and a unified storage function, query function, and monitoring function are called to realize a unified software real-time data storage management function.

[0150] The present invention is flexible in application: in the past, autonomous mission planning software for satellite models needed to bind the address allocation and storage method of each area when it was powered on and initialized. The present invention can dynamically allocate the address range and storage method of each area, and can dynamically cancel the partition to release the regional memory space for the development and use of new areas.

[0151] The present invention is convenient for ground station monitoring: the percentage of used status, number of erases and writes, the first address of the latest data, the first address of the data of the instruction frame sequence number and other information of each data area can be queried in real time, which is convenient for on-orbit monitoring and data transmission of the data storage area from the ground.

[0152] The present invention has high security: when registering data partitions, address conflict protection and partition real-time registration information maintenance are performed on the newly applied partitions according to the current memory address allocation situation, and address range protection is performed during each real-time data writing process to prevent data access conflicts and abnormal data rewriting.

[0153] The present invention is highly practical: applicable autonomous task planning data storage management scenarios include but are not limited to:

[0154] (a) Ground-based task storage management;

[0155] (b) Data storage management and in-orbit updating of pre-installed data transmission stations, relay satellites, and tactical distribution nodes;

[0156] (c) Receiving, storing and managing data transmission resources on the ground;

[0157] (d) Onboard mission queue storage and management;

[0158] (e) Quickly complete conflict resolution and insertion of emergency task data;

[0159] (f) Store the planning data of single-track, continuous, multiple, and different-mode imaging missions, resolve conflicts according to mission priority, and manage mission conflicts in order of priority;

[0160] (g) Management of mission data storage information;

[0161] (h) Read the autonomous mission planning data on board and feed it back to the satellite service;

[0162] (i) important data storage;

[0163] (j) Sliding window data, the window slides and rolls to store the latest data content;

[0164] (k) Auxiliary data of communication packages are stored progressively in chronological order, with the latest data always at the front;

[0165] (l) Storage and management of software operation information, such as software progress records, software fault information, etc.

[0166] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for storing and managing autonomous task planning data based on a partitioning strategy, characterized in that: include: Set up four data storage mechanisms for computer memory space, including circular storage mechanism, repeated erasing mechanism, stop-on-full mechanism and progressive storage mechanism; select one partition mechanism for data storage according to needs each time data is stored; Establish a unified address allocation mechanism for each data storage mechanism; realize the registration, memory address allocation, and security protection functions when using any data storage mechanism through the address allocation mechanism; Establish a unified storage processing method for each data storage mechanism; use the storage processing method to save, stop saving, and refresh the area after reinitialization of data in various data storage mechanisms; Establish a unified computer memory partition status query mechanism for each data storage mechanism; Realize real-time query of the storage status, data frame number, and storage capacity information of a data partition; Establish a computer memory partition resource recovery mechanism; Cancel the current partition and release the memory space of the current partition for the development of new partitions. Complete the design of autonomous mission planning data storage management.

2. According to claim 1, a method for storing and managing autonomous task planning data based on a partitioning strategy is characterized in that: The circular storage mechanism is: when the write pointer reaches the end of the data area, the next write data starts again from the beginning of the data area, overwriting the previous data The repeated erase and write mechanism is: in the same memory area, when the latest data needs to be written, the entire area data content is erased first, and then the latest data content is overwritten; The write-full stop mechanism is: from the start of storage, storage is carried out sequentially, and when the write pointer reaches the end of the data area, storage is stopped; The progressive storage mechanism is: progressive storage, when the latest data is required to be written, the old data is moved to the end of the data area in sequence, the oldest data is at the end of the data area, and the latest data is written to the beginning of the data area.

3. The autonomous task planning data storage management method based on partition strategy according to claim 1 is characterized by: The address allocation mechanism is established as follows: S11, creating a new partition in the computer memory space for storing data; inputting the current area ID number, area start address, area size, and area type of the new partition; S12, calculating the end address of the new partition according to the size of the stored data; S13, determining whether the new partition address range exceeds the computer memory space range; if so, proceeding to step S16; Otherwise, proceed to step S14; S14, traverse the existing partitions, and when the address range of the new partition does not overlap with the addresses of other existing partitions, proceed to step S15; Otherwise, execute step S16; S15, registration is successful, output successful registration information, and exit; S16. If the registration fails, the registration failure information and the reason for the failure are output, and the system exits.

