Method and system for identifying and processing abnormal switching code block of satellite service system

Abstract

The invention provides a satellite service system abnormal switching code block identification and processing method and system, and the method comprises the steps: S1, enabling a measurement and control responder of a satellite to be in a normal working state, and receiving a switching backup code block command; s2, software checks whether uplink remote control has a receiving fault or not, reasons are further checked, if a relay channel is abnormal, a backup code block switching command is normally executed, and if not, the command is regarded as an abnormal behavior to be shielded; s3, the software checks whether downlink telemetering transmission fails or not and further checks reasons, if a relay channel is abnormal, a backup code block switching command is normally executed, and if not, the command is regarded as an abnormal behavior to be shielded. Through multi-level diagnosis and processing of the faults of the responder, problems can be quickly positioned, effective measures can be taken, system misjudgment and further faults are avoided, and the reliability of a satellite measurement and control system is improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite safety protection technology, and in particular to a method and system for identifying and processing abnormal switching code groups of a satellite service system. Background Art

[0002] With the rapid development of modern aerospace technology, satellites are increasingly used in the fields of communications, navigation, meteorology, remote sensing, etc. As a complex spacecraft, the reliability and stability of satellite operation in orbit are directly related to the completion of its mission. However, in the actual operation process, the satellite's measurement and control system may be affected by various internal and external factors, resulting in failure or abnormality of the measurement and control transponder. In particular, after receiving the command to switch to the backup code group, the transponder may enter the backup code group working state, causing problems such as loss of lock, response delay or communication interruption. This will not only affect the normal operation of the satellite, but may also cause deviations in the ground station's fault judgment and handling of the satellite.

[0003] At present, the existing methods for handling abnormalities of measurement and control transponders are mostly limited to simple redundant switching or direct restart operations, lacking targeted and systematic fault diagnosis and recovery strategies. This approach may not only fail to solve the actual problem, but may also lead to waste of redundant resources due to misjudgment, and even cause more serious system failures.

[0004] Therefore, a method is needed that can accurately identify the abnormal behavior of the measurement and control transponder after receiving the command to switch to the backup code group through a multi-level diagnostic mechanism and processing strategy, and formulate reasonable response measures based on multi-dimensional information such as uplink and downlink signal status, antenna pointing, link quality, etc.

[0005] Patent application document CN113114186A discloses a control method for autonomous reset of a measurement and control transponder, wherein the satellite autonomously identifies the measurement and control arc segment, autonomously calculates the measurement and control reset time window that does not overlap with the normal measurement and control time, and resets the measurement and control transponder within the measurement and control reset time window to avoid interruption of normal measurement and control of the satellite due to autonomous reset. However, this patent cannot completely solve the existing technical problems, nor can it meet the needs of the present invention. Summary of the invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for identifying and processing abnormal switching code groups of a satellite service system.

[0007] The method for identifying and processing abnormal switching code groups of a satellite service system provided by the present invention includes: Step 1: The satellite's telemetry and control transponder is in normal working condition and receives a command to switch to the backup code group; Step 2: Use software to check whether there is a reception failure in the uplink remote control, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked; Step 3: Use software to check whether the downlink telemetry transmission is faulty and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally. Otherwise, the command is regarded as abnormal behavior and blocked.

[0008] Preferably, the measurement and control transponder of the first satellite is in normal working state, and receives the command to switch to the backup code group. After response, the transponder works in the backup code group state, resulting in the transponder being unresponsive. The software is used to first check whether there is a reception failure in the uplink remote control. The voltage value of the telemetry information in the uplink locked state is checked. If it is between -0.15V and 0.5V, it is confirmed that the signal is in an unlocked state. At the same time, the AGC telemetry signal is also checked to see if it exceeds the normal range. If it is not in the range of [-130, -42] dBm, it is further checked whether the signal-to-noise ratio telemetry is lower than the normal range. If telemetry A is lower than 90 and telemetry B is lower than 25, it is confirmed that there is a failure in the uplink telemetry reception.

[0009] Preferably, the uplink power is increased on the ground, and the high-orbit satellite is tried again to transmit the remote control data packet to the first satellite. If it is received normally, it is judged that the antenna gain has decreased, and the software regards the command to switch the backup code group as an abnormal behavior and shields the command; if the uplink power of the first satellite is increased and the reception is still abnormal, a baseband reset command is sent to the unlocked transponder through the software. If the unlocked transponder does not execute the baseband reset command, the received command is decomposed. If the received command data is missing, or the received command is complete but the unlocked transponder responds to the baseband reset command with a delay, it is judged that the transponder receiving link is abnormal; If the unlocked transponder executes the baseband reset command normally, further send a power on / off command to the unlocked transponder to restart the unlocked transponder. If it returns to normal after restart, the situation is that the transponder FPGA loading is abnormal. The command to switch the backup code group is regarded as abnormal behavior through the software, and the command is blocked. If the error still occurs after the restart, use the relay satellite channel to send a remote control command to test the unlocked transponder. If there is no response after sending the remote control command, check the link of the unlocked transponder and find that the remote control command has not been received. The situation is that the relay satellite channel is abnormal. The command to switch the backup code group is regarded as normal behavior through the software, and the command is executed normally.

