Spacecraft flight program digital generation system

Abstract

The invention relates to a spacecraft flight program digital generation system, which comprises a task editor for editing a flight program execution sequence; the task compiler is used for performing constraint rule check on the flight program execution sequence generated by the task editor; and the task debugger is used for dynamically debugging the flight program execution sequence passing the constraint rule check, comparing the flight program execution process into a dynamic process in which the state of the spacecraft system changes continuously, and judging the correctness of the dynamic debugging result by adopting a method of comparing the running state of the spacecraft system. The correctness of the flight program execution sequence is verified; the task output device is used for exporting information in a single-spacecraft flight program or multi-spacecraft flight program execution sequence and information in a basic database according to user selection; and the basic database comprises a spacecraft configuration database, a spacecraft equipment attribute database, a telemetering database, a remote control instruction database, a function library function database and a resource database.

Description

Technical Field

[0001] The present invention relates to a digital generation system for spacecraft flight programs, which uses digital language to describe spacecraft flight programs and is suitable for digital generation requirements of flight program design during the development of digital spacecraft. The present invention belongs to the overall technical field of spacecraft. Background Art

[0002] Flight mission design is the process of designing the orbit and flight program that match the mission requirements. The overall spacecraft designer is mainly responsible for flight program design, which is a process of selecting appropriate actions, states, execution time, execution conditions and resource allocation for the flight mission. The correctness and robustness of the design directly affect the success or failure of the mission. At present, the design of flight missions is still mainly based on "manual" compilation based on office software. The correctness of the program is verified through the whole-vehicle simulation flight test in the AIT stage, and the matching of the space-ground collaborative work is confirmed through joint work in the early preparation stage of flight control.

[0003] Faced with complex spacecraft missions with intensive subsequent key tasks, highly dynamic mission planning, and irreversible critical environments, the current "manual" offline design and on-orbit control methods face problems such as "disconnection between design and testing", "lack of intermediate compilation links in program design", "strong coupling with measurement and control conditions, poor portability", "tabular presentation, limited logical expression", and "testing cannot simulate various dynamic changes of the entire flight". It is necessary to construct a method for generating complex spacecraft flight programs and realize the digitization of related flight mission program design. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a digital generation system for spacecraft flight programs, to create an integrated development environment for flight program design by drawing on the ideas of computer program design and verification, to apply computer program design and verification methods, to achieve standardized design, automated compilation and rapid debugging of flight programs, and to solve the problems of manual check of constraint rules, inability to verify immediately, difficulty in locating equipment status, and complex program update iterations in the current "manual" flight program compilation method based on office software.

[0005] The solution to the technical problem of the present invention is: a digital generation system of a spacecraft flight program, the system comprising a mission editor, a mission compiler, a mission debugger, a mission outputter, and a basic database;

[0006] Mission Editor, used to edit flight program execution sequences;

[0007] Mission compiler, used to check the constraints of the flight program execution sequence generated by the mission editor;

[0008] The mission debugger is used to dynamically debug the flight program execution sequence that has passed the constraint rule check. The flight program execution process is compared to the dynamic process of the spacecraft system state changing. The correctness of the dynamic debugging results is judged by comparing the spacecraft system operation state, thereby verifying the correctness of the flight program execution sequence.

[0009] A task exporter, which exports information in the execution sequence of a single spacecraft flight program or a multi-spacecraft flight program and information in the basic database according to user selection;

[0010] Basic databases include spacecraft configuration database, spacecraft equipment attribute database, telemetry database, remote control command database, function library function database, and resource database.

[0011] Preferably, the mission editor comprises a flight mission configuration module and a flight procedure design module, wherein:

[0012] A flight mission configuration module receives flight mission configuration information input by a user, wherein the flight mission configuration information includes flight phase, flight program module, flight event, launch window, nominal orbit parameter, illumination information, measurement and control arc information, and flight attitude information; each flight phase includes at least one flight program module, and each flight program module includes at least one flight event;

[0013] The flight program design module analogizes the flight mission to the main function, the flight phase to the logical paragraph, the flight program module to the functional function, and the flight event to the executable instruction command line. According to the flight mission configuration information and the data in the basic database, the initial state of each spacecraft working in parallel on orbit is configured for the flight mission, and the execution conditions, instruction sets, and telemetry sets are configured for each flight event. According to the set logical relationships and constraint relationships, the flight events that complete an independent function are integrated to form a flight program module, or the function library function is directly extracted as the flight program module, the flight program modules of the same flight phase are integrated, and the flight phases of the same flight mission are integrated. Based on the time base configuration, the execution time is set for the flight phase, the flight program module, and the flight event to form a flight program execution sequence; the newly added flight program module with independent functions and reusable is stored as a function library function for direct call by the flight phase.

