Expansion multiplexing type satellite ground support system and working method

By designing a multiplexed satellite ground support system, using functional modules such as task planning, simulation analysis, and control management, we can achieve unified management of different models of satellites, and realize system scalability through hyperconvergence and container technology, solving the problem of low requirements for ground system expansion in the existing system, reducing costs and improving system flexibility and efficiency.

CN119861588APending Publication Date: 2025-04-22MAJOR SPECIAL ENG CENT OF THE STATE ADMINISTRATION OF SCI TECH & IND FOR NAT DEFENSE (EARTH OBSERVATION & DATA CENT OF THE NAT SPACE ADMINISTRATION)

Patent Information

Application Number
CN202510346327.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-03-24
Publication Date
2025-04-22

AI Technical Summary

Technical Problem

The existing satellite ground support system is mainly aimed at satellites of the same model, the same series, and the same batch. It has relatively unified functional tasks and has low requirements for the expansion of ground systems, resulting in higher cost of equipping each satellite with a ground system separately.

Method used

A satellite ground support system with expansion and reusability was designed. Through functional modules such as task planning, simulation analysis, control management, and monitoring evaluation, it can realize unified monitoring, unified management, and unified operation and maintenance of different types of satellites, and realize the scalability of system functions and resources through hyper-converged platforms and container platforms.

Benefits of technology

The ground support for multiple models of new technology test series satellite platforms has been achieved, reducing the cost of equipping ground systems for different models of satellites, and can continuously expand system functions and resource capabilities according to needs, supporting the full process guarantee of new technology test and verification.

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Abstract

The invention discloses an expansion multiplexing type satellite ground support system and a working method. The method comprises the following steps: S1, the satellite ground support system accepts a work task demand; s2, analyzing and planning a specific task to form a specific task plan; s3, according to the task plan, realizing deduction of a task plan scheme through simulation of an environment situation and a satellite flight situation; s4, generating a control instruction for the satellite, and verifying the control instruction; s5, sending the verified control instruction to a ground measurement and control system, and uploading the instruction by the ground measurement and control system; and S6, performing real-time monitoring and evaluation on a satellite task execution process, and performing alarm processing on abnormal conditions in the task execution process. The method can be expanded and reused for ground support of multi-model new technology test series satellite platforms, can continuously expand the computing power according to requirements, and provides a simulation verification platform for new technology test verification.
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Description

Technical Field

[0001] The present invention relates to the field of system design, and in particular to an extended multiplexing satellite ground support system and a working method. Background Art

[0002] The new technology test satellite system project consists of satellites, launch vehicles, launch sites, ground measurement and control, and satellite ground support systems. The satellite ground support system is mainly responsible for the planning and implementation of on-orbit missions, data reception, processing and sharing, and mission execution supervision and evaluation. The current satellite ground support system is often aimed at satellites of the same model, series, and batch. The functional tasks they perform are relatively unified, and the requirements for the expansion of the ground system are relatively low. With the gradual development of aerospace technology, the number of satellites has increased year by year, and the functions of satellites have also developed from single to comprehensive. The cost of equipping each model of satellite with a ground system is high. It is urgent to coordinate similar functions in ground control and develop different plug-ins for different tasks to form a set of expandable and reusable ground systems. Summary of the invention

[0003] In order to solve the existing problems, the present invention provides an extended multiplexing satellite ground support system and working method, and the specific scheme is as follows: A working method of an extended multiplexing satellite ground support system comprises the following steps: S1, the satellite system issues specific work tasks to the satellite ground support system, and the satellite ground support system accepts the work requirements; S2, based on the telemetry data of the satellite system received by the ground measurement and control system, the satellite ground support system analyzes and plans the specific tasks and forms a specific mission plan; S3, according to the above mission plan, the mission plan is simulated by simulating the environmental situation and the satellite flight situation; S4, generating a control instruction for the satellite according to the above-deduced mission plan, and verifying the control instruction; S5, sending the verified control command to the ground measurement and control system, and the ground measurement and control system implements the command injection; S6 monitors the satellite mission execution process in real time, issues alarms for abnormal situations during mission execution, and evaluates mission execution.