[0010] Preferably, the downlink telemetry transmission is checked by software to see if it fails. If the ground telemetry lock is abnormal or the ground receiving signal is weak or there is no signal, then confirm whether the antenna field of view meets the telemetry and remote control requirements under the current satellite attitude; confirm the actual pointing direction of the antenna by obtaining the current three-axis attitude angle from the attitude and orbit control subsystem, and use the installation deflection angle of the antenna relative to the satellite body coordinate system to calculate the specific position of the antenna's pointing direction in the geocentric inertial coordinate system, and determine its current pointing range based on the antenna's beam width, gain pattern and field of view model; Construct a combined quaternion using the satellite's three-axis attitude angle , represents the rotation from the satellite body coordinate system to the geocentric inertial coordinate system, where the pitch angle around the y-axis is , the yaw angle around the z-axis is , the roll angle around the x-axis is , then: x-axis rotation quaternion

[0011] y-axis rotation quaternion

[0012] Z-axis rotation quaternion

[0013]

[0014] The specific position of the antenna pointing direction in the geocentric inertial coordinate system: ; in, Represents the conjugate of a quaternion; A vector representing the antenna direction in the satellite's body coordinate system.

[0015] Preferably, the distance, azimuth and elevation angle between the satellite and the ground station are calculated using an orbital dynamics model based on two lines of TLE data on the satellite and the geographic coordinates of the ground station; the relative position of the ground station is projected into the antenna field of view model, and if the ground station is located in the edge area or the side lobe range, all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated. If the requirements are not met, it is judged that the antenna pointing is inaccurate, and the software regards the command to switch the backup code group as an abnormal behavior and shields the instruction; if the ground station is located in the center area of ​​the main lobe, a backup transponder is used to receive telemetry information. If the backup transponder successfully receives the telemetry information, the software regards the command to switch the backup code group as an abnormal behavior and shields the instruction; if the backup transponder cannot receive the telemetry information, a relay channel is used to send a remote control instruction. If the backup transponder also does not respond, the command to switch the backup code group is regarded as a normal behavior through the software, and the instruction is executed normally; The orbital dynamics model is used to calculate the distance, azimuth and pitch angle between the satellite and the ground station. Specifically, the orbital elements are extracted to obtain the satellite orbit inclination, perigee argument, ascending node right ascension, eccentricity, mean motion and epoch time, and the time difference between the current time and the TLE epoch time is calculated. :

[0016] in, Indicates the current moment, represents the TLE epoch time, a(t) is the acceleration magnitude at the current moment; k is the adjustment factor, which shortens the step length at perigee and increases the step length at apogee; Use Kepler's equations to calculate the eccentric anomaly from the mean anomaly:

[0017] Among them, M is the mean anomaly, E is the eccentric anomaly, and e is the orbital eccentricity; Solve for E using an iterative method: ; Iterate until the residual ( - ) is less than ; and is the result of two consecutive iterations; In the orbital plane, calculate the position of the satellite ( , y) and speed :

[0018]

[0019]

[0020]

[0021]

[0022] Where a is the semi-major axis of the orbit, v is the true anomaly, is the gravitational parameter of the Earth; Then the orbital plane coordinate system is converted into the geocentric inertial coordinate system, and all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated;

[0023] in, represents the received power, Indicates the transmit power, represents the transmit antenna gain, represents the receiving antenna gain, represents the free space path loss, represents the atmospheric propagation loss, Indicates system loss and polarization loss; compares the received power with the communication threshold. If it is less than the communication threshold, it does not meet the requirements.

[0024] The system for identifying and processing abnormal switching code groups of a satellite service system provided by the present invention comprises: Module M1: The satellite's telemetry and control transponder is in normal working condition and receives a command to switch to the backup code group; Module M2: Check whether there is a reception failure in the uplink remote control through software, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked; Module M3: Check whether the downlink telemetry transmission fails through software, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked.