[0014] Preferably, the time base of the flight event is configured as follows:

[0015] Set the flight phase time reference, that is, the time starting point of each flight phase, denoted as {T1, T2, ..., T n};

[0016] Set the relative execution time of the flight program module within the flight phase, that is, the offset of the flight program module start time relative to a certain flight phase time base, denoted as {t1, t2, ..., t m};

[0017] Set the interval of flight events in the flight program module, that is, the interval of the flight event in the flight program module relative to the previous flight event, recorded as {Δt1, Δt2, ..., Δt k}.

[0018] Preferably, the calculation formula for the start execution time of the flight program module m in the flight phase n is as follows:

[0019] T 模块m =T n +t m

[0020] The execution time of the kth flight event k of flight program module m is:

[0021]

[0022] Preferably, the checking of the constraint rules includes at least one of the following rule checks:

[0023] Constraint rule checking based on time, constraint rule checking based on execution conditions, constraint rule checking based on measuring stations, and constraint rule checking based on storage resources.

[0024] Preferably, the time-based constraint rule check includes two aspects: one is that the execution of all flight events is carried out in ascending order of time; the other is that the execution interval of each flight event from the previous event is ≥ the system configuration value. If both aspects are satisfied, it is considered that the flight program execution sequence meets the time-based constraint; otherwise, it is considered that the time-based constraint does not meet the time-based constraint.

[0025] Preferably, the constraint rule check based on the execution condition is: when the program runs to the execution time corresponding to the flight event, if the flight event execution condition is met, the flight event is considered to meet the constraint rule check based on the execution condition; otherwise, the flight event is considered to not meet the constraint rule check based on the execution condition.

[0026] Preferably, the station-based constraint rule check is: search whether two different measurement and control channels occupy the same station resources within the same time period. If occupancy occurs, it is considered that the flight event does not comply with the station-based constraint rule check and a conflict check result is given; if no occupancy occurs, it is considered that the flight event is based on the station constraint rule check.

[0027] Preferably, based on the constraint rule check of storage resources: the storage situation of the system storage resources is calculated, and if the current system storage capacity is greater than the rated capacity of the system, a conflict check result is given.

[0028] Preferably, the dynamic debugging includes single-step execution debugging, automatic execution debugging, execution to a specified position, and hierarchical debugging;

[0029] For single-step debugging, the mission debugger uses a dialog box to display the changing status of all telemetry parameters of the spacecraft after single-step execution;

[0030] Automatically execute debugging, the mission debugger uses a dialog box to display the changing status of all spacecraft telemetry parameters starting from the first instruction;

[0031] Execute the debugging to the specified position. The mission debugger uses a dialog box to display the change status of all telemetry parameters of the spacecraft at the specified position of the flight program;

[0032] Hierarchical debugging supports debugging of events in a certain flight phase, debugging of events in a certain flight program module, separate debugging of the flight program of a single aircraft, debugging from a specified starting point to a specified end point, and displays the change status of telemetry parameters after the execution of the corresponding flight program sequence using a dialog box;

[0033] The mission debugger also verifies the correctness of the flight program execution sequence based on the changing state of all spacecraft telemetry parameters:

[0034] When the telemetry information of the current state of the spacecraft is consistent with the target state during the dynamic debugging process, it is considered that the result of the dynamic debugging of the flight program is correct, that is, the corresponding flight program segment is correct; otherwise, it is considered that the result of the dynamic debugging of the flight program is incorrect, that is, the corresponding flight program segment is incorrect.

