Satellite task management method and system and computer readable medium

Abstract

The invention relates to a satellite task management method and system and a computer readable medium. The method comprises the steps that an on-satellite storage instruction of a satellite is updated according to a first management and control instruction; combining at least one task sub-module stored by the satellite into a task template according to the on-satellite storage instruction; inserting the task template into a corresponding position of the task queue according to the task priority and / or the task execution time of the task template; traversing a task target from a target library pre-stored in the satellite, and executing the task in the task queue according to the task target; in the process of executing the task in the task queue, in response to the received second management and control instruction, modifying task parameters of the task according to the second management and control instruction; monitoring the operation condition of the load single machine on the satellite, and managing tasks in the task queue corresponding to the load single machine according to the operation condition; wherein the first management and control instruction and the second management and control instruction are transmitted from the ground uplink and / or between satellites. The intelligent degree of the satellite task management mode is improved.

Description

Technical Field

[0001] This application mainly relates to the field of satellite intelligent control technology, and specifically relates to a satellite mission management method, system and computer-readable medium. Background Art

[0002] With the vigorous development of space technology, the mission scenarios faced by satellites are becoming increasingly complex, and the need for full mission coverage is becoming more urgent. At the same time, considering the limitations of the capabilities of single satellites, more flexible, more powerful and more complex satellite constellations have become the current development hotspots in the space field.

[0003] The mission scheduling of traditional satellites mainly relies on ground maintenance personnel to upload instructions through ground measurement and control stations, and the satellites execute corresponding tasks according to different uploaded mission instructions. This method has many drawbacks: on the one hand, it is overly dependent on ground measurement and control stations. Since the ground measurement and control stations of various countries are basically set within the territories of various countries, this may lead to the inability to monitor and modify missions in real time. On the other hand, each mission requires ground maintenance personnel to carefully arrange and strictly review mission instructions to complete, which is not only time-consuming and laborious, but also has extremely high personnel costs. For the mission management of large constellations, it is basically unrealistic to use the method of ground maintenance personnel uploading instructions. At present, the method of managing satellite missions has the problem of low intelligence. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a satellite mission management method, system and computer-readable medium, in which the satellite can autonomously manage and execute on-board missions, improving the intelligence level of the satellite mission management method.

[0005] The technical solution adopted by this application to solve the above technical problem is a satellite mission management method, including: updating the on-board storage instructions of the satellite according to the first control instruction; combining at least one mission sub-module stored in the satellite into a mission template according to the on-board storage instructions; inserting the mission template into the corresponding position of the mission queue according to the mission priority and / or mission execution time of the mission template; traversing mission objectives from the target library pre-stored in the satellite, and executing the missions in the mission queue according to the mission objectives; during the process of executing the missions in the mission queue: in response to receiving the second control instruction, modifying the mission parameters of the mission according to the second control instruction; and monitoring the operation status of the payload single machines on the satellite, and managing the missions in the mission queue corresponding to the payload single machines according to the operation status; wherein, the first control instruction and the second control instruction are uplinked from the ground and / or transmitted between satellites.

[0006] In an embodiment of the present application, inserting a task template into a corresponding position in a task queue according to the task priority and / or task execution time of the task template includes: in response to a conflict between the task execution time of the task template and the task execution times of other tasks in the task queue, and the task type of the task template being the same as the task types of other tasks; comparing the first task priority of the task template with the second task priority of other tasks; in response to the first task priority being greater than the second task priority, inserting the task template into the task queue and before other tasks; or in response to the first task priority being less than or equal to the second task priority, inserting the task template into the task queue and after other tasks.

[0007] In an embodiment of the present application, during the process of executing tasks in a task queue, it further includes: in response to receiving a third control instruction, performing one or any combination of the following operations on the task queue according to the third control instruction: canceling unexecuted tasks; interrupting the currently executing task; emptying all tasks in the task queue; where the third control instruction is uplinked from the ground and / or transmitted between satellites.

[0008] In an embodiment of the present application, monitoring the operating conditions of payload single units on a satellite and managing tasks in the task queue corresponding to the payload single units according to the operating conditions includes: collecting the voltage analog quantity of the payload single unit; judging whether the power-on condition and / or power-off condition of the payload single unit is normal according to the voltage analog quantity; in response to the judgment being normal, continuing to execute the task; or in response to the judgment being abnormal, interrupting or canceling the task.

[0009] In an embodiment of the present application, monitoring the operating conditions of payload single units on a satellite and managing tasks in the task queue corresponding to the payload single units according to the operating conditions includes: sending a telemetry request to the payload single unit according to a preset time period to obtain the telemetry quantity of the payload single unit; judging whether the communication status of the payload single unit is normal according to the telemetry quantity; in response to the judgment being normal, continuing to execute the task; or in response to the judgment being abnormal, interrupting or canceling the task.

[0010] In an embodiment of the present application, monitoring the operating conditions of payload single units on a satellite and managing tasks in the task queue corresponding to the payload single units according to the operating conditions includes: estimating the power of the satellite according to the bus voltage of the payload single unit and the charging current of the satellite solar panels on the satellite; in response to the power being greater than or equal to a preset power value, continuing to execute the task; or in response to the power being less than the preset power value, canceling tasks in the task queue that exceed the power burden and / or canceling all tasks in the task queue, and recording the cancellation reason.