[0025] Preferably, the measurement and control transponder of the first satellite is in normal working state, and receives the command to switch to the backup code group. After response, the transponder works in the backup code group state, resulting in the transponder being unresponsive. The software is used to first check whether there is a reception failure in the uplink remote control. The voltage value of the telemetry information in the uplink locked state is checked. If it is between -0.15V and 0.5V, it is confirmed that the signal is in an unlocked state. At the same time, the AGC telemetry signal is also checked to see if it exceeds the normal range. If it is not in the range of [-130, -42] dBm, it is further checked whether the signal-to-noise ratio telemetry is lower than the normal range. If telemetry A is lower than 90 and telemetry B is lower than 25, it is confirmed that there is a failure in the uplink telemetry reception.

[0026] Preferably, the uplink power is increased on the ground, and the high-orbit satellite is tried again to transmit the remote control data packet to the first satellite. If it is received normally, it is judged that the antenna gain has decreased, and the software regards the command to switch the backup code group as an abnormal behavior and shields the command; if the uplink power of the first satellite is increased and the reception is still abnormal, a baseband reset command is sent to the unlocked transponder through the software. If the unlocked transponder does not execute the baseband reset command, the received command is decomposed. If the received command data is missing, or the received command is complete but the unlocked transponder responds to the baseband reset command with a delay, it is judged that the transponder receiving link is abnormal; If the unlocked transponder executes the baseband reset command normally, further send a power on / off command to the unlocked transponder to restart the unlocked transponder. If it returns to normal after restart, the situation is that the transponder FPGA loading is abnormal. The command to switch the backup code group is regarded as abnormal behavior through the software, and the command is blocked. If the error still occurs after the restart, use the relay satellite channel to send a remote control command to test the unlocked transponder. If there is no response after sending the remote control command, check the link of the unlocked transponder and find that the remote control command has not been received. The situation is that the relay satellite channel is abnormal. The command to switch the backup code group is regarded as normal behavior through the software, and the command is executed normally.

[0027] Preferably, the downlink telemetry transmission is checked by software to see if it fails. If the ground telemetry lock is abnormal or the ground receiving signal is weak or there is no signal, then confirm whether the antenna field of view meets the telemetry and remote control requirements under the current satellite attitude; confirm the actual pointing direction of the antenna by obtaining the current three-axis attitude angle from the attitude and orbit control subsystem, and use the installation deflection angle of the antenna relative to the satellite body coordinate system to calculate the specific position of the antenna's pointing direction in the geocentric inertial coordinate system, and determine its current pointing range based on the antenna's beam width, gain pattern and field of view model; Construct a combined quaternion using the satellite's three-axis attitude angle , represents the rotation from the satellite body coordinate system to the geocentric inertial coordinate system, where the pitch angle around the y-axis is , the yaw angle around the z-axis is , the roll angle around the x-axis is , then: x-axis rotation quaternion

[0028] y-axis rotation quaternion

[0029] Z-axis rotation quaternion

[0030]

[0031] The specific position of the antenna pointing direction in the geocentric inertial coordinate system: ; in, Represents the conjugate of a quaternion; A vector representing the antenna direction in the satellite's body coordinate system.

[0032] Preferably, the distance, azimuth and elevation angle between the satellite and the ground station are calculated using an orbital dynamics model based on two lines of TLE data on the satellite and the geographic coordinates of the ground station; the relative position of the ground station is projected into the antenna field of view model, and if the ground station is located in the edge area or the side lobe range, all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated. If the requirements are not met, it is judged that the antenna pointing is inaccurate, and the software regards the command to switch the backup code group as an abnormal behavior and shields the instruction; if the ground station is located in the center area of ​​the main lobe, a backup transponder is used to receive telemetry information. If the backup transponder successfully receives the telemetry information, the software regards the command to switch the backup code group as an abnormal behavior and shields the instruction; if the backup transponder cannot receive the telemetry information, a relay channel is used to send a remote control instruction. If the backup transponder also does not respond, the command to switch the backup code group is regarded as a normal behavior through the software, and the instruction is executed normally; The orbital dynamics model is used to calculate the distance, azimuth and pitch angle between the satellite and the ground station. Specifically, the orbital elements are extracted to obtain the satellite orbit inclination, perigee argument, ascending node right ascension, eccentricity, mean motion and epoch time, and the time difference between the current time and the TLE epoch time is calculated. :

[0033] in, Indicates the current moment, represents the TLE epoch time, a(t) is the acceleration magnitude at the current moment; k is the adjustment factor, which shortens the step length at perigee and increases the step length at apogee; Use Kepler's equations to calculate the eccentric anomaly from the mean anomaly:

[0034] Among them, M is the mean anomaly, E is the eccentric anomaly, and e is the orbital eccentricity; Solve for E using an iterative method: ; Iterate until the residual ( - ) is less than ; and is the result of two consecutive iterations; In the orbital plane, calculate the position of the satellite ( , y) and speed :

[0035]

[0036]

[0037]

[0038]

[0039] Where a is the semi-major axis of the orbit, v is the true anomaly, is the gravitational parameter of the Earth; Then the orbital plane coordinate system is converted into the geocentric inertial coordinate system, and all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated;

[0040] in, represents the received power, Indicates the transmit power, represents the transmit antenna gain, represents the receiving antenna gain, represents the free space path loss, represents the atmospheric propagation loss, Indicates system loss and polarization loss; compares the received power with the communication threshold. If it is less than the communication threshold, it does not meet the requirements.