[0004] Preferably, the analysis and planning of the specific task in step S2 is based on telemetry data packets, specifically including satellite orbits, earth and moon shadows, and satellite attitudes.

[0005] Preferably, the system based on the above method includes a task planning subsystem, a simulation analysis subsystem, a control management subsystem, a monitoring and evaluation subsystem, a data receiving and processing subsystem, and a basic support subsystem; The mission planning subsystem is used to plan the test mission of the new technology test satellite according to the specific mission received, realize the overall management of work requirements, and perform work mission planning, mission orbit analysis, and mission resource management according to the overall management of work requirements; The simulation analysis subsystem is used for platform and payload work instruction simulation of new technology test satellites, realizing the functions of environmental situation simulation, flight situation display, mission plan deduction, and on-orbit situation display; The control management subsystem is used for specific control of the test mission of the new technology test satellite and realizes the processing and verification of satellite instructions; The monitoring and evaluation subsystem is used for real-time monitoring of the satellite mission execution process and evaluation of the mission execution status; The data receiving and processing subsystem is used to uniformly manage the data interface of the satellite ground support system; The basic support subsystem is used to manage the basic software and hardware resources of the satellite ground support system, including computing resources and storage resources, to realize functions such as computing power support, storage capacity support, network capacity support, and can expand capabilities according to mission requirements.

[0006] Preferably, the task planning subsystem includes a demand coordination management module and a work task planning module; the demand coordination management module is used to realize the coordinated management of work demand, and the work task planning module is used to realize the analysis and planning of specific tasks according to the coordinated management of work demand to form a specific task plan.

[0007] Preferably, the simulation analysis subsystem includes an environmental situation simulation module, a flight situation simulation module and a mission plan deduction module; the environmental situation simulation module is used for environmental situation simulation, the flight situation simulation module is used for flight situation display, and the mission plan deduction module is used for mission plan deduction and on-orbit situation display.

[0008] Preferably, the control management subsystem includes an instruction processing module and an instruction verification module, wherein the instruction processing module is used to generate control instructions for the satellite according to the above-mentioned deduced mission plan, and the instruction verification module is used to verify the generated control instructions.

[0009] Preferably, the monitoring and evaluation subsystem includes a real-time process monitoring module, a fault and abnormality alarm module and a task result evaluation module; the real-time process monitoring module is used for real-time monitoring of the satellite mission execution process, the fault and abnormality alarm module is used for alarm processing of abnormalities in the task execution process, and the task result evaluation module is used for evaluating the task execution status.

[0010] Preferably, the data receiving and processing subsystem includes a data communication module, a data parsing module and a data processing module.

[0011] Preferably, the basic support subsystem includes a hyper-convergence platform and a container platform, and adopts hyper-convergence technology and container technology to achieve sustainable application service expansion; specifically, a hyper-convergence platform is established based on a standard server, and computing resources, storage resources, and long-term storage resources from multiple servers are unified and integrated, and unified management of data centers, clusters, nodes, image repositories, images, deployments, state loads, storage, data, and network plug-ins is achieved through the upper-layer container platform. Based on the container platform, functional software running in the container is developed to achieve specific application services.

[0012] The present invention also discloses a computer system, including a processor and a storage medium, wherein a computer program is stored on the storage medium, and the processor reads and runs the computer program from the storage medium to execute any of the above-mentioned methods.

[0013] The beneficial effects of the present invention are: 1. Expandable and reusable ground support for multiple types of new technology test series satellite platforms. The expandable and reusable satellite ground support system disclosed in the present invention can continuously expand its functional scope according to the needs of new types of technology test satellites, and provide ground support for other types of satellites to be developed in the future; 2. The computing power can be continuously expanded according to demand. The expanded multiplexed satellite ground support system disclosed in the present invention can continuously expand the computing power according to the needs of subsequent model tasks to meet the computing power requirements brought about by functional expansion; 3. Realize the specific implementation of the programmed new technology test and verification mechanism. The expanded multiplexed satellite ground support system disclosed in the present invention provides full-process guarantee and service in the form of software system for universal new technology test and verification processes such as mission planning, simulation analysis, control management, and supervision and evaluation; 4. Provide a simulation verification platform for new technology testing and verification. The expanded multiplexed satellite ground support system disclosed in the present invention provides a simulation verification platform for the specific functional realization of satellite platforms and payloads, and supports dynamic simulation and functional verification of platform and payload instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A system composition block diagram for a large satellite system project; Figure 2 To expand the block diagram of the satellite ground support system for multiplexing; Figure 3 It is a principle block diagram of the present invention; Figure 4 It is a flow chart of the working method of the present invention; Figure 5 This is a diagram of the internal and external interfaces of the system of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] like Figure 1 The satellite system project consists of satellite system, launch vehicle system, launch site system, ground measurement and control system and satellite ground support system. Among them, the satellite ground support system is mainly responsible for the planning and implementation of on-orbit missions, data reception, processing and sharing, and mission execution supervision and evaluation.