[0035] The beneficial effects of the present invention compared with the prior art are:

[0036] (1) The present invention uses the compilation-based principle to describe the complex flight mission process of the spacecraft, and realizes the digital description of the flight program through a standardized modeling method. The method has the characteristics of versatility, scalability and reusability, and has advantages in standardizing flight program design, describing complex flight mission processes, and conducting formal analysis.

[0037] (2) Compared with the traditional "manual" compilation method based on office software, the present invention can realize a "one-stop" solution related to flight mission design, including flight program design and on-orbit flight control coordination.

[0038] (3) The present invention solidifies the prior knowledge related to flight program design, adopts a knowledge-driven flight mission process design method and a program debugging and verification method based on a state transition model, realizes dynamic simulation of the flight mission process, and finally automatically generates various work documents related to the flight program based on personalized customization requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The digital generation system architecture of the spacecraft flight program of the embodiment of the present invention;

[0040] Figure 2 This is the business process of the flight procedure digitization function module in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the flight phase division of a complex spacecraft with multiple compartments according to an embodiment of the present invention;

[0042] Figure 4 Schematic diagram of the flight program execution sequence according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the embodiments.

[0044] The goal of flight procedure design is to complete the specified operations at the appropriate time and convert them into executable execution sequences and interpretation criteria. The business process of flight procedure design mainly includes the following aspects:

[0045] a) Mission objective decomposition: Based on the flight phases divided by the overall mission design, sort out the various functional modules that need to be completed in this phase and record them as flight program modules;

[0046] b) Initial state confirmation: Based on the overall mission design requirements, sort out the initial state that the spacecraft should have before launch.

[0047] c) Flight event refinement: Based on the uplink remote control design results of each device on the spacecraft, each flight program module is refined and converted into a series of remote control command sequences that can be recognized by the spacecraft and can complete the function; then it is associated with the telemetry interpretation results after each device on the spacecraft executes the remote control command, and the specific changes in the telemetry status of the device are clarified;

[0048] d) Confirmation of execution timing: Determine the execution timing of important events based on the overall track design results; thereby confirm the relative execution time of other events that are related to the important event;

[0049] e) Constraint check optimization: Based on the above process, the basic framework of the flight program execution sequence is preliminarily constructed. On this basis, it is necessary to comprehensively consider the large system constraint requirements, platform constraint requirements, and subsystem specific constraint requirements, and adjust the flight program to ensure that the flight program can adapt to various constraint requirements.

[0050] Programming usually uses a certain programming language as a tool to give a program in this language. Programming needs to be developed in a corresponding integrated development environment, which generally includes tools such as code editing, compilation, debugging, and graphical user interface.

[0051] Therefore, the flight program sequence can be regarded as a type of "special language" program. The digital generation method of the flight program proposed in the present invention draws on the ideas of computer program design and verification, applies computer program design and verification technology, creates an integrated development environment for flight program execution sequence design, and realizes standardized design, automatic compilation and rapid debugging of flight programs.

[0052] Based on the above design concept, the present invention proposes a digital generation system for spacecraft flight programs. The system includes a mission editor, a mission compiler, a mission debugger, a mission outputter, a basic database, a support module, and a general module. Figure 1 and Figure 2 The specific contents are as follows:

[0053] (1) Basic database

[0054] The basic database is the basic data information for building the flight program sequence. The basic database includes the spacecraft configuration database, the spacecraft equipment attribute database, the telemetry database, the remote control command database, the function library function database, and the resource database. Each database has a certain correlation with each other, and the construction of each database must follow a certain sequence. The specific idea is: first build the basic attributes of the spacecraft configuration, then build the equipment attributes on this basis, and then extend to the remote control command and telemetry.

[0055] The basic properties of spacecraft configuration include: the configuration of a single spacecraft, a spacecraft assembly consisting of several spacecraft, and the subsystems contained in each spacecraft.

[0056] Equipment attributes include: equipment supporting library, storage resource configuration library and subsystem mode configuration library. First, establish the mutual mapping relationship between each spacecraft-〉subsystem->equipment name->equipment code. On this basis, the equipment supporting library also configures power attributes, equipment power consumption, etc., which can be used to query the consumption of equipment resources over time; the storage resource configuration library also needs to configure storage resources and storage data sources. Storage resources refer to the size of storage space on the device, and the storage database is the data that needs to be stored and its type; the subsystem mode configuration library also needs to configure the working mode, mode description, etc. For example, some spacecraft thermal control subsystems work in two working modes, and different working modes have different energy consumption.

