Autonomous extraterrestrial celestial body takeoff process design method

Abstract

An autonomous extraterrestrial celestial body takeoff process design method comprises the following steps: determining key events and flight actions in a takeoff preparation process according to extraterrestrial celestial body takeoff task requirements, and dividing the takeoff preparation process into a plurality of functional modules according to instruction sequences for completing different functions; modeling the function module, and decomposing the function module into a terminal identifier, a trigger unit, an execution unit and an output identifier; determining a convergent point, and summarizing and confirming the execution condition of the current functional module; determining a determination point, determining the lowest operation condition of the system, and determining whether to continue to execute related operations subsequently; according to an autonomous takeoff preparation process design requirement, linking each function module, determining a state transition process among the function modules, and converging the concurrent function modules through a convergent point; and for key links of function module construction, judgment is performed through judgment points, and a complete timeline-based hierarchical secondary state transition process is formed. By means of the design, it can be ensured that extraterrestrial celestial body take-off can be reliably and efficiently completed.

Description

Technical Field

[0001] The present invention relates to an autonomous extraterrestrial body takeoff process design method, which is particularly suitable for spacecraft taking off from extraterrestrial bodies in unmanned deep space exploration of the moon, unmanned deep space exploration of Mars and manned lunar exploration missions, and belongs to the field of deep space exploration. Background Art

[0002] For extraterrestrial sampling and return missions, manned lunar landing missions, etc., one of the tasks that must be completed is to complete the takeoff from an extraterrestrial body. Compared with ground launches, the takeoff and ascent of extraterrestrial bodies has the characteristics of uncertain terrain and geological characteristics of the takeoff area, unpredictable initial benchmarks, and limited plume diversion space.

[0009] With the continuous diversification of deep space exploration missions, such as the return of samples from the far side of the moon, the return of samples from Mars, and the return of manned lunar landings, the takeoff process design faces the following constraints:

[0010] a) Takeoff from the far side of the moon can only be carried out through the relay satellite as the only information link. Once the relay link fails, the takeoff process can only be suspended. Once the GNC subsystem has injected relevant takeoff parameters, the worst case scenario is that the probe may take off blindly without setting up other systems, resulting in the failure of the takeoff mission;

[0011] b) Mars sampling return, due to the limitation of communication distance, the measurement and control delay is nearly 23 minutes. If all the takeoff processes rely on the ground, the time cost is unacceptable;

[0012] c) For manned lunar landing and return, the safety of astronauts must always be the priority, so a variety of means are needed to ensure the reliability of the takeoff preparation process, and ground measurement and control channels cannot be relied upon alone.

[0013] Therefore, it is necessary to design an autonomous preparation process for extraterrestrial takeoff, in which the spacecraft autonomously completes the calculation of various parameters required before the extraterrestrial takeoff and initiates the corresponding mission-level command sequence at the specified time to ensure the reliable and efficient completion of the extraterrestrial takeoff. Summary of the invention

[0014] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a method for designing an autonomous extraterrestrial body takeoff process, which can ensure that once the spacecraft is able to land on the extraterrestrial body, it has the ability to take off autonomously on time at the nominal takeoff time without relying on the support of ground measurement and control.

[0015] The technical solution of the present invention is: an autonomous extraterrestrial body takeoff process design method, wherein:

[0016] According to the requirements of the extraterrestrial body takeoff mission, determine the key events and flight actions in the takeoff preparation process, divide them into several functional modules according to the instruction sequence to complete different functions, and number them;

[0017] Model the functional modules and decompose them into terminal identification, trigger unit, execution unit and output identification, and describe the units of each functional module digitally;

[0018] Determine the convergence point to summarize and confirm the execution status of the current functional modules;

[0019] Determine the decision point, which is used to determine the minimum operating conditions of the system and whether to continue to perform related operations;

[0020] According to the design requirements of the autonomous takeoff preparation process, the functional modules are linked, and the state transfer process between the functional modules is determined. For concurrent functional modules, they are merged through the convergence point; for the key links in the construction of functional modules, judgments are made through judgment points, thus forming a complete hierarchical state transfer process based on the timeline.