[0018] Aiming at the new technology test series satellite platform, in order to solve the problems of diverse technical forms and insufficient verification in new technology test satellites, realize unified monitoring, unified management, and unified operation and maintenance of on-orbit satellites, and achieve the purpose of coordinating resources, sharing infrastructure, and sharing data, the present invention establishes a set of expandable and reusable new satellite ground support system.

[0019] like Figure 4 , a working method of an extended multiplexed satellite ground support system, including five stages: acceptance stage, planning stage, simulation stage, control stage, and operation stage. The method includes the following steps: S1. In the acceptance stage, the satellite system issues specific work tasks to the satellite ground support system, and the satellite ground support system accepts the work requirements.

[0020] S2, in the planning stage, based on the telemetry data of the satellite system received by the ground measurement and control system, the satellite ground support system analyzes and plans the specific tasks and forms a specific mission plan. The telemetry data includes satellite orbit, earth and moon shadows, and posture.

[0021] S3, in the simulation analysis stage, according to the above mission plan, the mission plan is deduced through the simulation of the environmental situation and the satellite flight situation.

[0022] S4, in the control phase, according to the above-deduced mission plan, control instructions for the satellite are generated and verified.

[0023] S5, sending the verified control instructions to the ground measurement and control system, and the ground measurement and control system implements the instruction injection.

[0024] S6, during the operation phase, the supervision and evaluation subsystem receives and processes real-time data to realize real-time monitoring of the satellite mission execution process, handle alarms for abnormal situations during the mission execution, evaluate the mission execution status, and provide a result evaluation of the mission after the mission is completed.

[0025] like Figure 2 and Figure 3 The system based on the above working method includes a task planning subsystem, a simulation analysis subsystem, a control management subsystem, a monitoring and evaluation subsystem, a data receiving and processing subsystem and a basic support subsystem.

[0026] The mission planning subsystem is used to plan the test missions of new technology test satellites according to the specific tasks received, realize the overall management of work needs, and perform work mission planning, mission orbit analysis, and mission resource management based on the overall management of work needs.

[0027] The simulation and analysis subsystem is used to simulate the platform and payload work instructions of the new technology test satellite, and realize the functions of environmental situation simulation, flight situation display, mission plan deduction, and on-orbit situation display.

[0028] The control and management subsystem is used for the specific control of the test missions of new technology test satellites and to realize the processing and verification of satellite commands.

[0029] The monitoring and evaluation subsystem is used for real-time monitoring of the satellite mission execution process and evaluation of the mission execution status.

[0030] The data receiving and processing subsystem is used to uniformly manage the data interface of the satellite ground support system.

[0031] The basic support subsystem is used to manage the basic software and hardware resources of the satellite ground support system, including computing resources and storage resources, to realize functions such as computing power support, storage capacity support, and network capacity support, and can expand capabilities according to mission requirements.

[0032] The task planning subsystem includes a demand coordination management module and a work task planning module; the demand coordination management module is used to realize the coordinated management of work demand, and the work task planning module is used to realize the analysis and planning of specific tasks based on the coordinated management of work demand to form a specific task plan.

[0033] The simulation analysis subsystem includes an environmental situation simulation module, a flight situation simulation module and a mission plan deduction module; the environmental situation simulation module is used for environmental situation simulation, the flight situation simulation module is used for flight situation display, and the mission plan deduction module is used for mission plan deduction and on-orbit situation display.