[0011] In an embodiment of the present application, the task template is jointly composed of on-board stored instructions and task sub-modules; among them, the on-board stored instructions include: instruction number and instruction data; the task sub-module is formed by splicing multiple on-board stored instructions; the task sub-module includes: one or any combination of task sub-module number, total task duration, relative task time, and instruction number; the task template includes: one or any combination of task template number, task type, task priority, and sub-module number sequence.

[0012] In an embodiment of the present application, modifying the task parameters of a task according to the second control instruction includes one or any combination of the following modification methods: modifying the instruction number of the on-board stored instruction; individually or batch-modifying the instruction number and relative task time called in the corresponding task sub-module according to the task sub-module number; modifying the task type, task priority, and sub-module number sequence of the corresponding task template according to the task template number.

[0013] In an embodiment of the present application, the task queue is an array linked list; the task queue includes: one or any combination of task number, task start time, task template number, next task number, and task occupancy flag; among them, the task number serves as the index of the array element in the array linked list; the next task number serves as the index of the next array element in the array linked list; the task occupancy flag is used to indicate whether the current array element in the array linked list is in an occupied state or an idle state.

[0014] The present application also proposes a satellite task management system to solve the above technical problems, including: a task generation sub-module configured to update the on-board stored instructions of the satellite according to the first control instruction; combining at least one task sub-module stored in the satellite into a task template according to the on-board stored instructions; a task insertion sub-module configured to insert the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template; an autonomous task management module configured to traverse the task objectives from the target library pre-stored in the satellite; during the execution of the tasks in the task queue, in response to receiving the second control instruction, modifying the task parameters of the task according to the second control instruction; a task execution sub-module configured to execute the tasks in the task queue according to the task objectives; a resource status management module configured to monitor the operation of the payload single machines on the satellite and manage the tasks in the task queue corresponding to the payload single machines according to the operation conditions; a memory for storing instructions executable by the processor; a processor for executing the instructions to implement the above satellite task management method.

[0015] The present application also proposes a computer-readable medium storing computer program code, and the computer program code implements the above satellite task management method when executed by the processor.

[0016] The technical solution of this application updates the on-board storage instructions according to the first control instruction transmitted from the ground or between satellites, and combines task sub-modules into a task template, greatly enhancing the flexibility and editability of task construction. It can easily adapt to diverse task requirements, and at the same time reduces the workload of ground maintenance personnel. For different task scenarios, only the corresponding parameters of the corresponding module need to be modified to complete task adjustment. By inserting the task template into the task queue according to the task priority and / or task execution time, the order of task execution is effectively maintained, ensuring that important or urgent tasks are executed first. By executing tasks according to the task objectives, the pertinence of tasks is improved. During the task execution process, the task is managed by timely modifying task parameters according to the second control instruction and monitoring the operation of payload single machines, enhancing the dynamic adjustment ability of task execution and ensuring the adaptability of the task to the satellite hardware status.

[0017] This application can monitor the utilization of satellite resources in real time, and accordingly maintain, cancel or interrupt tasks to ensure the health of the satellite, enhancing the reliability and stability of satellite task execution, and improving the intelligent and efficient level of satellite task management, providing an effective way for the convenient management of large constellations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To make the above objects, features, and advantages of this application more obvious and understandable, the following detailed description of the specific implementation manners of this application is provided in conjunction with the accompanying drawings, where:

[0019] Figure 1 is an exemplary flowchart of the satellite task management method according to an embodiment of this application;

[0020] Figure 2 is a schematic diagram of the composition modules of the satellite task management system according to an embodiment of this application;

[0021] Figure 3 is a schematic diagram of the structure of the task queue management module according to an embodiment of this application;

[0022] Figure 4 is a schematic diagram of the three-level structure of the task module composition according to an embodiment of this application;

[0023] Figure 5 is a schematic diagram of inserting the task template into the task queue according to an embodiment of this application;

[0024] Figure 6 is a schematic diagram of the autonomous task management module performing autonomous task management according to an embodiment of this application;

[0025] Figure 7 is a system block diagram of the satellite task management system according to an embodiment of this application.

[0026] Description of the reference numerals in the specific implementation manners:

[0027] 200. Satellite mission management system;

[0028] 210. Task queue management module;

[0029] 2101. Task generation sub-module;

[0030] 2102. Task insertion sub-module;

[0031] 2103. Task execution sub-module;

[0032] 220. Autonomous task management module;

[0033] 230. Resource status management module. Detailed implementation manners

[0034] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings.

[0035] In the following description, many specific details are set forth to facilitate a thorough understanding of the present application. However, the present application may be implemented in other ways different from those described herein. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0036] As shown in the present application and the claims, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0037] Flowcharts are used in the present application to illustrate the operations performed by the systems according to the embodiments of the present application. It should be understood that the operations before or below do not necessarily need to be executed precisely in sequence. On the contrary, they can be executed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0038] The satellite mission management system of the present application is introduced here first for easy understanding of the subsequent satellite mission management method.