[0057] The telemetry database attributes include three levels, from bottom to top: telemetry parameter library, telemetry source package library, and telemetry mode library. The telemetry parameter library needs to complete the configuration of the telemetry parameter code, name, and normal value range contained in each device; the telemetry source package library needs to complete the configuration of the telemetry source package number, telemetry source package, package channel identification (APID), source package length, and the telemetry parameters contained inside; the telemetry mode library needs to complete the configuration of the telemetry mode number, telemetry mode name, included telemetry source package, and its download cycle. In different telemetry modes, the transmitted telemetry source packages are different, and each telemetry source package transmits different telemetry parameters.

[0058] The remote control command database stores remote control command attributes of spacecraft equipment, which include equipment name, equipment code, command code, command name, command type, command criteria, etc. The command criteria are changes in telemetry parameters caused by remote control commands.

[0059] (2) Common modules

[0060] The general module is a common module required to complete the flight procedure design, including model management, basic information management, time management, and general resource management.

[0061] Model management is used to add, edit and delete model tasks;

[0062] Basic information management includes: spacecraft management, subsystem management, equipment management, telemetry management, remote control management, status configuration management and data dictionary management. Among them:

[0063] a) Spacecraft management is used to add, edit and delete single stars / spacecraft / combinations.

[0064] b) Subsystem management is used to add subsystems from general resource management, as well as edit and delete subsystems.

[0065] c) Device management is used to add, edit, delete, import and export basic device information; as well as add, edit and delete device storage information.

[0066] d) Telemetry management is used to add, edit, and delete telemetry parameters in the telemetry parameter library, and support the import and export of telemetry parameters; add, edit, and delete telemetry source packages in the telemetry source package library, and add telemetry parameters to the telemetry source packages; add, edit, and delete telemetry modes in the telemetry mode library, and add telemetry source packages to the telemetry modes.

[0067] e) Remote control management is used to add, edit, delete, import and export commands;

[0068] f) Status configuration management is used to realize the addition, editing, deletion, import and export of measurement and control channels and station information.

[0069] Time management includes minimum time interval management and on-device zero-time configuration management; the minimum time interval management can add, edit, and delete the time intervals between instructions and the minimum time intervals between entry and exit and flight time for different instruction types.

[0070] General resource management includes subsystem management, station data management and function library function management.

[0071] a) Subsystem management is used to add, edit, delete and import subsystems.

[0072] b) Station data management is used to add, edit, delete, import and export station data.

[0073] c) Function library management is used to realize function library function browsing.

[0074] (3) Support module

[0075] Support modules include menu management, user management, role management, data dictionary, etc., which are mainly used for setting system permissions and defining internal fields.

[0076] (4) Mission Editor

[0077] The mission editor consists of two parts: the flight mission configuration module and the flight procedure design module.

[0078] (4.1) Flight configuration module

[0079] The flight mission configuration module mainly receives the flight mission configuration information input by the user as the input for flight program design. Flight phase, flight program module, flight event, launch window, nominal orbit parameters, illumination information, measurement and control arc information, and flight attitude configuration information. Each flight phase contains at least one flight program module, and each flight program module contains at least one flight event. Designed by the overall designer, it adopts a top-down decomposition method: first decompose the flight mission into flight phases, then decompose the flight phases into flight program modules, and finally decompose the flight program modules into flight events. Flight events consist of one or more executable instructions and their corresponding telemetry, which are the smallest execution units of the flight program.

