An autonomous extraterrestrial object takeoff procedure design method

Abstract

The application discloses a kind of autonomous extraterrestrial object take-off flow design method, according to extraterrestrial object take-off task demand, the key event and flight action of take-off preparation process are determined, and according to the instruction sequence of different functions is divided into several function modules;Function module is modeled, and is decomposed into terminal identification, trigger unit, execution unit and output identification;Determine the convergence point, and the execution of current function module is summarized to confirm;Determination point is determined, the minimum operating condition of system is determined, and whether the subsequent operation is continued is determined;According to the design requirement of autonomous take-off preparation flow, link each function module, determine the state transition process between each function module, and converge through convergence point for concurrent function module;For the key link of function module construction, determination is carried out through determination point, and the complete hierarchical state transition process based on timeline is formed.The design of the application can ensure reliable and efficient completion of extraterrestrial object take-off.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of autonomous extraterrestrial object take-off process design method, especially suitable for unmanned deep space exploration of moon, unmanned deep space exploration of Mars and manned lunar exploration task involved from extraterrestrial object take-off spacecraft, belong to deep space exploration field. BACKGROUND

[0002] For extraterrestrial sampling return mission, manned lunar mission, etc., one must complete the work is to complete take-off from extraterrestrial object. Compared with ground launch, extraterrestrial take-off has the characteristics of uncertain topography and geology of take-off area, unpredictable initial reference, limited space for plume diversion, etc.

[0003] With the continuous diversification of deep space exploration missions, lunar back sampling return, Mars sampling return, manned lunar return, etc., in the take-off process design, the following constraints are faced:

[0004] a) Lunar back take-off can only use relay satellite as the only information link, once the relay link fails, the take-off process can only be suspended, and once the GNC subsystem has injected relevant take-off parameters, the worst case may be blind take-off without setting other systems of the probe, resulting in take-off mission failure;

[0005] b) Mars sampling return is limited by communication distance, and the control time delay is nearly 23 min, so the time cost is unacceptable if all take-off processes rely on the ground;

[0006] c) Manned lunar return needs to consider the safety of astronauts as the top priority, so it is necessary to ensure the reliability of the take-off preparation process through various means, and cannot rely completely on ground control channels.

[0007] Therefore, it is necessary to design an autonomous take-off preparation process suitable for extraterrestrial take-off, to calculate various parameters required before extraterrestrial take-off by the spacecraft, to start the corresponding task-level instruction sequence within the specified time, and to ensure reliable and efficient completion of extraterrestrial take-off. SUMMARY

[0008] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide an autonomous extraterrestrial take-off process design method, which can ensure that the spacecraft can take off autonomously at the nominal take-off time once it lands on an extraterrestrial object, without relying on ground control support.

[0009] The technical solution of the present application is an autonomous extraterrestrial take-off process design method, wherein:

[0010] Based on the requirements of the extraterrestrial launch mission, the key events and flight maneuvers of the launch preparation process are determined, and the modules are divided into several functional modules according to the instruction sequence for completing different functions, and numbered accordingly.

[0011] The functional modules are modeled and decomposed into terminal identifiers, triggering units, execution units, and output identifiers, and each unit of the functional module is digitally described.

[0012] Identify the convergence point to summarize and confirm the execution status of the current functional module;

[0013] Determine the decision point to determine the minimum operating conditions of the system and whether to continue performing related operations.

[0014] Based on the design requirements of the autonomous takeoff preparation process, the various functional modules are linked, and the state transition process between the functional modules is determined. For concurrent functional modules, they are merged through convergence points; for key links in the construction of functional modules, they are determined through decision points, thereby forming a complete timeline-based hierarchical state transition process.

[0015] Preferably, the function implemented by a single functional module is usually completed by a smart terminal. While each smart terminal is performing its corresponding function, one smart terminal is designated as the system management unit, i.e. the active party, and the other smart units are the subordinate parties.

[0016] Define the functional modules as M1, M2, M3…M i …,M N , i∈[1,N], where N is the total number of functional modules.