[0039] Figure 2 is a schematic diagram of the component modules of the satellite mission management system in an embodiment of the present application, Figure 3 is a schematic diagram of the structure of the task queue management module in an embodiment of the present application. Refer to Figure 2As shown in the figure, the satellite mission management system 200 of the present application mainly includes three modules, namely: a task queue management module 210, an autonomous task management module 220, and a resource status management module 230. Refer to Figure 3 As shown in the figure, the task queue management module 210 mainly includes three sub-modules, namely: a task generation sub-module 2101, a task insertion sub-module 2102, and a task execution sub-module 2103.

[0040] Exemplarily, each of the above-mentioned modules in the satellite mission management system 200 of the present application can be implemented by a computer hardware device composed of a processor and a memory. Specifically, each of the above-mentioned modules is stored in the memory as a program unit, and the processor executes each program unit stored in the memory to implement thread control.

[0041] In some embodiments, the satellite mission management system 200 includes: a task generation sub-module 2101, configured to update the on-board storage instructions of the satellite according to a first control instruction; combine at least one task sub-module stored in the satellite into a task template according to the on-board storage instructions; a task insertion sub-module 2102, configured to insert the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template; an autonomous task management module 220, configured to traverse task targets from a target library pre-stored in the satellite; during the execution of the tasks in the task queue, in response to receiving a second control instruction, modify the task parameters of the task according to the second control instruction; a task execution sub-module 2103, configured to execute the tasks in the task queue according to the task targets; a resource status management module 230, configured to monitor the operating conditions of the payload single machines on the satellite and manage the tasks in the task queue corresponding to the payload single machines according to the operating conditions.

[0042] Exemplarily, the satellite mission management system 200 and the satellite mission management method of the present application are equivalent to an editable task scheduling modular management solution. In the entire task scheduling management solution, the task queue is the most core underlying framework, and the task queue management module 210, the autonomous task management module 220, and the resource status management module 230 all rely on it to complete all or part of their functions. The control instructions mentioned in the present application, such as the first control instruction, the second control instruction, and the third control instruction, can be an instruction set or a single instruction, and the present application does not make any restrictions.

[0043] The task queue management module 210 mainly implements three functions: task process editing, maintaining the legality of the task queue, and ensuring the normal execution of tasks. It is responsible for standardizing the satellite task process, maintaining the normal execution of all tasks, and at the same time allowing operations such as inserting, deleting, and clearing the task queue on the ground or between satellites. The task generation sub-module 2101 among them relies on the task queue management module 210 to independently combine task templates and insert them into the task queue, waiting for the normal execution of autonomous tasks.

[0044] The autonomous task management module 220 supports the satellite to autonomously complete routine tasks without unattended operation. This module is responsible for periodically observing the valid targets in the pre-stored target library and relying on the task queue to complete the unified management of autonomous tasks. To ensure the flexibility of autonomous tasks, it allows modification of all task parameters such as the task level of autonomous tasks and the judgment basis of legal targets.

[0045] The resource status management module 230 is equivalent to the reliability module for satellite tasks. It is responsible for monitoring the satellite power status and the software and hardware status of each single machine, and can perform remedial operations on abnormal situations to ensure that the satellite is always in a healthy state. For example, this module mainly judges the health status of the satellite from two aspects: voltage analog quantity acquisition and communication status, and ensures the safety status of the payload single machine and platform related to the task by intervening in the tasks in the task queue.

[0046] The satellite task management method of this application will be introduced later.

[0047] This application proposes a satellite task management method, which can be applied to the scenario of autonomous management of satellite tasks by a satellite constellation. The satellite task management method of this application can run in the on-board computer, for example, run in the controller of the on-board computer.

[0048] Figure 1 It is an exemplary flowchart of the satellite task management method according to an embodiment of this application. Refer to Figure 1 As shown, the satellite task management method of this embodiment includes the following steps:

[0049] Step S110: Update the on-board storage instructions of the satellite according to the first control instruction; combine at least one task sub-module stored in the satellite into a task template according to the on-board storage instructions.

[0050] Step S120: Insert the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template.

[0051] Step S130: Traverse the task targets from the target library pre-stored in the satellite, and execute the tasks in the task queue according to the task targets.

[0052] Step S140: During the execution of the tasks in the task queue: in response to receiving the second control instruction, modify the task parameters of the task according to the second control instruction; and monitor the operation of the payload single units on the satellite, and manage the tasks in the task queue corresponding to the payload single units according to the operation conditions.

[0053] The above steps S110 to S140 are described in detail below:

[0054] In step S110, update the on-board storage instructions of the satellite according to the first control instruction; combine at least one task sub-module stored in the satellite into a task template according to the on-board storage instructions. Exemplarily, the first control instruction is uplinked from the ground and / or transmitted inter-satellite.

[0055] Reference Figure 3 As shown, exemplarily, this step S110 can be executed by the task generation sub-module 2101. The task generation sub-module 2101 is mainly used to implement the task process editing function, aiming to improve the versatility and practicality of the on-board task queue management module 210. The task generation sub-module 2101 allows the ground or inter-satellite to combine task templates to the greatest extent through task instructions, and can conveniently complete the change of different tasks by modifying the task parameters. The task generation sub-module 2101 can not only update the task instructions stored on the satellite through the ground upload instruction, but also rely on ground intervention to reorganize the task sub-modules using the instructions stored on the satellite, so that the generated task template can better adapt to different task scenarios. The present application can configure tasks and generate task templates according to the first control instruction, and these task templates can be stored in the memory of on-board products (such as payload single units), and the task templates can be repeatedly called, thereby reducing the workload of ground maintenance personnel.