[0034] The control management subsystem includes an instruction processing module and an instruction verification module. The instruction processing module is used to generate control instructions for the satellite according to the above-mentioned deduced mission plan, and the instruction verification module is used to verify the generated control instructions.

[0035] The monitoring and evaluation subsystem includes a real-time process monitoring module, a fault and abnormality alarm module, and a mission result evaluation module; the real-time process monitoring module is used to monitor the satellite mission execution process in real time, the fault and abnormality alarm module is used to handle the alarm of abnormalities during the mission execution process, and the mission result evaluation module is used to evaluate the mission execution status.

[0036] The data receiving and processing subsystem includes a data communication module, a data analysis module and a data processing module.

[0037] The basic support subsystem includes a hyper-convergence platform and a container platform, which use hyper-convergence technology and container technology to achieve sustainable application service expansion; specifically, a hyper-convergence platform is established based on standard servers to integrate computing resources, storage resources, and long-term storage resources from multiple servers. Through the upper-level container platform, unified management of data centers, clusters, nodes, image repositories, images, deployments, state loads, storage, data, and network plug-ins is achieved. Based on the container platform, functional software running in containers is developed to achieve specific application services.

[0038] The expansion reuse of the present invention is mainly reflected in that the system functional services can be continuously expanded according to new task requirements, and the computing resources and storage resources can be continuously expanded according to requirements. The implementation principle of continuously expanding the system functional services according to new task requirements is: this system is based on a container platform, and new functional software is developed, tested, and run in the container platform. This process will not affect other running functional services. The principle of continuously expanding computing resources and storage resources according to demand is that the computing resources and storage resources for the software of this system are provided by a hyper-converged platform. Based on the hyper-converged platform, new server equipment can be continuously integrated and expanded, and resource expansion is not affected by the brand, model, and performance of the equipment.

[0039] like Figure 5 The figure shows the relationship between the internal and external interfaces of the system of the present invention. The external interfaces of the system mainly include interfaces with the demand side and interfaces with the ground measurement and control system. Satellite engineering requirements and other requirements are used as inputs to the system, and the test requirements are analyzed with reference to historical test results. After the test tasks are arranged, simulated, and parameter-checked, they are sent to the ground measurement and control system, which is then uploaded to the satellite system. The ground measurement and control system receives the telemetry data from the satellite system and sends it to this system, which analyzes and processes the distributed data to achieve supervision of the test process and evaluation of the test results.

[0040] The present invention also discloses a computer system, including a processor and a storage medium, wherein a computer program is stored on the storage medium, and the processor reads and runs the computer program from the storage medium to execute any of the above methods.

[0041] The present invention has the following advantages: first, it can be expanded and reused for ground support of multiple types of new technology test series satellite platforms; second, it can realize the specific implementation of a programmed new technology test verification mechanism; third, it can continuously expand computing power according to demand; and fourth, it provides a simulation verification platform for new technology test verification.

[0042] Specifically, the present invention can be expanded and reused for ground support of multiple types of new technology test series satellite platforms. The expanded and reused satellite ground support system disclosed in the present invention can continuously expand its functional scope according to the needs of new type technology test satellites and provide ground support for other types of satellites to be developed in the future.

[0043] The invention can continuously expand computing power according to demand. The expanded multiplexing satellite ground support system disclosed in the invention can continuously expand computing power according to the needs of subsequent model tasks to meet the computing power requirements brought about by function expansion.

[0044] The invention realizes the specific implementation of the programmed new technology test verification mechanism. The expanded multiplexed satellite ground support system disclosed in the invention provides full-process guarantee and service in the form of a software system for universal new technology test verification processes such as mission planning, simulation analysis, control management, and supervision evaluation.

[0045] The invention provides a simulation verification platform for new technology test verification. The expanded multiplexed satellite ground support system disclosed in the invention provides a simulation verification platform for the specific function realization of the satellite platform and payload, and supports dynamic simulation and function verification of platform and payload instructions.