[0017] Preferably, the terminal identifier defines the smart terminal corresponding to this functional module;

[0018] The triggering unit is the input interface of the functional module. It mainly receives external excitation signals. When it determines that the external excitation signal meets the target conditions inside the triggering unit, the functional module is triggered.

[0019] An execution unit is an execution mechanism that performs a specific function. It mainly implements a specific function based on the current state of the system and a specified sequence of instructions with time constraints.

[0020] The output category defines whether the output of this functional module needs to be aggregated with information from other functional modules.

[0021] Preferably, based on the flight events and flight actions corresponding to each functional module, an arbitrary functional module M is defined. i In the middle, the corresponding terminal identifier T i Triggering unit G i Execution Unit E i Output identifier Oi where (i∈[1,N]). Correspondingly, each functional module can be expressed as T i ,G i ,E i ,O i is the input correlation function f, that is:

[0022] M i = f(T i ,G i ,E i ,O i ), i∈[1,N]

[0023] where the terminal identification number can be specified according to the number of intelligent terminals existing in the system;

[0024] i represents the number of functional modules; N represents the total number of modules.

[0025] Preferably, when the trigger unit G i and the execution unit E i of each functional module are digitally described:

[0026] The trigger unit G i is a kind of judgment on the state of the detector system, when the state of the detector system meets its judgment condition, the module executes and outputs the corresponding result; its input condition is the state matrix S i of the detector system, defined as the sum of various types of landing pose data, resource data and instrument equipment state representing the state of the detector, which can be reduced according to the characteristics of the corresponding functional mechanism, and the corresponding value range is determined according to the different current tasks, that is:

[0027] S i = [S i1 ,S i2 ,S i3 ,S i4 ,S i5 ,S i6 ,S i7 ,S i8 ,S i9 ]

[0028] S ij = (S ij1 ,S ij2 ,…,S ijm ) T

[0029] m∈[1, arbitrary value), j∈[1, 10)

[0030] where: m represents the parameter number under a certain system state; j represents the number of system states; i represents the number of functional modules;

[0031] S i1 representing a functional module M i corresponding landing pose parameters;

[0032] S i2 representing a functional module M i corresponding device power-on state;

[0033] S i3 representing a functional module M i corresponding resource state;

[0034] S i4 representing a functional module M i corresponding mechanism motion state;

[0035] S i5 representing a functional module M i corresponding system working mode;

[0036] S i6 representing a functional module M i corresponding propulsion valve state;

[0037] S i7 representing a functional module M i corresponding trigger signal state;

[0038] S i8 representing a functional module M i corresponding important software flag state;

[0039] S i9 representing a functional module M i corresponding belonging environment state;

[0040] defining a trigger unit G i Each system state in the variable is determined by a system state set determination parameter P l Voting is performed, i.e., P l is S il The determination result of the comparison between the system state and the required state, l ∈ [1, 10); when each system state set determination parameter P l = 1 or meets the threshold value range requirement, the execution unit is triggered, i.e.:

[0041] G i → (P1, P2, P3, …)

[0042] defining an execution unit E i is a set of instruction sequences containing time constraints:

[0043] E i = {t i , fi1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik}

[0044] i∈[1,N], k∈[1, any value)

[0045] t i For functional module M i The execution begins when the triggering condition is met and the current time is t. i At that time, the instruction f is executed. i1 Then, after an interval of Δt i1 Execute sequence f i2 And so on, to complete all the instruction sequences of this functional module; where: i represents the number of the functional module; k represents the number of the instruction sequence.

[0046] Preferably, the convergence point is determined to summarize and confirm the execution status of the current functional module, specifically as follows:

[0047] Convergence Point C p This summary characterizes the current system state, a function performed by the active party, and is described by the output identifiers of the various functional modules converged at this convergence point.

[0048] C p =O i ∩O i+1 ∩…

[0049] p∈[1,P c And P c <N、i∈[1,N)

[0050] Where i represents the functional module number; p represents the convergence point number; P c N represents the total number of convergence points; N represents the total number of functional modules.