[0041] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention can quickly locate the problem and take effective measures through multi-level diagnosis and processing of transponder failures, thus avoiding system misjudgment and further failures, and improving the reliability of the satellite measurement and control system; (2) The present invention can dynamically determine the abnormality of the command for switching the backup code group through software, and shield the abnormal command, thereby effectively avoiding the system operation risk caused by the erroneous command. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 The present invention is a flow chart of a method for identifying and processing abnormal switching code groups of a satellite service system; Figure 2 It is a flowchart of the command processing of switching backup code group caused by receiving failure of uplink remote control; Figure 3 This is the command flow chart for switching backup code groups caused by downlink telemetry transmission failure. DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0044] Example The present invention provides a method for identifying and processing abnormal switching code groups of a satellite service system, comprising: 1) The TT&C transponder of the first satellite is in normal working state. When it receives the command to switch to the backup code group, the transponder will work and then switch to the backup code group state after the response, resulting in the transponder being unresponsive. The software will first check whether there is a reception failure in the uplink remote control. The voltage value of the telemetry information in the uplink locked state will be checked. If it is between -0.15V and 0.5V, it is confirmed that the signal is in the unlocked state. At the same time, the AGC telemetry signal will also be checked to see if it exceeds the normal range. If it is not in the range of [-130, -42] dBm, it will be further checked whether the signal-to-noise ratio telemetry is lower than the normal range. If telemetry A is lower than 90 and telemetry B is lower than 25, it is confirmed that there is a failure in the uplink telemetry reception.

[0045] 2) Increase the uplink power on the ground, and try again to have the high-orbit satellite transmit the remote control data packet to the first satellite. If it can be received normally, it is judged that the antenna gain has decreased, and the software will regard the switch backup code group command as an abnormal behavior and block the command. If the first satellite increases the uplink power and still has abnormal reception, send a baseband reset command to the unlocked transponder through the software. If the unlocked transponder does not execute the baseband reset command, the received command is decomposed. If the received command data is missing, or the received command is complete, but the unlocked transponder responds to the baseband reset command with a delay, it is judged that the transponder receiving link is abnormal.

[0046] 3) If the unlocked transponder executes the baseband reset command normally, further send the power on / off command to the unlocked transponder to restart the unlocked transponder. If it returns to normal after the restart, the situation is a case of abnormal loading of the transponder FPGA. The software will regard the switch backup code group command as abnormal behavior and block the command. If the error still occurs after the restart, use the relay satellite channel to send a remote control command to test the unlocked transponder. If there is no response after sending the remote control command, check the link of the unlocked transponder and find that the remote control command has not been received. The situation is that the relay satellite channel is abnormal. The software will regard the switch backup code group command as normal behavior and execute the command normally.

[0047] 4) Secondly, the software will check whether the downlink telemetry transmission is faulty. If the ground telemetry lock is abnormal or the ground receiving signal is weak or no signal occurs, it will confirm whether the antenna field of view meets the telemetry and remote control requirements under the current satellite attitude. The actual pointing direction of the antenna is confirmed by obtaining the current three-axis attitude angle (pitch, yaw, roll) from the attitude and orbit control subsystem. The specific position of the antenna's pointing direction in the geocentric inertial coordinate system is calculated using the installation deflection of the antenna relative to the satellite's body coordinate system. According to the antenna's beam width, gain pattern and field of view model, its current pointing range (the coverage area of ​​the main lobe and side lobe) is determined.

[0048] The satellite's three-axis attitude angle (pitch angle around the y-axis , the yaw angle around the z-axis , the roll angle around the x-axis ) constructs a combined quaternion Indicates the actual pointing direction of the antenna.

[0049] Represents the rotation from the satellite body coordinate system to the Earth-centered inertial coordinate system.

[0050] x-axis rotation quaternion

[0051] y-axis rotation quaternion

[0052] Z-axis rotation quaternion

[0053]

[0054] The specific position of the antenna pointing direction in the geocentric inertial coordinate system: ; in, Represents the conjugate of a quaternion.

[0055] Calculation method: Assumptions ,

[0056] = .