[0056] Figure 4 is a schematic diagram of the three-level structure of the task module in an embodiment of the present application. Reference Figure 4 As shown, in some embodiments, the task template is jointly composed of on-board storage instructions and task sub-modules; among them,

[0057] The on-board storage instructions include: instruction number and instruction data;

[0058] The task sub-module is spliced by multiple on-board storage instructions; the task sub-module includes: one or any combination of task sub-module number, total task duration, task relative time, and instruction number;

[0059] The task template includes: one or any combination of task template number, task type, task priority, and sub-module number sequence.

[0060] Exemplarily, the on-board stored instructions mainly consist of instruction numbers and instruction data, which are used to store task-related instructions and serve as the smallest unit of the task template. The task sub-module is composed of multiple on-board stored instructions spliced together, mainly consisting of four parts: sub-module number, total task duration, relative task time, and task instruction number. As the basic component of the task template, it is used to implement a basic task action. The task template consists of four parts: task template number, task type, task priority, and sub-module number sequence, and is used to represent a complete task. The task template of this application can not only clearly define a complete task but also be flexibly adjusted according to different requirements, thus greatly improving the flexibility, editability of satellite task management, and the rationality of task execution, effectively meeting the diverse satellite task requirements.

[0061] In step S120, the task template is inserted into the corresponding position of the task queue according to the task priority and / or task execution time of the task template.

[0062] Exemplarily, referring to Figure 3 As shown, this step S120 can be executed by the task insertion sub-module 2102. The task insertion sub-module 2102 mainly inserts new tasks into the appropriate position of the task queue according to different task priorities and task execution times to maintain the legality of the task queue.

[0063] In some embodiments, inserting the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template includes:

[0064] In response to a conflict between the task execution time of the task template and the task execution times of other tasks in the task queue, and the task type of the task template being the same as that of other tasks; then compare the first task priority of the task template and the second task priority of other tasks;

[0065] In response to the first task priority being greater than the second task priority, insert the task template into the task queue and before other tasks; or in response to the first task priority being less than or equal to the second task priority, insert the task template into the task queue and after other tasks.

[0066] Exemplarily, the task insertion sub-module 2102 can ensure the normal execution of the current task according to the task execution time; when there is a conflict in the task execution time, according to the task priority, the task with a higher priority replaces the task with a lower priority, thus always ensuring the effectiveness of the task queue. The task queue of this application can always maintain an orderly state, ensuring that satellite tasks can operate efficiently in a reasonable order and priority, thereby improving the overall task execution efficiency and resource utilization efficiency of the satellite.

[0067] In step S130, task objectives are traversed from the target library pre-stored in the satellite, and tasks in the task queue are executed according to the task objectives.

[0068] Reference Figure 2 and Figure 3 As shown, exemplarily, the autonomous task management module 220 can traverse task objectives from the target library pre-stored in the satellite. The task execution sub-module 2103 executes tasks in the task queue according to the task objectives. The autonomous task management module 220 supports the satellite to autonomously complete routine tasks without human supervision. This module has functions such as target library update, task objective screening, task generation, and task parameter modification. In this application, a dedicated address space is allocated from the on-board product memory to store the target library, and it supports the ground to upload or update the target information pre-stored on the satellite according to task requirements. These targets will be used as the task objectives for the satellite's autonomous long-term monitoring. When there is no ground intervention, the satellite can periodically traverse all task objectives in the target library to find observable legal targets.

[0069] On the one hand, the task execution sub-module 2103 can ensure the normal execution of tasks at the current moment. On the other hand, to respond in a timely manner to ground or inter-satellite interventions on the task queue, the task execution sub-module 2103 supports timely correction of on-board tasks in emergency situations, including functions such as canceling unexecuted tasks, stopping tasks that are being executed, and clearing the task queue.

[0070] In some embodiments, the task queue is an array linked list; the task queue includes: one or any combination of task number, task start time, task template number, next task number, and task occupancy flag; wherein, the task number serves as the index of the array element in the array linked list; the next task number serves as the index of the next array element in the array linked list; the task occupancy flag is used to indicate whether the current array element in the array linked list is in an occupied state or an idle state.

[0071] Exemplarily, the task queue can be composed of five parts: task number, task start time, task template number, next task number, and task occupancy flag, which are used to indicate the invocation of a specific task template at a certain time point. The task number serves as the index of the array element in the array linked list, enabling each task to have a unique identifier in the queue, facilitating quick positioning and management of specific tasks. The next task number serves as the index of the next array element, constructing the sequential relationship between tasks, ensuring that tasks are executed sequentially in a predetermined order, and guaranteeing the coherence of the task execution process. The task occupancy flag is used to indicate the state of the current array element in the array linked list, clarifying whether the task is being executed, which helps to reasonably allocate resources and avoid repeated execution or resource conflicts.

[0072] The task queue structure of the present application can improve the efficiency and flexibility of task scheduling, enable rapid insertion, deletion, and search of tasks, and enhance the system's monitoring and management capabilities for task execution status.