[0080] The specific process is as follows:

[0081] a) Flight missions are broken down into flight phases

[0082] The decomposition process of the flight program from the flight mission to the flight phase is to divide the flight mission into several phases according to the flight mission requirements and orbit changes. In the decomposition process, it is necessary to consider the combination / decomposition configuration of the detector multi-device combination and the collaborative work between multiple detectors. Figure 3 As shown, the process is as follows:

[0083] Step S1: the launch into orbit segment is listed as flight stage N0=1, and the flight stage N0=1 is until the separation between the vehicles is completed;

[0084] Step S2: the start of separation of the rocket and the vehicle is listed as flight stage N0=2;

[0085] Step S3: Determine whether there is a track change. If a track change process occurs, set the last event before the start of the state setting before the track change as the end event of the flight stage N0, and set the first event of the state setting before the track change as the start event of the flight stage N0=N0+1;

[0086] Step S4: Determine whether there is a detector configuration change. If there is a configuration change, set the previous event of the configuration change state setting as the end event of the flight stage N0, and set the first event of the configuration change state setting as the start event of the flight stage N0=N0+1. The detector configuration change includes: decomposition between two devices, rendezvous and docking capture between two devices, etc.;

[0087] Step S5: Repeat steps S2 to S4 until all flight missions are decomposed.

[0088] b) Break down the flight phase into flight procedure modules

[0089] The decomposition of the flight phase into flight program modules is implemented by formulating a matrix programming architecture, as shown in Table 1. The specific implementation method is as follows:

[0090] Step S1: The vertical axis represents the flight phase, and the flight procedure is further decomposed level by level at the latitude of each flight phase;

[0091] Step S2: The horizontal axis represents the spacecraft (a number of spacecraft working in parallel on orbit can be specified as needed), and the flight program is further decomposed level by level at the spacecraft control latitude into flight program modules;

[0092] Table 1 Flight program matrix decomposition method

[0093]

[0094]

[0095] The above-mentioned flight procedure matrix can be constructed in two ways: a top-down hierarchical decomposition method or a bottom-up step-by-step centralized method.

[0096] a) Decompose the flight program module into flight events

[0097] A flight event consists of one or more executable instructions and their corresponding telemetry, and is the smallest execution unit of a flight program module. A flight event can be expressed in the following form:

[0098] Flight EventN E (Comd:C1,C2,…,C n ;EM:EM1,EM2,…,EM n )

[0099] Among them, N E is the flight event number, Comd represents the command set, C n Flight event N E The nth instruction of EM stands for telemetry collection, EM n The nth telemetry change caused by this event.

[0100] The command set of a flight event refers to the set of remote control commands of the flight event. The telemetry set is the set of telemetry parameters that change due to the flight event. The mission editor obtains the corresponding telemetry parameters by searching the remote control command attributes.

[0101] (4.2, Flight Procedure Design Module

[0102] The flight procedure design module includes the programmatic analogy of the flight procedure, the bottom-up integration of the flight procedure, the time base configuration of the flight procedure, and the initial state configuration steps of the flight procedure.

[0103] 1) Procedural analogy of flight procedures

[0104] As shown in Table 2, the flight mission is analogized to the main function, the flight phase is analogized to the logical paragraph, the flight program module is analogized to the functional function, and the flight event is analogized to the executable instruction command line.

[0105] Table 2 Analogy between flight program and programming language compilation process

[0106] Serial number Flight procedures Programming language analogy 1. Flight incidents Command line 2. Flight Program Module Function 3. Flight phase Logical paragraphs 4. Flight mission Main function

[0107] 2) Bottom-up integration of flight programs

[0108] The present invention configures the initial state of each spacecraft working in parallel on orbit for the flight mission according to the flight mission configuration information and the data in the basic database, configures the execution condition, instruction set and telemetry set for each flight event, integrates the flight events that complete an independent function according to the set logical relationship and constraint relationship to form a flight program module, or directly extracts the function library function as the flight program module, integrates the flight program modules of the same flight phase, and integrates the flight phases of the same flight mission.

[0109] In the process of flight program event integration and compilation, flight events are integrated into flight program modules, flight program modules are integrated into flight phases, and flight phases are integrated into flight missions through logic design and constraint design. Newly added flight program modules with independent functions and reusable functions are stored as function library functions. During the next flight program sequence construction process, they can be copied or referenced to the corresponding flight program modules, which is conducive to the unification of a certain function and improves work efficiency. When the function library function changes, the function library function added in the flight program module in the form of reference can be automatically completed;

[0110] The introduction form is a direct call to the function library function, after which only the time information can be modified.

[0111] The copy form is to directly copy the function library function to the subroutine to form the corresponding flight event, and then directly modify, add or delete it.