[0057] 5) Based on the two lines of TLE data on the satellite and the geographic coordinates of the ground station, the orbital dynamics model is used to calculate the distance, azimuth and elevation angle between the satellite and the ground station. The relative position of the ground station is projected into the antenna field of view model. If the ground station is located in the edge area or the side lobe range, all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated. If the requirements are not met, the antenna pointing is judged to be inaccurate. The software will regard the switch backup code group command as abnormal behavior and block the command. If the ground station is located in the center area of ​​the main lobe, the backup transponder is used to receive the telemetry information. If the backup transponder successfully receives the telemetry information, the software will regard the switch backup code group command as abnormal behavior and block the command. If the backup transponder cannot receive the telemetry information, the relay channel is used to send the remote control command. If the backup transponder also does not respond, the switch backup code group command is regarded as normal behavior through the software and the command is executed normally.

[0058] The orbital dynamics model is used to calculate the distance, azimuth and elevation angle between the satellite and the ground station: Extract orbital elements to obtain satellite orbit inclination, perigee argument, ascending node right ascension, eccentricity, mean motion and epoch time. Calculate the time difference between the current time and the TLE epoch time :

[0059] in, Indicates the current moment, It represents the TLE epoch time, a(t) is the acceleration at the current moment, k is the adjustment factor, and the step length is automatically shortened at the perigee and increased at the apogee.

[0060] Calculate the eccentric anomaly from the mean anomaly using Kepler's equation: M = Ee sin(E); where M is the mean anomaly, E is the eccentric anomaly, and e is the orbital eccentricity.

[0061] Solve for E using an iterative method: , and iterate until the residual ( - ) is less than .

[0062] In the orbital plane, calculate the position and velocity of the satellite: Location: a (1-e cos(E) cos(v),y=a (1-e cos(E) sin(v); where a is the semi-major axis of the orbit and v is the true anomaly.

[0063]

[0064] Then transform the orbital plane coordinate system into the geocentric inertial coordinate system;

[0065] in, is the rotation matrix around the z-axis, is the rotation matrix around the x-axis, i represents the orbital inclination, represents the right ascension of the ascending node, represents the argument of perigee, ( , , ) represents the geocentric inertial coordinates of the satellite.

[0066] Convert the Earth-centered inertial coordinate system to the Earth-centered fixed coordinate system:

[0067] in, is the Greenwich mean sidereal time corresponding to the current time, ( , , ) represents the satellite's geocentric fixed coordinates.

[0068]

[0069]

[0070]

[0071] in, is the average radius of the Earth, Indicates the current nearest ground station longitude, Indicates the current latitude of the nearest ground station.

[0072] The distance between the satellite and the ground station ; Azimuth ; Pitch Angle ; Comprehensive calculation of all gains and losses in the process of signal transmission from the transmitter to the receiver:

[0073] in, represents the received power, Indicates the transmit power, represents the transmit antenna gain, represents the receiving antenna gain, represents the free space path loss, represents the atmospheric propagation loss, Indicates system loss, polarization loss and other losses.

[0074] The received power is compared with the communication threshold. If it is less than the communication threshold, the requirement is not met.

[0075] like Figure 1 The present invention provides a method for identifying and processing abnormal switching code groups of a satellite service system, comprising the following steps: S1: The satellite's telemetry and control transponder is in normal working condition and receives a command to switch to the backup code group; S2: The software checks whether there is a reception failure in the uplink remote control, and further investigates the cause. If the relay channel is abnormal, the command to switch to the backup code group is executed normally, otherwise the command is regarded as an abnormal behavior and blocked; S3: The software will check whether the downlink telemetry transmission is faulty and further investigate the cause. If the relay channel is abnormal, the command to switch to the backup code group will be executed normally. Otherwise, the command will be regarded as abnormal behavior and blocked.

[0076] like Figure 2 , the processing flow chart of the switch backup code group command caused by the reception failure of the uplink remote control is as follows: 1) The TT&C transponder of the first satellite is in normal working state. When it receives the command to switch to the backup code group, it will make the transponder work in the backup code group state after responding, causing the transponder to become unresponsive; 2) The software checks the voltage value of the telemetry information in the uplink locked state. If the voltage value is -0.3V, which is between -0.15V and 0.5V, it is confirmed that the signal is in the unlocked state. At the same time, the AGC telemetry signal is -140dBm. If it is not in the normal range of [-130, -42]dBm, further inspection finds that the signal-to-noise ratio of telemetry A is 80, which is lower than the standard 90, and the signal-to-noise ratio of telemetry B is 10, which is lower than the standard 25, confirming that the uplink telemetry reception is faulty; 3) The ground increases the uplink power and tries again to have the high-orbit satellite transmit a remote control data packet to the first satellite. The uplink telemetry receiving channel of the first satellite does not respond. The software sends a baseband reset command to the unlocked transponder, and the unlocked transponder responds normally to the baseband reset command. 4) The software sends a power on / off command to the unlocked transponder to restart it. After the restart, the voltage value of the unlocked transponder returns to normal, and the signal-to-noise ratio of the AGC telemetry signal, telemetry A, and telemetry B returns to normal. The reason for this situation is that the transponder FPGA loading is abnormal. The software regards the switch backup code group command as an abnormal behavior and blocks the command.