[0073] In step S140, during the execution of tasks in the task queue: in response to receiving a second control instruction, modify the task parameters of the task according to the second control instruction; and monitor the operation of the payload single machines on the satellite, and manage the tasks in the task queue corresponding to the payload single machines according to the operation conditions; wherein, the second control instruction is uplinked from the ground and / or transmitted inter-satellite.

[0074] Exemplarily, the present application receives a second control instruction from ground uplink or inter-satellite transmission, and then modifies the task parameters in real time, enabling the satellite to adjust the task execution details in a timely manner according to different scenarios and requirements, greatly enhancing the task's ability to respond to changes. At the same time, the operation of the payload single machines on the satellite is monitored in real time, and the corresponding tasks in the task queue are managed accordingly, enabling the timely detection and response to anomalies or status changes of the payload single machines. For example, when a payload single machine fails, relevant tasks can be paused or adjusted in a timely manner, effectively avoiding the impact of a single machine failure on the entire task process, and improving the success rate of satellite task execution and the overall operation stability.

[0075] In some embodiments, modifying the task parameters of the task according to the second control instruction includes one or any combination of the following modification methods:

[0076] Modify the instruction number of the on-board stored instruction;

[0077] Individually modify or batch modify the instruction numbers and task relative times called in the corresponding task sub-modules according to the task sub-module numbers;

[0078] Modify the task type, task priority, and sub-module number sequence of the corresponding task template according to the task template number.

[0079] Exemplarily, by timely modifying the task parameters according to the second control instruction, the present application can improve the flexibility and accuracy of satellite task management, enhance the management efficiency of satellite tasks, and meet the requirements of complex space missions.

[0080] In some embodiments, during the execution of tasks in the task queue, it further includes: in response to receiving a third control instruction, perform one or any combination of the following operations on the task queue according to the third control instruction:

[0081] Cancel unexecuted tasks;

[0082] Interrupt the currently executing task;

[0083] Empty all tasks in the task queue;

[0084] Among them, the third control instruction is transmitted from the ground upward and / or between satellites.

[0085] Exemplarily, such a setting in the present application can improve the emergency response and flexible regulation capabilities of satellite mission management. When facing emergencies or changes in mission requirements, canceling unexecuted tasks can promptly release resources; interrupting the currently executing task can quickly pause the task process that may have problems or is no longer needed, preventing resource waste and potential risks; emptying all tasks in the task queue provides a quick reset method in extreme situations, ensuring that the satellite can quickly adjust the task status and re-plan the task process.

[0086] In some embodiments, monitoring the operation of the on-board payload single units and managing the tasks in the task queue corresponding to the payload single units according to the operation conditions includes:

[0087] Collecting the voltage analog quantity of the payload single unit;

[0088] Judging whether the power-on situation and / or power-off situation of the payload single unit is normal according to the voltage analog quantity;

[0089] In response to the judgment being normal, continue to execute the task; or in response to the judgment being abnormal, interrupt or cancel the task.

[0090] Exemplarily, the resource status management module 230 of the present application can monitor the health status of each on-board payload single unit, and can qualitatively judge whether the power-on and power-off of each single unit is normal through the voltage analog quantity acquisition of each single unit, thereby monitoring the hardware conditions of each single unit. The present application effectively ensures the adaptation of satellite missions to the status of payload single units and improves the reliability of task execution.

[0091] In some embodiments, monitoring the operation of the on-board payload single units and managing the tasks in the task queue corresponding to the payload single units according to the operation conditions includes:

[0092] Sending a telemetry request to the payload single unit according to a preset time period to obtain the telemetry quantity of the payload single unit;

[0093] Judging whether the communication status of the payload single unit is normal according to the telemetry quantity;

[0094] In response to the judgment being normal, continue to execute the task; or in response to the judgment being abnormal, interrupt or cancel the task.

[0095] Exemplarily, the resource status management module 230 of the present application can monitor the health status of each payload single unit on the satellite, and can periodically request the telemetry data of each single unit by communicating with each single unit to send a telemetry request, so as to judge the software running status of each single unit. If it is found that the status of a single unit is abnormal, recovery operations such as power-on, power-off or software reset of the single unit are performed independently. If the recovery fails continuously for multiple times, the task is abandoned and the reason for the failure is recorded. The present application reduces the risk of task failure caused by communication anomalies.

[0096] In some embodiments, monitoring the operation of payload single units on the satellite and managing tasks in the task queue corresponding to the payload single units according to the operation conditions includes:

[0097] Estimating the power of the satellite according to the bus voltage of the power supply single unit and the charging current of the satellite solar panels on the satellite;

[0098] In response to the power being greater than or equal to the preset power value, the task is continued; or in response to the power being less than the preset power value, tasks exceeding the power burden in the task queue and / or all tasks in the task queue are cancelled, and the reason for the cancellation is recorded.