[0046] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0047] The various illustrative logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0048] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0049] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disk often reproduces data magnetically, while disc reproduces data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0050] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

[0051] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A working method of an extended multiplexing satellite ground support system, characterized in that: The following steps are involved: S1, the satellite system issues specific work tasks to the satellite ground support system, and the satellite ground support system accepts the work requirements; S2, based on the telemetry data of the satellite system received by the ground measurement and control system, the satellite ground support system analyzes and plans the specific tasks and forms a specific mission plan; S3, according to the above mission plan, the mission plan is simulated by simulating the environmental situation and the satellite flight situation; S4, generating a control instruction for the satellite according to the above-deduced mission plan, and verifying the control instruction; S5, sending the verified control command to the ground measurement and control system, and the ground measurement and control system implements the command injection; S6 monitors the satellite mission execution process in real time, issues alarms for abnormal situations during mission execution, and evaluates mission execution.

2. The method according to claim 1, characterized in that: The analysis and planning of specific tasks described in step S2 is based on telemetry data packets, which specifically include satellite orbits, earth and moon shadows, and satellite attitudes.

3. A satellite ground support system based on the method according to any one of claims 1 to 2, characterized in that: It includes mission planning subsystem, simulation analysis subsystem, control management subsystem, monitoring and evaluation subsystem, data receiving and processing subsystem and basic support subsystem; The mission planning subsystem is used to plan the test mission of the new technology test satellite according to the specific mission received, realize the overall management of work requirements, and perform work mission planning, mission orbit analysis, and mission resource management according to the overall management of work requirements; The simulation analysis subsystem is used for platform and payload work instruction simulation of new technology test satellites, realizing the functions of environmental situation simulation, flight situation display, mission plan deduction, and on-orbit situation display; The control management subsystem is used for specific control of the test mission of the new technology test satellite and realizes the processing and verification of satellite instructions; The monitoring and evaluation subsystem is used for real-time monitoring of the satellite mission execution process and evaluation of the mission execution status; The data receiving and processing subsystem is used to uniformly manage the data interface of the satellite ground support system; The basic support subsystem is used to manage the basic software and hardware resources of the satellite ground support system, including computing resources and storage resources, to realize functions such as computing power support, storage capacity support, network capacity support, and can expand capabilities according to mission requirements.

4. The system according to claim 3, characterized in that: The task planning subsystem includes a demand coordination management module and a work task planning module; the demand coordination management module is used to realize the coordinated management of work demand, and the work task planning module is used to realize the analysis and planning of specific tasks according to the coordinated management of work demand to form a specific task plan.

5. The system according to claim 3, characterized in that: The simulation analysis subsystem includes an environmental situation simulation module, a flight situation simulation module and a mission plan deduction module; the environmental situation simulation module is used for environmental situation simulation, the flight situation simulation module is used for flight situation display, and the mission plan deduction module is used for mission plan deduction and on-orbit situation display.

6. The system according to claim 3, characterized in that: The control management subsystem includes an instruction processing module and an instruction verification module. The instruction processing module is used to generate control instructions for the satellite according to the above-mentioned deduced mission plan, and the instruction verification module is used to verify the generated control instructions.

7. The system according to claim 3, characterized in that: The monitoring and evaluation subsystem includes a real-time process monitoring module, a fault and abnormality alarm module and a task result evaluation module; the real-time process monitoring module is used for real-time monitoring of the satellite mission execution process, the fault and abnormality alarm module is used for alarm processing of abnormalities in the task execution process, and the task result evaluation module is used for evaluating the task execution status.

8. The system according to claim 3, characterized in that: The data receiving and processing subsystem includes a data communication module, a data parsing module and a data processing module.

9. The system according to claim 3, characterized in that: The basic support subsystem includes a hyper-converged platform and a container platform, which adopts hyper-converged technology and container technology to achieve sustainable application service expansion; specifically, a hyper-converged platform is established based on standard servers to integrate computing resources, storage resources, and long-term storage resources from multiple servers, and unified management of data centers, clusters, nodes, image repositories, images, deployments, state loads, storage, data, and network plug-ins is achieved through the upper-level container platform; based on the container platform, functional software running in the container is developed to realize specific application services.

10. A computer system, characterized in that: The method comprises a processor and a storage medium, wherein a computer program is stored in the storage medium, and the processor reads and runs the computer program from the storage medium to execute the method as claimed in any one of claims 1 to 2.

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