[0077] like Figure 3 , the flow chart of the switching backup code group command caused by the downlink telemetry transmission failure is as follows: 1) The TT&C transponder of the first satellite is in normal working state. When it receives the command to switch to the backup code group, it will make the transponder work in the backup code group state after responding, causing the transponder to become unresponsive; 2) Upon inspection, there is no signal received on the ground. The actual pointing direction of the antenna is confirmed by obtaining the current three-axis attitude angle (pitch, yaw, roll) from the attitude and orbit control subsystem. The specific position of the antenna's pointing direction in the geocentric inertial coordinate system is calculated using the installation deflection of the antenna relative to the satellite's body coordinate system. The current pointing range of the antenna is determined based on its beam width, gain pattern, and field of view model. Based on the two-line TLE data on the satellite and the geographic coordinates of the ground station, the orbital dynamics model is used to calculate the distance, azimuth, and pitch angle between the satellite and the ground station. The relative position of the ground station is projected into the antenna field of view model, and it is found that the ground station is located in the center area of ​​the main lobe.

[0078] 3) Switch to the backup transponder to receive telemetry information. If the backup transponder does not receive the telemetry information, use the relay channel to send a remote control command. If the backup transponder also does not respond, the software will regard the switch backup code group command as a normal behavior and execute the command normally.

[0079] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0080] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for identifying and processing abnormal switching code groups of a satellite service system, characterized in that: include: Step 1: The satellite's telemetry and control transponder is in normal working condition and receives a command to switch to the backup code group; Step 2: Use software to check whether there is a reception failure in the uplink remote control, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked; Step 3: Use software to check whether the downlink telemetry transmission is faulty and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally. Otherwise, the command is regarded as abnormal behavior and blocked.

2. The method for identifying and processing abnormal switching code groups of a satellite service system according to claim 1, characterized in that: The tracking and control transponder of the first satellite was in normal working condition. It received the command to switch to the backup code group. After responding, the transponder worked in the backup code group state, resulting in the transponder becoming unresponsive. The software was used to first check whether there was a reception failure in the uplink remote control. The voltage value of the telemetry information in the uplink locked state was checked. If it was between -0.15V and 0.5V, it was confirmed that the signal was in an unlocked state. At the same time, the AGC telemetry signal was also checked to see if it exceeded the normal range. If it was not in the range of [-130, -42] dBm, it was further checked to see if the signal-to-noise ratio telemetry was lower than the normal range. If telemetry A was lower than 90 and telemetry B was lower than 25, it was confirmed that there was a failure in the uplink telemetry reception.

3. The method for identifying and processing abnormal switching code groups of a satellite service system according to claim 1, characterized in that: Increase the uplink power on the ground, and try again to have the high-orbit satellite transmit the remote control data packet to the first satellite. If it is received normally, it is judged that the antenna gain has decreased. The software will regard the command to switch the backup code group as an abnormal behavior and block the command. If the uplink power of the first satellite is increased and the reception is still abnormal, send a baseband reset command to the unlocked transponder through the software. If the unlocked transponder does not execute the baseband reset command, the received command is decomposed. If the received command data is missing, or the received command is complete but the unlocked transponder responds to the baseband reset command with a delay, it is judged that the transponder receiving link is abnormal. If the unlocked transponder executes the baseband reset command normally, further send a power on / off command to the unlocked transponder to restart the unlocked transponder. If it returns to normal after restart, the situation is that the transponder FPGA loading is abnormal. The command to switch the backup code group is regarded as abnormal behavior through the software, and the command is blocked. If the error still occurs after the restart, use the relay satellite channel to send a remote control command to test the unlocked transponder. If there is no response after sending the remote control command, check the link of the unlocked transponder and find that the remote control command has not been received. The situation is that the relay satellite channel is abnormal. The command to switch the backup code group is regarded as normal behavior through the software, and the command is executed normally.