[0099] Exemplarily, the resource status management module 230 of the present application can map the satellite power situation through an algorithm based on the bus voltage of the power supply single unit and the charging current of the satellite solar panels, and perform certain interventions on the on-satellite tasks according to the power health status of the satellite. When the satellite power is healthy, the tasks in the task queue are normally carried out; when the satellite power is sub-healthy, the tasks exceeding the burden in the task queue are cancelled, and the reason for the cancellation is recorded; when the satellite power is unhealthy, all tasks in the task queue are immediately ended, and the reason for the end is recorded. The present application can match tasks with satellite power, ensure the stable operation of the satellite, and avoid the impact of insufficient power on task execution.

[0100] Three practical examples of the present application will be introduced later. The first practical example is a queue task with ground or inter-satellite intervention; the second practical example is an on-satellite autonomous task without intervention; the third practical example is task processing when the satellite is abnormal.

[0101] The first practical example of the present application provides a full-cycle process of a ground or inter-satellite intervention task. Refer to Figure 3 As shown, this practical example takes the task queue management module as the main body, laying a framework foundation for the task scheduling method. This practical example includes three parts: task generation, task insertion, and task execution.

[0102] Task generation consists of two parts: forming a basic sequence from on-satellite stored instructions and forming a task template by a task sub-module, and can be divided into as Figure 4The on - satellite storage instructions, task sub - modules, and task templates are divided into three levels. The on - satellite storage instructions are composed of instruction numbers and instruction data, and are used to store task - related instructions. The task instructions are further composed of indirect instructions and injection instructions. The indirect instructions are fixed - parameter instructions with a fixed length; the injection instructions are parameter - carrying instructions with a variable parameter length. When the satellite is initialized, the default parameters can be set by the ground to complete the length, and the length does not exceed 32 bytes. The on - satellite task instructions are generated in a configuration form for subsequent use.

[0103] The task sub - modules are formed by splicing multiple on - satellite storage instructions and include sub - module numbers, total task duration, relative task time, and task instruction numbers, which are used to implement basic task actions as the basic components of the task template. The sub - module numbers distinguish different sub - modules, the total task duration indicates the time required to execute all instructions, the relative task time represents the time interval between instructions, and the task instruction numbers indicate the instructions to be called at the current beat.

[0104] The task templates are composed of task numbers, task types, task priorities, and sequences of sub - module numbers. The task numbers are the unique identifiers of the task templates and are used to indicate the call; the task types distinguish tasks, and different types of tasks have no time conflicts, indicating whether they can be carried out simultaneously; the task priorities provide a reference for conflict resolution of tasks, with higher - priority tasks being retained and lower - priority tasks being discarded; the sequences of sub - module numbers are composed of one or more task sub - module numbers, representing the types and orders of the called sub - modules.

[0105] In addition, this application also has three remote control instructions for modifying instruction parameters, modifying task sub - modules, and modifying task templates. As parameter - carrying injection instructions, they are used to modify the corresponding instructions according to the instruction numbers, modify the called instructions and the relative instruction times in the sub - modules individually or in batches according to the task sub - module numbers, and modify the task types, task priorities, and sequences of sub - module numbers of the corresponding tasks according to the task template numbers. At the same time, it supports the ground remote control instructions to be sent to the on - satellite stored task instructions, task sub - modules, and task templates in the form of telemetry asynchronous packets to ensure ground monitoring of on - satellite tasks.

[0106] Figure 5 It is a schematic diagram of inserting a task template into a task queue in an embodiment of this application. Refer to Figure 3 and Figure 5As shown, task insertion eliminates task conflicts by judging the task start time, task type, and task priority, and maintains the validity of the task queue. The task queue consists of a task number, a task start time, a task template number, a next task number, and a task occupancy flag. The task number is the unique identifier of each task, and together with the next task number, it indicates the task call order; the task start time represents the absolute time when the task starts to execute; the task template number indicates the called task template; the task occupancy flag indicates whether the current task is being executed. The task queue is essentially an array-linked list, where each task information is a linked list element, the task number is the array element index, the next task number indicates the index of the next linked list element, and the task occupancy flag indicates whether the current array element is a valid linked list element.

[0107] Reference Figure 3 As shown, when a task needs to be inserted into the task queue, first judge whether there is a conflict with the tasks in the queue based on the task start time and duration. If there is no conflict, insert it directly according to the start time; if there is a conflict, read the task type and priority of the task template for further judgment. If the task types are the same, replace the task with a lower priority with the one with a higher priority; if they are different, the two tasks do not conflict and can be inserted directly to ensure that there are never conflicts among the tasks in the task queue. It also supports the ground remote control command to send the task queue information in the form of a telemetry asynchronous packet, which is convenient for the ground to monitor the on-board tasks.

[0108] Task execution ensures that the tasks in the task queue are automatically executed when the time arrives. To ensure flexibility, it also supports the ground to intervene in the task queue through commands, including task cancellation, task interruption, and task clearing. Task cancellation is used to delete the tasks that have not started in the task queue; task interruption is used to stop the tasks that are being executed; and task clearing is used to clear all tasks in the task queue.

[0109] The second practical example of this application provides an on-board autonomous task process without intervention, including effective target acquisition, autonomous task generation, and autonomous task execution.