[0051] The selection of the convergence point is determined by the output identifier O of the functional module. i Confirmation required, O i Defined as:

[0052]

[0053] O i A value of 0 indicates that the function module has not been executed; O i When the value is 1, it indicates that the function module has been completed.

[0054] Preferably, the decision point J q It is set up in key stages, and the function is performed by the proactive party;

[0055] Among them, the key links are: the processing involving different branches of the system, and the comprehensive diagnosis of the current system state when exiting the current system autonomous running state, to determine the processing logic of different links.

[0056] Preferably, a determination point is determined for determining the minimum running condition of the system, and whether the subsequent operation is continued is determined after the determination.

[0057] First, the system state is determined, and when the system state and the function module M i When the required state parameters are consistent, the system is linked into the function module M i for subsequent operation; if not, continue to determine;

[0058] In this way, when none of them is satisfied, the system exits the current running sequence and waits for ground disposal.

[0059] Preferably, according to the task requirements, a convergence point and a determination point are added to form a master-slave type time line based hierarchical state transition process: after the trigger unit of the function module satisfies the trigger condition, the state setting of the function module is completed by the execution unit, and an output identifier is given for the convergence point to determine; the convergence point reads the output identifier of the function module to confirm that the previous function module is executed; before the key link, the determination point determines the current system state and the required state.

[0060] Compared with the prior art, the present application has the following advantages:

[0061] The autonomous process for extraterrestrial body take-off provided by the present application can ensure that once the spacecraft lands 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 tasks involving take-off from extraterrestrial bodies; the spacecraft autonomously completes the calculation of various parameters required before extraterrestrial body take-off, starts the corresponding task level instruction sequence at the specified time, and ensures reliable and efficient completion of extraterrestrial body take-off. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 The autonomous design implementation flowchart for extraterrestrial body take-off of the present application;

[0063] Figure 2 The autonomous process design modeling process schematic diagram of the present application;

[0064] Figure 3 The autonomous process schematic diagram for extraterrestrial body take-off of the present application. DETAILED DESCRIPTION

[0065] The application adopts a timeline-based hierarchical state transition constraint planning method to design an autonomous extraterrestrial object take-off process, which can ensure that the spacecraft has the ability to take off autonomously at the nominal take-off time once it lands on an extraterrestrial object, without relying on the support of ground measurement and control.

[0066] The technical solution of the application is an autonomous extraterrestrial object take-off process design method, comprising the following steps:

[0067] 1. Determine the function module, determine the key events and flight actions of the take-off preparation process according to the extraterrestrial object take-off task requirements, divide into several function modules according to the instruction sequence for completing different functions, and number them; since the autonomous take-off process adopts a master-slave interactive design form, it involves the interaction of multiple intelligent terminals on the spacecraft, therefore, the function implemented by a single function module is usually completed by a certain intelligent terminal;

[0068] 2. Model the function module, and describe the function module by decomposing it into terminal identification (TF, Terminal Flag), trigger unit (GU, Generate Unit), execution unit (EU, Execute Unit) and output identification (OI, OutIdentification). Wherein:

[0069] (1) The terminal identification defines the intelligent terminal corresponding to the function module;

[0070] (2) The trigger unit is the input interface of the function module, mainly receiving external excitation signals, and when it determines that the external excitation signals meet the target conditions inside the trigger unit, the function module is triggered;

[0071] (3) The execution unit is an execution mechanism for completing a certain specific function, mainly implementing a certain specific function according to the specified instruction sequence with time constraints according to the current state of the system;

[0072] (4) The output identification defines whether the output of the function module needs to be aggregated with other function modules.

[0073] 3. Determine the converge point (CP, Converge Point), which is mainly used for the summary and confirmation of the execution of the current function module, so as to perform the related operations of the subsequent function module. Since the execution processes of different function modules are concurrent, when several concurrent function modules complete the corresponding tasks, the state needs to be confirmed through the converge point, so as to continue to perform the subsequent operations.