4. The method for identifying and processing abnormal switching code groups of a satellite service system according to claim 1, characterized in that: Check whether the downlink telemetry transmission is faulty through the software. If the ground telemetry lock is abnormal or the ground receiving signal is weak or no signal occurs, confirm whether the antenna field of view meets the telemetry and remote control requirements under the current satellite attitude; The actual pointing direction of the antenna is confirmed by obtaining the current three-axis attitude angle from the attitude and orbit control subsystem. The specific position of the antenna's pointing direction in the geocentric inertial coordinate system is calculated using the antenna's installation deflection angle relative to the satellite's body coordinate system. The current pointing range of the antenna is determined based on the antenna's beam width, gain pattern, and field of view model. Construct a combined quaternion using the satellite's three-axis attitude angle , represents the rotation from the satellite body coordinate system to the geocentric inertial coordinate system, where the pitch angle around the y-axis is , the yaw angle around the z-axis is , the roll angle around the x-axis is , then: x-axis rotation quaternion y-axis rotation quaternion Z-axis rotation quaternion The specific position of the antenna pointing direction in the geocentric inertial coordinate system: ; in, Represents the conjugate of a quaternion; A vector representing the antenna direction in the satellite's body coordinate system.

5. The method for identifying and processing abnormal switching code groups of a satellite service system according to claim 1, characterized in that: According to the two lines of TLE data on the satellite and the geographic coordinates of the ground station, the orbital dynamics model is used to calculate the distance, azimuth and elevation between the satellite and the ground station; the relative position of the ground station is projected into the antenna field of view model. If the ground station is located in the edge area or the side lobe range, all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated. If the requirements are not met, it is judged that the antenna pointing is inaccurate. The software regards the switch backup code group command as an abnormal behavior and blocks the command; If the ground station is located in the center of the main lobe, the backup transponder is used to receive telemetry information. If the backup transponder successfully receives the telemetry information, the software will regard the command to switch the backup code group as an abnormal behavior and block the command. If the backup transponder cannot receive the telemetry information, the relay channel is used to send the remote control command. If the backup transponder also does not respond, the software will regard the command to switch the backup code group as a normal behavior and execute the command normally. The orbital dynamics model is used to calculate the distance, azimuth and pitch angle between the satellite and the ground station. Specifically, the orbital elements are extracted to obtain the satellite orbit inclination, perigee argument, ascending node right ascension, eccentricity, mean motion and epoch time, and the time difference between the current time and the TLE epoch time is calculated. : in, Indicates the current moment, represents the TLE epoch time, a(t) is the acceleration magnitude at the current moment; k is the adjustment factor, which shortens the step length at perigee and increases the step length at apogee; Use Kepler's equations to calculate the eccentric anomaly from the mean anomaly: Among them, M is the mean anomaly, E is the eccentric anomaly, and e is the orbital eccentricity; Solve for E using an iterative method: ; Iterate until the residual ( - ) is less than ; and is the result of two consecutive iterations; In the orbital plane, calculate the position of the satellite ( , y) and speed : Where a is the semi-major axis of the orbit, v is the true anomaly, is the gravitational parameter of the Earth; Then the orbital plane coordinate system is converted into the geocentric inertial coordinate system, and all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated; in, represents the received power, Indicates the transmit power, represents the transmit antenna gain, represents the receiving antenna gain, represents the free space path loss, represents the atmospheric propagation loss, Indicates system loss and polarization loss; compares the received power with the communication threshold. If it is less than the communication threshold, it does not meet the requirements.

6. A system for identifying and processing abnormal switching code groups of a satellite service system, characterized in that: include: Module M1: The satellite's telemetry and control transponder is in normal working condition and receives a command to switch to the backup code group; Module M2: Check whether there is a reception failure in the uplink remote control through software, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked; Module M3: Check whether the downlink telemetry transmission fails through software, and further investigate the cause. If the relay channel is abnormal, execute the switch backup code group command normally, otherwise the command is regarded as abnormal behavior and blocked.

7. The system for identifying and processing abnormal switching code groups of a satellite service system according to claim 6, characterized in that: The tracking and control transponder of the first satellite was in normal working condition. It received the command to switch to the backup code group. After responding, the transponder worked in the backup code group state, resulting in the transponder becoming unresponsive. The software was used to first check whether there was a reception failure in the uplink remote control. The voltage value of the telemetry information in the uplink locked state was checked. If it was between -0.15V and 0.5V, it was confirmed that the signal was in an unlocked state. At the same time, the AGC telemetry signal was also checked to see if it exceeded the normal range. If it was not in the range of [-130, -42] dBm, it was further checked to see if the signal-to-noise ratio telemetry was lower than the normal range. If telemetry A was lower than 90 and telemetry B was lower than 25, it was confirmed that there was a failure in the uplink telemetry reception.