[0110] Figure 6 It is a schematic diagram of the autonomous task management module for autonomous task management in an embodiment of this application. Reference Figure 3 and Figure 6 As shown, for the second practical example of this application, the ground or inter-satellite uplinked conventional targets are stored in the on-board target library as an alternative set of effective targets. When the satellite is in the autonomous task planning mode, the autonomous task management module 220 performs task algorithm matching on all the targets in the target library, finds the observable targets and provides the observable intervals. The power-on time of each payload single machine is formulated according to the observation start time to generate the start task sub-template of the autonomous task; the power-off time is formulated according to the observation end time to generate the end task sub-template; and then the task execution sub-template is generated according to the task parameters. These three sub-templates are combined into a task template and inserted into the task queue according to the task start time to wait for execution.

[0111] The third practical example of this application provides a process for the autonomous recovery of satellite abnormal states, mainly intervening in satellite abnormal states by canceling, emptying tasks in the task queue, and resending task instructions. When executing tasks, if abnormal power-on or communication of a single machine is found, the resource status management module re-powers on or performs a software reset on the single machine. If it is ineffective three times, the task is ended and the reason for the abnormality is returned. This application can also update in real time the burden of unexecuted tasks in the task queue on the satellite's power consumption. When the satellite's solar panel charging cannot balance the power consumption, the tasks at the end of the task queue are ended, that is, the tasks with a later execution time and a lower priority are ended first. If the satellite's abnormal power-off exceeds the safety limit, the resource status management module immediately terminates the currently executing task and empties all tasks in the task queue.

[0112] The satellite task management solution of this application has the following technical effects:

[0113] (1) Intelligence: This application significantly improves the intelligence level of the satellite from three aspects: autonomous conflict resolution of tasks, autonomous monitoring of conventional targets, and autonomous handling of satellite health problems.

[0114] (2) High availability: This application proposes a task expansion method for task templates. Conventional tasks can be autonomously completed on the satellite by the autonomous task management module; for unconventional tasks, only a small number of task parameters need to be modified to easily complete them, greatly reducing ground intervention and the workload of ground maintenance personnel. This application also innovatively proposes a modular management method for task scheduling, including functional modularization and task process modularization. Functional modularization divides the management method into three sub-modules: task queue management, autonomous task management, and resource status management, which is not only convenient for the expansion and cutting of satellite functions but also for the transplantation of software between different satellites; task process modularization divides the task module into three-layer structures: instruction, sub-module, and module, and divides task queue management into task generation, task insertion, and task execution, making the task process more flexible and having higher availability.

[0115] (3) Safety: This application proposes a resource status management module, which can monitor the status of each single machine of the satellite and autonomously maintain the health status of the satellite, improving the safety of the satellite. The resource status management method uses the power break point status, communication situation, and satellite power of on-board products as the basis for task execution, greatly enhancing the reliability and safety of the satellite and improving the execution success rate of tasks and the usage efficiency of the satellite.

[0116] (4) Task architecture innovation: This application proposes a task architecture for task templates, which also adopts a three-layer structure of instruction, sub-module, and module. It places more task processes on the satellite, reduces the ground maintenance workload, makes the task template more flexible, adapts to various task scenarios, improves the versatility, and provides convenient conditions for the code transplantation of large constellations.

[0117] (5) Autonomous task management: Based on the task queue, this application proposes an autonomous task management method. The ground can easily modify task parameters for unsupervised real-time tasks, greatly improving the satellite usage efficiency while ensuring satellite safety. Its modular feature enables this method to quickly form autonomous tasks for different targets by configuring different task parameters, enhancing the autonomy and flexibility of the satellite.

[0118] This application also includes a satellite task management system, which includes a memory and a processor. Among them, the memory is used to store instructions executable by the processor; the processor is used to execute the instructions to implement the satellite task management method described above.

[0119] Figure 7 is the system block diagram of the satellite task management system in an embodiment of this application. Refer to Figure 7 As shown, the satellite task management system 700 may include an internal communication bus 701, a processor 702, a read-only memory (ROM) 703, a random access memory (RAM) 704, and a communication port 705. The satellite task management system 700 may also include a hard disk 706. The internal communication bus 701 can enable data communication among the components of the satellite task management system 700. The processor 702 can make judgments and issue prompts. In some embodiments, the processor 702 may be composed of one or more processors. The communication port 705 can enable data communication between the satellite task management system 700 and the outside. In some embodiments, the satellite task management system 700 can send and receive information and data from the network through the communication port 705. The satellite task management system 700 may also include different forms of program storage units and data storage units, such as the hard disk 706, the read-only memory (ROM) 703, and the random access memory (RAM) 704, which can store various data files used for computer processing and / or communication, as well as possible program instructions executed by the processor 702. The processor executes these instructions to implement the main part of the method. The result processed by the processor is transmitted to the user device through the communication port and displayed on the user interface.

[0120] The above-mentioned satellite task management method can be implemented as a computer program, stored in the hard disk 706, and loaded into the processor 702 for execution to implement the satellite task management method of this application.

[0121] This application also includes a computer-readable medium storing computer program code, and the computer program code implements the satellite task management method described above when executed by the processor.

[0122] When the satellite mission management method is implemented as a computer program, it can also be stored in a computer-readable storage medium as an article of manufacture. For example, the computer-readable storage medium may include, but is not limited to, magnetic storage devices (such as hard disks, floppy disks, magnetic strips), optical disks (such as compact disks (CDs), digital versatile disks (DVDs)), smart cards, and flash memory devices (such as electrically erasable programmable read-only memories (EPROMs), cards, sticks, key drives). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media (and / or storage media) that can store, contain, and / or carry code and / or instructions and / or data).