[0021] Preferably, the function implemented by a single functional module is usually completed by a smart terminal. When each smart terminal performs the corresponding function, one smart terminal is set as the system management unit, that is, the active party, and the other smart units are subordinate parties;

[0022] Define the function modules as M1, M2, M3…M i …,M N , i∈[1,N], N is the total number of functional modules.

[0023] Preferably, the terminal identification defines the intelligent terminal corresponding to the functional module;

[0024] The trigger unit is the input interface of the functional module, which mainly receives the external excitation signal. When it determines that the external excitation signal meets the target condition inside the trigger unit, the functional module is triggered;

[0025] The execution unit is the execution mechanism that completes a specific function. It mainly implements a specific function according to the current state of the system and the specified instruction sequence with time constraints;

[0026] The output category defines whether the output of the functional module needs to be aggregated with other functional modules in the future.

[0027] Preferably, any functional module M is defined according to the flight events and flight actions corresponding to each functional module. i The corresponding terminal identifier is T i , trigger unit G i , execution unit E i , output mark Oi , where (i∈[1,N]). Accordingly, each functional module can be expressed as i ,G i ,E i ,O i is the input related function f, that is:

[0028] M i =f(T i ,G i ,E i ,O i ),i∈[1,N]

[0029] Among them, the terminal identification number can be specified according to the number of intelligent terminals in the system;

[0030] i represents the number of the functional module; N represents the total number of modules.

[0031] Preferably, the trigger unit G of each functional module i , Execution Unit E i When describing digitally:

[0032] Trigger unit G i It is a judgment of the detector system state. When the detector system state meets its judgment conditions, the module executes and outputs the corresponding results. Its input condition is the detector system state matrix S i , defined as the sum of various landing posture data, resource data and instrument equipment status that characterize the status of the probe, can be deleted according to the characteristics of the corresponding functional mechanism, and the corresponding value range can be determined according to the current task, that is:

[0033] S i =[S i1 ,S i2 ,S i3 ,S i1 ,S i5 ,S i6 ,S i7 ,S i8 ,S i9 ]

[0034] S ij =(S ij1 ,S ij2 ,…,S ijm ) T

[0035] m∈[1, any value), j∈[1, 10)

[0036] Where: m represents the parameter number under a certain system state; j represents the number of the system state; i represents the number of the function module;

[0037] S i1 Indicates functional module M i Corresponding landing posture parameters;

[0038] S i2 Indicates functional module M i The corresponding device power-on status;

[0039] S i3 Indicates functional module M i The corresponding resource status;

[0040] S i4 Indicates functional module M i The corresponding mechanism motion state;

[0041] S i5 Indicates functional module M i Corresponding system working mode;

[0042] S i6 Indicates functional module M i The corresponding propulsion valve status;

[0043] S i7 Indicates functional module M i The corresponding trigger signal status;

[0044] S i8 Indicates functional module M i The corresponding important software flag status;

[0045] S i9 Indicates functional module M i The corresponding environment status;

[0046] Define trigger unit G i Each system state in the variable is determined by the system state set parameter P l Voting, that is, P l For S il The result of comparing the system state with the required state, l∈[1,10); when the system state set judgment parameter P l =1 or meets the threshold range requirement, the execution unit is triggered, that is:

[0047] G i →(P1,P2,P3,…)

[0048] Define execution unit E i is a set of instruction sequences containing time constraints:

[0049] E i ={t i ,fi1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik}

[0050] i∈[1,N], k∈[1, any value)

[0051] t i For functional module M i The execution starts when the trigger condition is met and the current time is t i When executing instruction f i1 , and then an interval of Δt i1 , execute sequence f i2 , and so on, to complete all instruction sequences of the functional module; where: i represents the number of the functional module; k represents the number of the instruction sequence.

[0052] Preferably, the convergence point is determined to summarize and confirm the execution status of the current functional modules, specifically:

[0053] Convergence point C p Represents the summary of the current system status. The function is completed by the active party and is described by the output identifiers of each functional module that converges at the convergence point, namely:

[0054] C p =O i ∩O i+1 ∩…

[0055] p∈[1,P c ] and P c <N、i∈[1,N)

[0056] Where i represents the function module number; p represents the number of the convergence point; P c represents the total number of convergence points; N represents the total number of functional modules;

[0057] The selection of the convergence point is marked by the output of the functional module O i To confirm, i Defined as:

[0058]

[0059] O i When it is 0, it means that the function module is not executed; i When it is 1, it indicates that the function module has been executed.