[0074] 4. Determine the judge point (JP, Judge Point), which is mainly used for determining the minimum running condition of the system, so as to determine whether to continue the subsequent operation. For the autonomous take-off process, the key link of the system state transition needs to be confirmed, and only when the system state does not meet the minimum running condition, the subsequent execution sequence is selected to be exited.

[0075] 5. According to the design requirements of the autonomous take-off preparation process, link each functional module, determine the state transition process between each functional module, for the concurrent functional module, merge through the convergence point; for the key link of the functional module, determine through the judge point, so as to form a complete hierarchical state transition process based on the timeline.

[0076] The specific implementation steps of the application are as follows:

[0077] 1. Decompose the flight task, and determine the functional module:

[0078] According to the lunar take-off preparation flight task requirement and the intelligent terminal related to the on-board function to be autonomously completed, the key event / flight action of the flight process is determined. Here, different autonomous functions are dispersed to different intelligent terminals, which helps to exert the advantages of logical operation and information processing of each intelligent terminal, so as to optimize the system resources. However, at the same time, this also forms the characteristics of multiple intelligent terminals working in parallel. While each intelligent terminal executes the corresponding function, an intelligent terminal is set as a system management unit, that is, the active party, and the other intelligent units are the subordinate parties.

[0079] Define the functional module of the event / action as M event , and number it, such as: 1-autonomous lunar initialization after landing, 2-lunar autonomous positioning; 3-drilling and surface sampling, …, the corresponding functional module number is M1, M2, M3, …, M N , and N is the total number of functional modules;

[0080] 2. Functionally divide and model each functional module:

[0081] According to the flight event and flight action corresponding to each functional module, the corresponding terminal identifier T i , trigger unit G i , execution unit E i , and output identifier O i in any functional module M i (i∈[1,N]) are defined. Correspondingly, each functional module can be expressed as a related function f with T i , G i , E i , and O i as inputs, that is:

[0082] M i = f(T i , G i , E i , O i ), i e [1, N]

[0083] Wherein, the terminal identification number can be specified according to the number of intelligent terminals existing in the system. For example, if there are 4 intelligent terminals in the system, then:

[0084]

[0085] Wherein, the SMU as the system management unit is the active party, and other intelligent terminals are the dependent parties.

[0086] 3, the trigger unit G i , execution unit E i of each functional module is digitally described:

[0087] Trigger unit G i is a kind of judgment on the state of the detector system, when the state of the detector system meets its judgment condition, the module executes and outputs the corresponding result. Its input condition is the state matrix S i of the detector system, which is defined as the sum of various types of landing pose data (lunar landing position, attitude data, etc.), resource data (energy, propellant, storage space, etc.) and instrument equipment state representing the state of the detector, and can be reduced according to the characteristics of the corresponding functional mechanism, and the corresponding value range is determined according to the different current tasks. That is:

[0088] S i = [S i1 , S i2 , S i3 , S i4 , S i5 , S i6 , S i7 , S i8 , S i9 ]

[0089] S ij = (S ij1 , S ij2 ,..., S ijm ) T

[0090] m e [1, any value), j e [1, 10)

[0091] Wherein: m represents the parameter number under a certain system state; J represents the number of system state; I represents the number of functional module;

[0092] Table 1 physical meaning of the state matrix of the detector system

[0093] Parameter Physical meaning [SA i1 ]] Function module M i Corresponding landing pose parameters [SA i2 ]] Function module M i Corresponding device power-up state [SA i3 ]] Function module M i Corresponding resource state [SA i4 ]] Function module M i Corresponding mechanism movement state [SA i5 ]] Function module M i Corresponding system operating mode [SA i6 ]] Function module M i Corresponding propulsion valve state [SA i7 ]] Function module M i corresponding trigger signal state [SA i8 ]] Function module M i Corresponding important software flag status [SA i9 ]] Function module M i Corresponding state of the environment to which it belongs

[0094] Define trigger unit G i Each state in the variable is determined by the relevant parameter system state set parameter P. l To vote, i.e., P l For S il The judgment result of comparing the system state with the required state, l∈[1,10); when the judgment parameter P of each system state set l If the value is 1 (digital quantity) or meets the threshold range requirement (analog quantity), the execution unit is triggered, that is:

[0095] G i →(P1,P2,P3,…)

[0096] Define execution unit E i A sequence of instructions with time constraints:

[0097] E i ={t i ,f i1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik}

[0098] i∈[1,N], k∈[1, any value)

[0099] t i The time when the functional module starts executing, when the triggering condition is met and the current time is t. i At that time, the instruction f is executed. i1 Then, after an interval of Δt i1 Execute sequence f i2 And so on, to complete all the instruction sequences of this functional module; where: i represents the number of the functional module; k represents the number of the instruction sequence.

[0100] Taking functional module M1, autonomous lunar surface initialization after landing as an example, trigger unit G1 determines the following states of the probe system:

[0101] a)S 15 In the system's operating mode, the GNC operating mode has been switched to uncontrolled mode. If the GNC operating mode is uncontrolled, then the system operating mode parameter P... 1(系统工作模式) =1, otherwise P 1(系统工作模式) =0;

[0102] b)S 16The 7500N engine is off in the propulsion valve state. If the 7500N engine is off, then the propulsion valve state parameter P... 2(推进阀门状态) =1, otherwise P 2(推进阀门状态) =0;

[0103] c)S 17 In the trigger signal state, the lunar touch signal of the landing buffer mechanism has been received. If the lunar touch signal has been received, then the propulsion valve state parameter P... 3(触发信号状态) =1, otherwise P 3(触发信号状态) =0;

[0104] When the probe system state meets its determination condition G1=P1∩P2∩P3=1, the probe begins to execute functional module M1 and execution unit E1 for autonomous lunar surface initialization after landing. The specific contents are as follows:

[0105] a) After the trigger unit G1 satisfies the 2-minute requirement, the valve status setting after the moon landing will be executed;

[0106] b) Deploy the solar panels after an 18-minute interval;

[0107] c) After a 7-minute interval, execute the thermal control status setting;

[0108] d) After a 1-minute interval, execute the propulsion status settings;

[0109] e) After a 1-minute interval, execute the data management status settings;

[0110] f) After a 1-minute interval, execute the GNC status settings;

[0111] g) After a 15-minute interval, unlock the pyrotechnic components of the directional antenna, drilling device, robotic arm, and other mechanisms.

[0112] 4. For convergence point C p Modeling and output identifier O i Perform digital modeling:

[0113] Convergence Point C p This represents a summary of the current system state, with the functionality performed by the active party. It is described by the output identifiers of the various functional modules that converge at this convergence point. That is:

[0114] C p =O i ∩O i+1 ∩…

[0115] p∈[1,P c And P c <N、i∈[1,N)

[0116] Where i represents the functional module number; p represents the convergence point number; P cN represents the total number of the sink points; N represents the total number of the function modules.

[0117] The sink points are selected by the output identifier O i The confirmation is made, O i is defined as:

[0118]

[0119] O i is 0, it indicates that the function module is not executed; O i is 1, it indicates that the function module has been executed.

[0120] As the function module M i corresponding O i =C kp and the function module M i+1 corresponding O i+1 =C p , then C p =S i ∪S i+1 .

[0121] 5, the decision point J q is digitally modeled:

[0122] In order to save the computing resources on the economizer, only the trigger unit is set in the function module, and as long as the current system meets the execution condition of the function module, the function module will be run.

[0123] But for the key link, the processing of different branches of the system is involved, and the comprehensive diagnosis of the current system state is needed when the current system autonomous running state is exited, so as to determine different processing logic. Therefore, the concept of decision point is introduced here, and the function is completed by the active party.