[0112] The process of flight program integration can be compared to the process of program writing. The flight program execution program can be written in the form of logic such as for loop, if judgment, switch selection, etc. Figure 4 shown.

[0113] 3) Time base configuration method

[0114] Based on the time reference configuration, execution times are set for flight phases, flight procedure modules and flight events to form a flight procedure execution sequence.

[0115] The time reference configuration is mainly used to define the starting time of a certain flight event. The time reference can be an absolute time given by the nominal orbit parameters, or a customized absolute time, or an offset relative to the previous time reference. The purpose is to adjust only the time reference when the flight program is updated later, and the time of other flight events can be directly updated to reduce the iteration process. In a specific embodiment of the present invention, the specific implementation steps are as follows:

[0116] Step S1, classify the time reference, and divide the time management into three levels: the first level is the flight phase time reference configuration, which is the time starting point of each flight phase, recorded as {T1, T2, ..., T n}; The second level is to set the relative execution time of the flight program module within the flight phase, which is the offset of the start time of the flight program module relative to the time base of a certain flight phase, recorded as {t1, t2, ..., t m}; The third level is to set the flight event interval in the flight program module, which is the interval between a certain flight event and the previous flight event, recorded as {Δt1, Δt2, ..., Δt k}.

[0117] The start execution time of flight module m in flight phase n is calculated using the following formula:

[0118] T 模块m =T n +t m

[0119] The execution time of the kth flight event k of flight module m is:

[0120]

[0121] 4) Initial state configuration

[0122] The initial state configuration includes the initial state of all defined devices, the initial channels used by the spacecraft, the initial operating mode of each subsystem, the initial power consumption of the system, etc., which reflects all the working states of a spacecraft before launch. It serves as the initial state of the spacecraft flight and the basis for subsequent verification during the flight.

[0123] In addition to completing the basic functions of the detailed design of the flight program, the most important point is that the program can be quickly iterated and updated according to changes in external inputs, including updates to the basic database, measurement and control lighting conditions, time reference, and function library functions.

[0124] (5)Task Compiler

[0125] The mission editor is used to check the constraints of the flight program execution sequence generated by the mission editor, and issue warnings when the constraints are not met. The constraint rule check includes:

[0126] a) Time-based constraint rule checking includes two aspects: one is that the execution of all flight events is carried out in ascending order of time; the other is that the execution interval between each flight event and the previous event is ≥ the system configuration value.

[0127] If both aspects are satisfied, it is considered that the flight procedure execution sequence complies with the time-based constraint; otherwise, it is considered that the time-based constraint does not comply with the time-based constraint.

[0128] b) Constraint rule check based on execution conditions: When the program runs to the execution time corresponding to the flight event, if the flight event execution condition is met, the flight event is considered to meet the constraint rule check based on the execution conditions; otherwise, the flight event is considered to not meet the constraint rule check based on the execution conditions.

[0129] c) The station-based constraint rule check is: search whether two different measurement and control channels occupy the same station resources in the same time period. If occupation occurs, it is considered that the flight event does not comply with the station-based constraint rule check and a conflict check result is given; if no occupation occurs, it is considered that the flight event is based on the station constraint rule check.

[0130] d) Checking the constraint rules based on storage resources: Calculate the storage situation of the system storage resources. If the current system storage capacity is greater than the system rated capacity, a conflict check result is given.

[0131] (6) Build Task Debugger

[0132] After completing the mission compilation and checking the relevant constraints, the mission debugger mainly adopts the idea based on the state transition model to perform dynamic debugging during the flight program design process to verify its correctness.

[0133] The process of flight program execution can be considered as a dynamic process in which the state of the spacecraft system is constantly changing. The operating state of the spacecraft system is composed of the key telemetry states of the various devices that constitute the spacecraft. Therefore, whether the designed flight program can meet the on-orbit flight requirements can be considered as whether the various telemetry information that constitutes the current state of the spacecraft can be consistent with the expected state, that is, the operating state of the spacecraft system needs to be consistent with the target state.