[0060] Preferably, decision point J q Set at the key link, the function is completed by the active party;

[0061] Among them, the key links are: when it comes to the processing of different branches of the system, and when it comes to exiting the current system's autonomous operation state, a comprehensive diagnosis of the current system state is required to determine the links of different processing logics.

[0062] Preferably, a determination point is determined to determine the minimum operating condition of the system and determine whether to continue to perform related operations subsequently. Specifically, when the determination point determines the minimum operating condition of the system:

[0063] First, the system status must be determined. When the system status is consistent with the function module M i When the required status parameters are consistent, the link system enters function module M i Perform subsequent operations; if not satisfied, continue to judge;

[0064] And so on, when none of the conditions are met, the system exits the current operation sequence and waits for ground disposal.

[0065] Preferably, convergence points and decision points are added according to task requirements to form a master-slave hierarchical sub-state transfer process based on a timeline: after the trigger unit of the functional module meets the trigger condition, the state setting of the functional module is completed through the execution unit, and an output identifier is given for convergence point identification; the convergence point reads the output identifier of the functional module to confirm that the execution of the preceding functional module has been completed; before the key link, the decision point determines the current system state and the required state.

[0066] Compared with the prior art, the present invention has the following advantages:

[0067] An autonomous process for taking off from an extraterrestrial body proposed in the present invention can ensure that once a spacecraft is able to land on an extraterrestrial body, it has the ability to take off autonomously at the nominal take-off time without relying on the support of ground measurement and control; it is suitable for unmanned deep space exploration of the moon, unmanned deep space exploration of Mars and manned lunar exploration missions involving take-off from extraterrestrial bodies; the spacecraft autonomously completes the calculation of various parameters required before take-off from the extraterrestrial body, and starts the corresponding task-level instruction sequence at the specified time, ensuring reliable and efficient completion of the take-off from the extraterrestrial body. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 A flowchart for the autonomous design and implementation of an extraterrestrial body takeoff according to the present invention;

[0069] Figure 2 A schematic diagram of the modeling process for the autonomous process design of the present invention;

[0070] Figure 3 A schematic diagram of the autonomous process flow for preparing for extraterrestrial body takeoff of the present invention. DETAILED DESCRIPTION

[0071] The present invention adopts a timeline-based hierarchical sub-state transfer constraint planning method to design an autonomous take-off process suitable for extraterrestrial bodies, which can ensure that once the spacecraft is able to land on the extraterrestrial body, it has the ability to take off autonomously on time at the nominal take-off time without relying on the support of ground measurement and control.

[0072] The technical solution of the present invention is: an autonomous extraterrestrial body takeoff process design method, comprising the following steps:

[0073] 1. Determine the functional modules. According to the requirements of the extraterrestrial takeoff mission, determine the key events and flight actions in the takeoff preparation process, divide them into several functional modules according to the instruction sequence to complete different functions, and number them; since the autonomous takeoff process adopts a master-slave interactive design, involving the interaction of multiple intelligent terminals on the device, the functions implemented by a single functional module are usually completed by a certain intelligent terminal;

[0074] 2. Model the functional module and decompose it into terminal flag (TF), trigger unit (GU), execution unit (EU) and output identification (OI) for description. Among them:

[0075] (1) The terminal identification defines the intelligent terminal corresponding to the functional module;

[0076] (2) The trigger unit is the input interface of the functional module, which mainly receives the external excitation signal. When it determines that the external excitation signal meets the target condition inside the trigger unit, the functional module is triggered;

[0077] (3) The execution unit is the execution mechanism that completes a specific function. It mainly implements a specific function according to the current state of the system and the specified instruction sequence with time constraints;

[0078] (4) The output identifier defines whether the output of the functional module needs to be subsequently aggregated with other functional modules.

[0079] 3. Determine the convergence point (CP), which is mainly used to summarize and confirm the execution status of the current functional module in order to perform related operations of a subsequent functional module. Since different functional modules have concurrency in their execution process, when several concurrent functional modules have completed their corresponding tasks, they need to confirm their status through the convergence point so as to continue to perform subsequent operations.