8. The system for identifying and processing abnormal switching code groups of a satellite service system according to claim 6, characterized in that: Increase the uplink power on the ground, and try again to have the high-orbit satellite transmit the remote control data packet to the first satellite. If it is received normally, it is judged that the antenna gain has decreased. The software will regard the command to switch the backup code group as an abnormal behavior and block the command. If the uplink power of the first satellite is increased and the reception is still abnormal, send a baseband reset command to the unlocked transponder through the software. If the unlocked transponder does not execute the baseband reset command, the received command is decomposed. If the received command data is missing, or the received command is complete but the unlocked transponder responds to the baseband reset command with a delay, it is judged that the transponder receiving link is abnormal. If the unlocked transponder executes the baseband reset command normally, further send a power on / off command to the unlocked transponder to restart the unlocked transponder. If it returns to normal after restart, the situation is that the transponder FPGA loading is abnormal. The command to switch the backup code group is regarded as abnormal behavior through the software, and the command is blocked. If the error still occurs after the restart, use the relay satellite channel to send a remote control command to test the unlocked transponder. If there is no response after sending the remote control command, check the link of the unlocked transponder and find that the remote control command has not been received. The situation is that the relay satellite channel is abnormal. The command to switch the backup code group is regarded as normal behavior through the software, and the command is executed normally.

9. The system for identifying and processing abnormal switching code groups of a satellite service system according to claim 6, characterized in that: Check whether the downlink telemetry transmission is faulty through the software. If the ground telemetry lock is abnormal or the ground receiving signal is weak or no signal occurs, confirm whether the antenna field of view meets the telemetry and remote control requirements under the current satellite attitude; The actual pointing direction of the antenna is confirmed by obtaining the current three-axis attitude angle from the attitude and orbit control subsystem. The specific position of the antenna's pointing direction in the geocentric inertial coordinate system is calculated using the antenna's installation deflection angle relative to the satellite's body coordinate system. The current pointing range of the antenna is determined based on the antenna's beam width, gain pattern, and field of view model. Construct a combined quaternion using the satellite's three-axis attitude angle , represents the rotation from the satellite body coordinate system to the geocentric inertial coordinate system, where the pitch angle around the y-axis is , the yaw angle around the z-axis is , the roll angle around the x-axis is , then: x-axis rotation quaternion y-axis rotation quaternion Z-axis rotation quaternion The specific position of the antenna pointing direction in the geocentric inertial coordinate system: ; in, Represents the conjugate of a quaternion; A vector representing the antenna direction in the satellite's body coordinate system.

10. The system for identifying and processing abnormal switching code groups of a satellite service system according to claim 6, characterized in that: According to the two lines of TLE data on the satellite and the geographic coordinates of the ground station, the orbital dynamics model is used to calculate the distance, azimuth and elevation between the satellite and the ground station; the relative position of the ground station is projected into the antenna field of view model. If the ground station is located in the edge area or the side lobe range, all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated. If the requirements are not met, it is judged that the antenna pointing is inaccurate. The software regards the switch backup code group command as an abnormal behavior and blocks the command; If the ground station is located in the center of the main lobe, the backup transponder is used to receive telemetry information. If the backup transponder successfully receives the telemetry information, the software will regard the command to switch the backup code group as an abnormal behavior and block the command. If the backup transponder cannot receive the telemetry information, the relay channel is used to send the remote control command. If the backup transponder also does not respond, the software will regard the command to switch the backup code group as a normal behavior and execute the command normally. The orbital dynamics model is used to calculate the distance, azimuth and pitch angle between the satellite and the ground station. Specifically, the orbital elements are extracted to obtain the satellite orbit inclination, perigee argument, ascending node right ascension, eccentricity, mean motion and epoch time, and the time difference between the current time and the TLE epoch time is calculated. : in, Indicates the current moment, represents the TLE epoch time, a(t) is the acceleration magnitude at the current moment; k is the adjustment factor, which shortens the step length at perigee and increases the step length at apogee; Use Kepler's equations to calculate the eccentric anomaly from the mean anomaly: Among them, M is the mean anomaly, E is the eccentric anomaly, and e is the orbital eccentricity; Solve for E using an iterative method: ; Iterate until the residual ( - ) is less than ; and is the result of two consecutive iterations; In the orbital plane, calculate the position of the satellite ( , y) and speed : Where a is the semi-major axis of the orbit, v is the true anomaly, is the gravitational parameter of the Earth; Then the orbital plane coordinate system is converted into the geocentric inertial coordinate system, and all gains and losses of the signal from the transmitter to the receiver are comprehensively calculated; in, represents the received power, Indicates the transmit power, represents the transmit antenna gain, represents the receiving antenna gain, represents the free space path loss, represents the atmospheric propagation loss, Indicates system loss and polarization loss; compares the received power with the communication threshold. If it is less than the communication threshold, it does not meet the requirements.

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