[0134] The task debugger has the following debugging features:

[0135] Single-step debugging: along the event sequence of the flight program, execute one step forward\backward from the current position. For single-step debugging, the mission debugger uses a dialog box to display the change status of all telemetry parameters of the spacecraft after single-step execution;

[0136] Automatic execution debugging: along the event sequence of the flight program, it automatically executes forwards and backwards from the current position. The execution process can be paused at any time and the execution rate can be adjusted. The mission debugger uses a dialog box to display the changing status of all telemetry parameters of the spacecraft starting from the first instruction;

[0137] Execute to the designated position debugging: along the event sequence of the flight program, automatically execute forward\backward from the current position to the designated position. The mission debugger uses a dialog box to display the change status of all telemetry parameters of the spacecraft at the designated position of the flight program;

[0138] Hierarchical debugging: supports debugging of events in a certain flight phase, supports debugging of events in a certain flight program module, supports debugging of functional functions, supports separate debugging of flight programs of a single aircraft, supports debugging from a specified starting point to a specified end point, and displays the change status of telemetry parameters after the execution of the corresponding flight program sequence using a dialog box;

[0139] The mission debugger also verifies the correctness of the flight program execution sequence based on the changing state of all spacecraft telemetry parameters:

[0140] When the telemetry information of the current state of the spacecraft is consistent with the target state during the dynamic debugging process, the result of the dynamic debugging of the flight program is considered to be correct, that is, the corresponding flight program segment is correct; otherwise, the result of the dynamic debugging of the flight program is considered to be incorrect. , that is, the corresponding flight program segment is incorrect.

[0141] (7) Build a task exporter

[0142] The task exporter exports the information in the execution sequence of a single spacecraft flight program or a multi-spacecraft flight program and the information in the basic database according to the user's selection; it exports the corresponding format file. You can choose to output the whole text or the segmented output.

[0143] (8) Linking modules

[0144] Through the construction of the above-mentioned functional modules, functions such as basic signal information configuration, basic mission information configuration, flight program design, flight mission verification, and export are realized, which can be used for the digital generation of spacecraft flight programs.

[0145] The present invention is proposed for the design requirements of complex spacecraft flight programs. Compared with the prior art, the main intended protection points of the present invention are as follows: using the compilation-based principle to describe the complex flight mission process of the spacecraft, a spacecraft flight program modeling architecture is proposed, and a knowledge-driven flight mission process design method and a program debugging and verification method based on the state transition model are adopted to realize dynamic simulation of the flight mission process, and finally various work documents related to the flight program are automatically generated based on personalized customization requirements. The method has the characteristics of versatility, scalability and reusability, and has advantages in standardizing flight program design, describing complex flight mission processes, and conducting formal analysis.

[0146] 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 digital generation system for spacecraft flight programs, characterized in that Including task editor, task compiler, task debugger, task exporter, and basic database; Mission Editor, used to edit flight program execution sequences; Mission compiler, used to check the constraints of the flight program execution sequence generated by the mission editor; The mission debugger is used to dynamically debug the flight program execution sequence that has passed the constraint rule check. The flight program execution process is compared to the dynamic process of the spacecraft system state changing. The correctness of the dynamic debugging results is judged by comparing the spacecraft system operation state, thereby verifying the correctness of the flight program execution sequence. A task exporter, which exports information in the execution sequence of a single spacecraft flight program or a multi-spacecraft flight program and information in the basic database according to user selection; Basic databases include spacecraft configuration database, spacecraft equipment attribute database, telemetry database, remote control command database, function library function database, and resource database.

2. A spacecraft flight program digital generation system according to claim 1, characterized in that: The mission editor includes a flight mission configuration module and a flight procedure design module, wherein: A flight mission configuration module receives flight mission configuration information input by a user, wherein the flight mission configuration information includes flight phase, flight program module, flight event, launch window, nominal orbit parameter, illumination information, measurement and control arc information, and flight attitude information; each flight phase includes at least one flight program module, and each flight program module includes at least one flight event; The flight program design module analogizes the flight mission to the main function, the flight phase to the logical paragraph, the flight program module to the functional function, and the flight event to the executable instruction command line. According to the flight mission configuration information and the data in the basic database, the initial state of each spacecraft working in parallel on orbit is configured for the flight mission, and the execution conditions, instruction sets, and telemetry sets are configured for each flight event. According to the set logical relationships and constraint relationships, the flight events that complete an independent function are integrated to form a flight program module, or the function library function is directly extracted as the flight program module, the flight program modules of the same flight phase are integrated, and the flight phases of the same flight mission are integrated. Based on the time base configuration, the execution time is set for the flight phase, the flight program module, and the flight event to form a flight program execution sequence; the newly added flight program module with independent functions and reusable is stored as a function library function for direct call by the flight phase.