[0124] J q =f{S x |(1,M x ), S y |(1,M y ), …, 0}

[0125] q∈[1,Q] and Q<N, i, j∈[1,N]

[0126] Wherein, q represents the number of the decision point, Q represents the total number of the decision point, x and y represent the corresponding number of the function module which needs to be determined;

[0127] The decision point first needs to complete the system state determination, when the system state is consistent with the state S x required by the function module state parameter, then the system is linked into the function module M xCarries out the subsequent operation; when the system state is consistent with the state parameter requirement of the function module state, the system enters the function module M y Carries out the subsequent operation; when the system state is consistent with the state parameter requirement of the function module state, the system enters the function module M y Carries out the subsequent operation; when the system state is consistent with the state parameter requirement of the function module state, the system enters the function module M

[0128] 6, links each function module:

[0129] According to the task requirement, the convergence point and the decision point are added, so that the master-slave type time line based hierarchical state transition process is formed. Figure 2 The state transition process based on the function module, the convergence point and the decision point is shown in the figure, the trigger unit of the function module meets the trigger condition, the state setting of the function module is completed through the execution unit, and the output identifier is given for the convergence point discrimination; the convergence point reads the output identifier of the function module to confirm that the previous function module is executed; before the key link, the decision point judges the current system state and the required state. Figure 3 In the moon sampling return task, the detailed take-off preparation process state transition process is shown in the figure. After the autonomous moon initialization and moon positioning are completed, the execution and the system state are confirmed through the convergence point and the decision point, one of the drilling and the table sampling or the autonomous emergency drilling function module is entered, and the subsequent one is executed through the convergence point. The equipment is powered on and set before take-off, the system state is confirmed through the decision point, the GNC autonomous take-off sequence is started, and then the take-off before GNC, TT&C, propulsion and other state settings are completed by different intelligent units, and the take-off parameters are calculated, the execution and the system state are confirmed through the convergence point and the decision point, the thermal control state setting, the lander and the riser mechanical separation are completed. After the system state is determined again, the lander and the riser are mechanically separated, the engine is ignited, and the take-off is completed under the control of the GNC intelligent unit. The solar wing is unfolded after the riser enters the orbit, and the thermal control and propulsion state settings are completed.

[0130] The contents not described in detail in the specification of the present application belong to the prior art known to those skilled in the art.

Claims

1. An autonomous extraterrestrial object takeoff procedure design method, characterized by Comprise: According to the requirements of the extraterrestrial object take-off task, determine the key events and flight actions of the take-off preparation process, divide it into several functional modules according to the instruction sequence for completing different functions, and number them; Model the functional modules and decompose them into terminal identifiers, trigger units, execution units and output identifiers, and digitally describe the units of each functional module; The terminal identifier defines the intelligent terminal that completes the corresponding functional module; The trigger unit is the input interface of the functional module, which receives external excitation signals, and 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 for completing a specific function, which realizes a specific function according to the specified instruction sequence with time constraints based on the current state of the system; The output identifier defines whether the output of the functional module needs to be aggregated with other functional modules for information aggregation; Determine the aggregation point for aggregating and confirming the execution of the current functional module; Determine the decision point for determining the minimum operating condition of the system and determining whether to continue related operations subsequently; According to the autonomous take-off preparation process design requirements, link the functional modules, determine the state transition process between the functional modules, and for concurrent functional modules, merge through the aggregation point; For the key links of the functional modules, determine through the decision point to form a complete hierarchical state transition process based on the timeline.

2. The autonomous off-Earth object launch procedure design method of claim 1, wherein: The function of a single functional module is completed by an intelligent terminal, and while each intelligent terminal executes the corresponding function, an intelligent terminal is set as the system management unit, i.e. the active party, and the other intelligent units are the subordinate parties; Definition function module number is M1, M2, M3 … M i … N , i ∈ [1, N], N is the total number of function modules.

3. The autonomous extraterrestrial object take-off process design method according to claim 1, characterized in that: According to the flight event and flight action corresponding to each function module, define any function module M i Corresponding terminal identifier T i , trigger unit G i , execution unit E i , output identifier O i , wherein i∈[1,N]; accordingly, each function module can be expressed as a related function f with T i , G i , E i , O i as input, that is: M i = f(T i , G i , E i , O i ), i e [1, N] Wherein, the terminal identifier number can be specified according to the number of intelligent terminals existing in the system; i represents the number of functional modules; N represents the total number of modules.