[0080] 4. Determine the Judge Point (JP), which is mainly used to determine the minimum operating conditions of the system in order to determine whether to continue to perform related operations. For the autonomous takeoff process, it is necessary to confirm the key link of the system state transition. Only when the system state does not meet the minimum operating conditions, choose to exit the subsequent execution sequence.

[0081] 5. According to the design requirements of the autonomous takeoff preparation process, link each functional module, determine the state transfer process between each functional module, and merge the concurrent functional modules through the convergence point; for the key links of the functional module construction, make judgments through the judgment points, so as to form a complete hierarchical state transfer process based on the timeline.

[0082] The specific implementation steps of the present invention are as follows:

[0083] 1. Decompose the flight mission and determine the functional modules:

[0084] According to the requirements of the lunar takeoff preparation flight mission, and the intelligent terminals on the vehicle that need to autonomously complete related functions, the key events / flight actions of the flight process are determined. Here, different autonomous functions are distributed to different intelligent terminals, which helps to give full play to the advantages of logical operations and information processing of each intelligent terminal, thereby optimizing system resources. But at the same time, this also forms the feature of multiple intelligent terminals working in parallel. While each intelligent terminal performs the corresponding function, one intelligent terminal is set as the system management unit, that is, the active party, and the other intelligent units are subordinate parties.

[0085] The function module that defines this event / action is M event , and number them, such as: 1-autonomous lunar surface initialization after landing, 2-autonomous lunar surface positioning; 3-drilling and surface sampling..., the corresponding functional modules are numbered M1, M2, M3..., M N , N is the total number of functional modules;

[0086] 2. Functional division and modeling of each functional module:

[0087] According to the flight events and flight actions corresponding to each functional module, define any functional module M i The corresponding terminal identifier is T i , trigger unit G i , execution unit E i , output mark O i , where (i∈[1,N]). Correspondingly, each functional module can be expressed as T i ,G i ,E i ,O i is the input related function f, that is:

[0088] M i =f(T i ,G i ,E i ,O i ),i∈[1,N]

[0089] The terminal identification number can be specified according to the number of smart terminals in the system. For example, if there are 4 smart terminals in the system, then:

[0090]

[0091] Among them, SMU as the system management unit is the active party, and other intelligent terminals are subordinate parties.

[0092] 3. Trigger unit G for each functional module i , Execution Unit E i Digital description:

[0093] Trigger unit G i It is a judgment of the detector system state. When the detector system state meets its judgment conditions, the module executes and outputs the corresponding results. Its input condition is the detector system state matrix S i , defined as the sum of various landing posture data (moon landing position, attitude data, etc.), resource data (energy, propellant, storage space, etc.) and instrument and equipment status that characterize the status of the probe, and can be deleted according to the characteristics of the corresponding functional mechanism, and the corresponding value range can be determined according to the current task. That is:

[0094] S i =[S i1 ,S i2 ,S i3 ,S i4 ,S i5 ,S i6 ,S i7 ,S i8 ,S i9 ]

[0095] S ij =(S ij1 ,S ij2 ,…,S ijm ) T

[0096] m∈[1, any value), j∈[1, 10)

[0097] Where: m represents the parameter number under a certain system state; j represents the number of the system state; i represents the number of the function module;

[0098] Table 1 Physical meaning of detector system state matrix

[0099] parameter Physical meaning <![CDATA[S i1 ]]> <![CDATA[Functional module M i corresponding landing pose parameters]]> <![CDATA[S i2 ]]> <![CDATA[Function module M i The corresponding device power-on state]]> <![CDATA[S i3 ]]> <![CDATA[Functional module M i Corresponding resource status]]> <![CDATA[S i4 ]]> <![CDATA[Functional module M i Corresponding mechanism motion state]]> <![CDATA[S i5 ]]> <![CDATA[Functional module M i Corresponding system operating mode]]> <![CDATA[S i6 ]]> <![CDATA[Functional module M i Corresponding propulsion valve status]]> <![CDATA[S i7 ]]> <![CDATA[Function module M i The corresponding trigger signal status]]> <![CDATA[S i8 ]]> <![CDATA[Functional module M i The corresponding important software flag status]]> <![CDATA[S i9 ]]> <![CDATA[Functional module M i Corresponding environment status to which it belongs]]>