4. The autonomous task planning data storage management method based on partition strategy according to claim 3 is characterized by: In S11, the current area ID number is the area ID number, which serves as the identifier of this area; the area start address is the absolute address in the computer memory; the unit of the area size is byte; the type of this area is selected from the ring storage mechanism, repeated erase mechanism, stop-on-full mechanism, and progressive storage mechanism.

5. The autonomous task planning data storage management method based on partition strategy according to claim 1 is characterized in that: The method for establishing the storage processing mode is: S21, input the data length of this storage, the content of this storage, and the partition ID number of this storage; S22, determining whether the partition corresponding to the input area ID number can be found; if it can be found, executing step S23; Otherwise, execute step S29; S23, determine whether the length of the data to be stored exceeds the current partition address range limit; if not, execute step S24; otherwise, execute step S29; S24, when the current partition is a ring storage mechanism, update the first address of the latest frame, move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; after the current partition is full, the address is rolled back to the first address of the partition, and storage is restarted, and step S28 is executed; otherwise, step S25 is executed; S25, when the current partition is in a repeated erase and write mechanism, update the first address of the latest frame, the first address of the latest frame is always equal to the first address of the region; the frame number of the latest frame is always 1; Update the memory space usage percentage; erase all data contents of the current partition, write new data, and execute step S28; otherwise, execute step 26; S26, when the current partition is in the write-full stop mechanism, update the first address of the latest frame, move the first address of the latest frame forward by the length of the data stored this time; accumulate the frame number of the latest frame; update the memory space usage percentage, write new data, and execute step S28; otherwise, execute step S27; S27, when the current partition is a progressive storage mechanism, update the first address of the latest frame, and move the first address of the latest frame forward by the length of the data stored this time; progressively move the existing data content in the current partition to the low address space, write the new data, and execute step S28; Otherwise, execute step S29; S28, the partition data is stored successfully, the successful storage information is output, and the system exits; S29: The partition data storage fails. The system outputs the storage failure information and the reason for the failure and exits.

6. The autonomous task planning data storage management method based on partition strategy according to claim 5 is characterized in that: In S21, the data length stored this time supports variable-length information storage; the content stored this time is the first address of the data buffer; the ID number of the area stored this time is the area ID number entered when the computer memory partition address is successfully allocated, which serves as the identifier of this area.

7. The autonomous task planning data storage management method based on partition strategy according to claim 1 is characterized by: The method for establishing the computer memory partition status query mechanism is as follows: S31, input the partition ID number; S32, determining whether the partition corresponding to the input area ID number can be found; if it can be found, executing step S23; Otherwise, execute step S24; S33, the data query of this partition is successful, the storage percentage, the first address of the latest stored data, the data frame number of the latest data stored in this partition are output, and then exit; S34. The partition data query is unsuccessful. The reason for the query failure is output and the system exits.

8. The autonomous task planning data storage management method based on partition strategy according to claim 7 is characterized in that: In the S31, the partition ID number is the area ID number input when the computer memory partition address is successfully allocated, and serves as the identifier of this area.

9. The autonomous task planning data storage management method based on partition strategy according to claim 7 is characterized in that: In the S33, the storage percentage indicates the percentage of the stored content in the total number of frames in the area. For the repeated erase and write mechanism, the percentage represents the proportion of the latest stored data in the total size of the S area; for the write-on-full mechanism, the percentage represents the proportion of the latest stored data in the total size of the area; for the progressive storage mechanism, before it is full, it represents the proportion of the latest stored data in the total size of the area, and it is 100% after it is full; for the circular storage mechanism, the area is not rolled back, and it represents the proportion of the latest stored data in the total size of the area, and it is 100% after it is full.

10. The autonomous task planning data storage management method based on partition strategy according to claim 1, characterized in that: The method for establishing a computer memory partition resource recovery mechanism is: S41, input the partition ID number; the partition ID number is the area ID number input when the computer memory partition address is successfully allocated, which serves as the identifier of this area; S42, determining whether the partition corresponding to the input area ID number can be queried; If it can be found, then execute step S43; Otherwise, execute step S45; S43, all partition data is erased, and the partition address space is released; S44, resource recovery is successful, output success information, and exit; S45: If resource recovery fails, output failure information and failure reasons, and exit.

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