4. The autonomous off-planet vehicle launch procedure design method of claim 1, wherein: Triggering unit G for each function module i Execution unit E i When digitally described: Trigger unit G i is a kind of determination to detector system state, when the detector system state meets its determination condition, the function module executes and outputs corresponding result; The input condition is the detector system state matrix S i , defined as the sum of various types of landing pose data, resource data and instrument state representing the state of the detector, which can be reduced according to the characteristics of the corresponding functional mechanism, and the corresponding value range is determined according to the different current tasks, 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, arbitrary value), j∈[1, 10) Where: m represents the parameter number in a certain system state; j represents the number of system states; i represents the number of functional modules; S i1 representing a functional module M i corresponding landing pose parameters; S i2 representing a functional module M i corresponding device power-up state; S i3 representing a functional module M i a corresponding resource state; S i4 representing a functional module M i corresponding mechanism motion state; S i5 representing a functional module M i corresponding system mode of operation; S i6 representing functional modules M i corresponding propulsion valve states; S i7 representing a function module M i a corresponding trigger signal state; S i8 representing a functional module M i corresponding important software flag status; S i9 representing a functional module M i a corresponding context state; Definition of trigger unit G i Each system state in the variable is determined by the system state set determination parameter P l Voting is carried out, that is, P l S il The determination result of the comparison between the system state and the required state, l∈[1,10); when each system state set determination parameter P l =1 or meets the threshold range requirement, the trigger execution unit is triggered, that is: G i → (P1, P2, P3,...) Definition execution unit E i for a sequence of instructions comprising a time constraint: E i = {t i ,f i1 ,Δt i1 ,f i2 ,Δt i2 ,…,Δt i(k-1) ,f ik} i∈[1,N], k∈[1, arbitrary value) t i For function module M i When the trigger condition is met and the current time is t i , execute instruction sequence f i1 , then after an interval Δt i1 , execute instruction sequence f i2 , and so on, to complete all instruction sequences of the function module; where: i represents the number of the function module; k represents the number of the instruction sequence.

5. The autonomous off-Earth object launch procedure design method of claim 2, wherein: Determine the aggregation point to aggregate and confirm the execution of the current functional module, specifically: Converging Point C p a summary characterizing the current system state, the function being fulfilled by the active party, by means of an identification description of the output of each functional module converging at the converging point, i.e.: C p =O i ∩O i+1 ∩… p e [1, P c ] and P c N, i e [1, N) wherein i denotes the number of the functional module; p denotes the number of the sink; P c denotes the total number of sinks; N denotes the total number of functional modules; The selection of the sink is identified by the output of the function module O i The confirmation is made, O i is defined as: O i 0 means that the function module is not executed; i 1 means that the function module has been executed.

6. The autonomous off-planet vehicle launch procedure design method of claim 1, wherein: Decision point J q Set in key links, functions by the initiative party Wherein, the key link is: involves the processing of different branches of the system, and involves the comprehensive diagnosis of the current system state when exiting the current autonomous running state of the system, to determine the processing logic of different links.

7. The autonomous off-planet vehicle launch procedure design method of claim 1, wherein: Determine the decision point for determining the minimum operating condition of the system and determining whether to continue related operations subsequently, specifically: when the decision point determines the minimum operating condition of the system: First, the system state must be determined, and when the system state is consistent with the function module M i the system is linked to the function module M i and the subsequent operation is performed; otherwise, the determination continues. By analogy, when none of them is satisfied, the system exits the current running sequence and waits for ground disposal.

8. The autonomous off-Earth object launch procedure design method of claim 1, wherein: According to the task requirement, the sink point and the decision point are added to form the master-slave type timeline-based hierarchical state transition flow: after the trigger unit of the function module meets the trigger condition, the state setting of the function module is completed by the execution unit, and the output identifier is given for the sink point discrimination; the sink point reads the output identifier of the function module to confirm that the previous function module is executed; before the key link, the decision point judges the current system state and the required state.

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