[0100] Define trigger unit G i Each state in the variable is determined by the relevant parameter system state set parameter P l Voting, that is, P l For S il The result of comparing the system state with the required state, l∈[1,10); when the system state set judgment parameter P l =1 (digital quantity) or meets the threshold range requirement (analog quantity), the execution unit is triggered, that is:

[0101] G i →(P1,P2,P3,…)

[0102] Define execution unit E i is a set of instruction sequences containing time constraints:

[0103] E i ={t i ,f i1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik}

[0104] i∈[1,N], k∈[1, any value)

[0105] t i The time when the function module starts to execute, when the trigger condition is met and the current time is t i When executing instruction f i1 , and then an interval of Δt i1 , execute sequence f i2 , and so on, to complete all instruction sequences of the functional module; where: i represents the number of the functional module; k represents the number of the instruction sequence.

[0106] Taking the function module M1, autonomous lunar initialization after landing as an example, the trigger unit G1 determines the following states of the probe system:

[0107] a) S 15 In the system working mode, the GNC working mode has been changed to the uncontrolled mode. If the GNC working mode is the uncontrolled mode, the system working mode parameter P 1(系统工作模式) =1, otherwise P 1(系统工作模式) =0;

[0108] b) S 16In the propulsion valve state, the 7500N engine is shut down. If the 7500N engine is shut down, the propulsion valve state parameter P 2(推进阀门状态) =1, otherwise P 2(推进阀门状态) =0;

[0109] c)S 17 In the trigger signal state, the landing buffer mechanism touches the moon signal has been received. If the touches the moon signal has been received, the valve state parameter P is pushed forward. 3(触发信号状态) =1, otherwise P 3(触发信号状态) =0;

[0110] When the detector system status meets its judgment condition G1 = P1 ∩ P2 ∩ P3 = 1, the detector starts to execute the functional module M1 and the execution unit E1 of the autonomous lunar surface initialization after landing. The specific contents are as follows:

[0111] a) After the trigger unit G1 meets the requirement for 2 minutes, the valve status setting after the moon landing is executed;

[0112] b) After an interval of 18 minutes, the solar wing is deployed;

[0113] c) After an interval of 7 minutes, execute the thermal control state setting;

[0114] d) After an interval of 1 minute, execute the advancement status setting;

[0115] e) After an interval of 1 minute, execute the tube status setting;

[0116] f) After an interval of 1 minute, execute the GNC status setting;

[0117] g) After an interval of 15 minutes, unlock the pyrotechnics of directional antennas, drilling devices, robotic arms, etc.

[0118] 4. For the convergence point C p Modeling and output identification i Digital modeling:

[0119] Convergence point C p It represents the summary of the current system status, and the function is completed by the active party. It is described by the output identifiers of each functional module that converges at the convergence point. That is:

[0120] C p =O i ∩O i+1 ∩…

[0121] p∈[1,P c ] and P c <N、i∈[1,N)

[0122] Where i represents the function module number; p represents the number of the convergence point; P crepresents the total number of convergence points; N represents the total number of functional modules.

[0123] The selection of the convergence point is marked by the output of the functional module O i To confirm, i Defined as:

[0124]

[0125] O i When it is 0, it means that the function module is not executed; i When it is 1, it indicates that the function module has been executed.

[0126] Such as function module M i The corresponding O i =C kp And the function module M i+1 The corresponding O i+1 =C p , then C p =S i ∪S i+1 .

[0127] 5. For decision point J q Digital modeling:

[0128] In order to save computing resources on the device, only a trigger unit is set in the function module. As long as the system currently meets the execution conditions of the function module, the function module will be run.

[0129] However, for key links, when it comes to the processing of different branches of the system, and when it may involve exiting the current system's autonomous operation state, a comprehensive diagnosis of the current system state is required to determine different processing logics. Therefore, the concept of decision points is introduced here, and the function is completed by the active party.