3. A spacecraft flight program digital generation system according to claim 2, characterized in that: The time base for flight events is configured as follows: Set the flight phase time reference, that is, the time starting point of each flight phase, denoted as {T1, T2, ..., T n }; Set the relative execution time of the flight program module within the flight phase, that is, the offset of the flight program module start time relative to a certain flight phase time base, denoted as {t1, t2, ..., t m }; Set the interval of flight events in the flight program module, that is, the interval of the flight event in the flight program module relative to the previous flight event, recorded as {Δt1, Δt2, ..., Δt k }.

4. A spacecraft flight program digital generation system according to claim 3, characterized in that: The calculation formula for the start execution time of flight program module m in flight phase n is as follows: T 模块m =T n +t m The execution time of the kth flight event k of flight program module m is:

5. A spacecraft flight program digital generation system according to claim 1, characterized in that: The checking of the constraint rules includes at least one of the following rule checks: Constraint rule checking based on time, constraint rule checking based on execution conditions, constraint rule checking based on measuring stations, and constraint rule checking based on storage resources.

6. A spacecraft flight program digital generation system according to claim 1, characterized in that: The time-based constraint rule check includes two aspects: one is that all flight events are executed in ascending order of time; the other is that the execution interval of each flight event from the previous event is ≥ the system configuration value. If both aspects are met, it is considered that the flight program execution sequence meets the time-based constraint; otherwise, it is considered that the time-based constraint does not meet the time-based constraint.

7. A spacecraft flight program digital generation system according to claim 5, characterized in that: The constraint rule check based on execution conditions is as follows: when the program runs to the execution time corresponding to the flight event, if the flight event execution condition is met, the flight event is considered to meet the constraint rule check based on execution conditions; otherwise, the flight event is considered to not meet the constraint rule check based on execution conditions.

8. A spacecraft flight program digital generation system according to claim 5, characterized in that: The station-based constraint rule check is as follows: search whether two different measurement and control channels occupy the same station resources in the same time period. If occupation occurs, it is considered that the flight event does not comply with the station-based constraint rule check and a conflict check result is given; if no occupation occurs, it is considered that the flight event does not comply with the station-based constraint rule check.

9. A spacecraft flight program digital generation system according to claim 5, characterized in that: Constraint rule check based on storage resources: Calculate the storage status of system storage resources. If the current system storage capacity is greater than the system rated capacity, a conflict check result is given.

10. A spacecraft flight program digital generation system according to claim 1, characterized in that: The dynamic debugging includes single-step execution debugging, automatic execution debugging, execution to a specified position, and layered debugging; For single-step debugging, the mission debugger uses a dialog box to display the changing status of all telemetry parameters of the spacecraft after single-step execution; Automatically execute debugging, the mission debugger uses a dialog box to display the changing status of all spacecraft telemetry parameters starting from the first instruction; Execute the debugging to the specified position. The mission debugger uses a dialog box to display the change status of all telemetry parameters of the spacecraft at the specified position of the flight program; Hierarchical debugging supports debugging of events in a certain flight phase, debugging of events in a certain flight program module, separate debugging of the flight program of a single aircraft, debugging from a specified starting point to a specified end point, and displays the change status of telemetry parameters after the execution of the corresponding flight program sequence using a dialog box; The mission debugger also verifies the correctness of the flight program execution sequence based on the changing state of all spacecraft telemetry parameters: When the telemetry information of the current state of the spacecraft is consistent with the target state during the dynamic debugging process, it is considered that the result of the dynamic debugging of the flight program is correct, that is, the corresponding flight program segment is correct; otherwise, it is considered that the result of the dynamic debugging of the flight program is incorrect, that is, the corresponding flight program segment is incorrect.

Images