[0130] J q =f{S x |(1,M x ),S y |(1,M y ),…,0}

[0131] q∈[1,Q] and Q <N,i、j∈[1,N]

[0132] Wherein, q represents the number of the decision point, Q represents the total number of decision points, and x and y represent the numbers corresponding to the functional modules that need to be determined;

[0133] The decision point must first complete the determination of the system state. When the system state is consistent with the state S required by the function module state parameter, x If they are consistent, the link system enters function module M xPerform subsequent operations; when the system status is consistent with the status S required by the function module status parameters y If they are consistent, the link system enters function module M y Perform subsequent operations; and so on. When none of the conditions are met, the system exits the current operation sequence and waits for ground disposal.

[0134] 6. Link various functional modules:

[0135] Add convergence points and decision points according to task requirements to form a master-slave hierarchical sub-state transfer process based on the timeline. Figure 2 A schematic diagram of the state transfer process based on functional modules, convergence points and decision points is given in the figure. After the trigger unit of the functional module meets the trigger condition, the state setting of the functional module is completed through the execution unit, and an output identifier is given for convergence point judgment; the convergence point reads the output identifier of the functional module to confirm that the execution of the preceding functional module has been completed; before the key link, the decision point judges the current system state and the required state. Figure 3 The detailed state transition process diagram of the takeoff preparation process is given in the paper, taking the lunar back sampling return mission as an example. After completing the autonomous lunar surface initialization and lunar surface positioning, the execution status and system status are confirmed through the convergence point and the judgment point, and one of the drilling and surface sampling or autonomous emergency drilling function modules is entered. Subsequently, the convergence point is used to confirm that one of the two has been executed. Enter the pre-takeoff equipment power-on and setting module, confirm the system status through the judgment point, start the GNC autonomous takeoff sequence, and then different intelligent units control the completion of the pre-takeoff GNC, measurement and control, propulsion and other state settings, and calculate the takeoff parameters. The execution status and system status are confirmed through the convergence point and the judgment point, and the thermal control state setting and mechanical separation of the lander and the ascender are completed. After the system status is determined again, the lander and the ascender are mechanically separated, the engine is ignited, and the takeoff is completed under the control of the GNC intelligent unit. After the ascender enters orbit, the solar wing is deployed to complete the thermal control and propulsion state settings.

[0136] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. An autonomous extraterrestrial body takeoff process design method, characterized in that include: According to the requirements of the extraterrestrial body takeoff mission, determine the key events and flight actions in the takeoff preparation process, divide them into several functional modules according to the instruction sequence to complete different functions, and number them; Model the functional modules and decompose them into terminal identification, trigger unit, execution unit and output identification, and describe the units of each functional module digitally; Determine the convergence point to summarize and confirm the execution status of the current functional modules; Determine the decision point, which is used to determine the minimum operating conditions of the system and whether to continue to perform related operations; According to the design requirements of the autonomous takeoff preparation process, link each functional module, determine the state transfer process between each functional module, and merge concurrent functional modules through the convergence point; For the key links in the construction of functional modules, decisions are made through decision points, thus forming a complete hierarchical sub-state transfer process based on the timeline.

2. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: The functions implemented by a single functional module are usually completed by a certain intelligent terminal. When each intelligent terminal performs the corresponding function, one intelligent terminal is set as the system management unit, that is, the active party, and the other intelligent units are subordinate parties; Define the function modules as M1, M2, M3…M i …,M N , i∈[1,N], N is the total number of functional modules.

3. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: The terminal identification defines the intelligent terminal corresponding to the functional module; The trigger unit is the input interface of the functional module, which mainly receives the external excitation signal. When it determines that the external excitation signal meets the target condition inside the trigger unit, the functional module is triggered; The execution unit is the execution mechanism that completes a specific function. It mainly implements a specific function according to the current state of the system and the specified instruction sequence with time constraints; The output category defines whether the output of the functional module needs to be aggregated with other functional modules in the future.

4. The autonomous extraterrestrial body takeoff process design method according to claim 3, characterized in that: According to the flight events and flight actions corresponding to each functional module, define any functional module M i The corresponding terminal identifier is T i , trigger unit G i , execution unit E i , output mark O i , where (i∈[1,N]); accordingly, each functional module can be expressed as T i ,G i ,E i ,O i is the input related function f, that is: M i =f(T i ,G i ,E i ,O i ),i∈[1,N] Among them, the terminal identification number can be specified according to the number of intelligent terminals in the system; i represents the number of the functional module; N represents the total number of modules.

5. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: For each functional module, the trigger unit G i , Execution Unit E i When describing digitally: Trigger unit G i It is a judgment of the detector system status. When the detector system status meets its judgment conditions, the module executes and outputs the corresponding results; The input condition is the detector system state matrix S i , defined as the sum of various landing posture data, resource data and instrument equipment status that characterize the status of the probe, can be deleted according to the characteristics of the corresponding functional mechanism, and the corresponding value range can be determined according to the current task, that is: S i =[S i1 ,S i2 ,S i3 ,S i4 ,S i5 ,S i6 ,S i7 ,S i8 ,S i9 ] S ij =(S ij1 ,S ij2 ,…,S ijm ) T m∈[1, any value), j∈[1, 10) Where: m represents the parameter number under a certain system state; j represents the number of the system state; i represents the number of the function module; S i1 Indicates functional module M i Corresponding landing posture parameters; S i2 Indicates functional module M i The corresponding device power-on status; S i3 Indicates functional module M i The corresponding resource status; S i4 Indicates functional module M i The corresponding mechanism motion state; S i5 Indicates functional module M i Corresponding system working mode; S i6 Indicates functional module M i The corresponding propulsion valve status; S i7 Indicates functional module M i The corresponding trigger signal status; S i8 Indicates functional module M i The corresponding important software flag status; S i9 Indicates functional module M i The corresponding environment status; Define trigger unit G i Each system state in the variable is determined by the system state set parameter P l Voting, that is, P l For S il The result of comparing the system state with the required state, l∈[1,10); when the system state set judgment parameter P l =1 or meets the threshold range requirement, the execution unit is triggered, that is: G i →(P1,P2,P3,…) Define execution unit E i is a set of instruction sequences containing time constraints: E i ={t i ,f i1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik } i∈[1,N], k∈[1, any value) t i For functional module M i The execution starts when the trigger condition is met and the current time is t i When executing instruction f i1 , and then an interval of Δt i1 , execute sequence f i2 , and so on, to complete all instruction sequences of the functional module; where: i represents the number of the functional module; k represents the number of the instruction sequence.

6. The autonomous extraterrestrial body takeoff process design method according to claim 2, characterized in that: Determine the convergence point and summarize and confirm the execution status of the current functional modules, specifically: Convergence point C p Represents the summary of the current system status. The function is completed by the active party and is described by the output identifiers of each functional module that converges at the convergence point, namely: C p =O i ∩O i+1 ∩… p∈[1,P c ] and P c <N、i∈[1,N) Where i represents the function module number; p represents the number of the convergence point; P c represents the total number of convergence points; N represents the total number of functional modules; The selection of the convergence point is marked by the output of the functional module O i To confirm, i Defined as: O i When it is 0, it means that the function module is not executed; i When it is 1, it indicates that the function module has been executed.

7. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: Decision Point J q Set at the key link, the function is completed by the active party; Among them, the key links are: when it comes to the processing of different branches of the system, and when it comes to exiting the current system's autonomous operation state, a comprehensive diagnosis of the current system state is required to determine the links of different processing logics.

8. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: Determine the decision point, which is used to determine the system's minimum operating conditions and whether to continue to perform related operations. Specifically, when the decision point determines the system's minimum operating conditions: First, the system status must be determined. When the system status is consistent with the function module M i When the required status parameters are consistent, the link system enters function module M i Perform subsequent operations; if not satisfied, continue to judge; And so on, when none of the conditions are met, the system exits the current operation sequence and waits for ground disposal.

9. The autonomous extraterrestrial body takeoff process design method according to claim 1, characterized in that: Convergence points and decision points are added according to task requirements to form a master-slave hierarchical sub-state transfer process based on the timeline: after the trigger unit of the functional module meets the trigger condition, the state setting of the functional module is completed through the execution unit, and an output identifier is given for convergence point judgment; the convergence point reads the output identifier of the functional module to confirm that the execution of the preceding functional module has been completed; before the key link, the decision point judges the current system state and the required state.

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