[0123] It should be understood that the embodiments described above are merely illustrative. The embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or in a combination thereof.

[0124] Some aspects of the present application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can be referred to as a "data block", "module", "engine", "unit", "component", or "system". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processor devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. In addition, aspects of the present application may be embodied as a computer product located on one or more computer-readable media, the product including computer-readable program code. For example, the computer-readable medium may include, but is not limited to, magnetic storage devices (such as hard disks, floppy disks, magnetic tapes...), optical disks (such as compact disks CD, digital versatile disks DVD...), smart cards, and flash memory devices (such as cards, sticks, key drives...).

[0125] A computer-readable medium may include a propagated data signal having computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination thereof. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to an instruction execution system, apparatus, or device to effect communication, propagation, or transmission for use by a program. Program code located on a computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or the like, or any combination of the foregoing media.

[0126] The basic concepts have been described above. Clearly, for those skilled in the art, the above application disclosure is only an example and does not constitute a limitation to this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this application.

[0127] Meanwhile, this application uses specific terms to describe the embodiments of this application. Such as "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0128] In some embodiments, numbers are used to describe components and attribute quantities. It should be understood that such numbers used in the description of embodiments are, in some examples, modified by the modifiers "about", "approximate", or "substantially". Unless otherwise stated, "about", "approximate", or "substantially" indicate that the said numbers allow a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, and such approximate values may change according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining general digits. Although the numerical ranges and parameters used in some embodiments of this application to confirm the breadth of their scope are approximate values, in specific embodiments, such numerical settings are made as precise as possible within the feasible range.

Claims

1. A satellite mission management method, characterized in that Including: Updating the on-board storage instructions of the satellite according to the first control instruction; Combining at least one task sub-module stored in the satellite into a task template according to the on-board storage instructions; Inserting the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template; Traversing task objectives from a target library pre-stored in the satellite, and executing the tasks in the task queue according to the task objectives; During the process of executing the tasks in the task queue: in response to receiving a second control instruction, modifying the task parameters of the task according to the second control instruction; and monitoring the operation status of the payload single machines on the satellite, and managing the tasks in the task queue corresponding to the payload single machines according to the operation status; Wherein, the first control instruction and the second control instruction are uplinked from the ground and / or transmitted between satellites.

2. The satellite mission management method according to claim 1, characterized in that Inserting the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template includes: In response to a conflict between the task execution time of the task template and the task execution times of other tasks in the task queue, and the task type of the task template being the same as the task types of the other tasks; comparing the first task priority of the task template and the second task priority of the other tasks; In response to the first task priority being greater than the second task priority, inserting the task template into the task queue and before the other tasks; or in response to the first task priority being less than or equal to the second task priority, inserting the task template into the task queue and after the other tasks.

3. The satellite mission management method according to claim 1, wherein During the process of executing the tasks in the task queue, it further includes: in response to receiving a third control instruction, performing one or any combination of the following operations on the task queue according to the third control instruction: Canceling unexecuted tasks; Interrupting the currently executing task; Clearing all tasks in the task queue; Wherein, the third control instruction is uplinked from the ground and / or transmitted between satellites.

4. The satellite task management method according to claim 1, wherein Monitoring the operation status of the payload single machines on the satellite, and managing the tasks in the task queue corresponding to the payload single machines according to the operation status includes: Collecting the voltage analog quantity of the payload single machine; Judging whether the power-on situation and / or power-off situation of the payload single machine is normal according to the voltage analog quantity; In response to judging as normal, continuing to execute the task; or in response to judging as abnormal, interrupting or canceling the task.

5. The satellite task management method according to claim 1, wherein Monitoring the operation status of the payload single machines on the satellite, and managing the tasks in the task queue corresponding to the payload single machines according to the operation status includes: Sending a telemetry request to the payload single machine according to a preset time period to obtain the telemetry quantity of the payload single machine; Judging whether the communication status of the payload single machine is normal according to the telemetry quantity; In response to a determination of normal, continue to execute the task; or in response to a determination of abnormal, interrupt or cancel the task.

6. The satellite mission management method according to claim 1, wherein monitor the operation of the payload single machines on the satellite, and manage the tasks in the task queue corresponding to the payload single machines according to the operation conditions, including: estimate the power of the satellite according to the bus voltage of the payload single machine and the charging current of the satellite solar panels on the satellite; in response to the power being greater than or equal to a preset power value, continue to execute the task; or in response to the power being less than the preset power value, cancel the tasks in the task queue that exceed the power burden and / or cancel all tasks in the task queue, and record the cancellation reason.

7. The satellite mission management method according to claim 1, characterized in that, The task template is jointly composed of the on-board stored instructions and the task sub-module; wherein the on-board stored instructions include: instruction number and instruction data; the task sub-module is spliced by multiple on-board stored instructions; the task sub-module includes: one or any combination of a task sub-module number, a total task duration, a relative task time, and the instruction number; the task template includes: one or any combination of a task template number, a task type, a task priority, and a sub-module number sequence.

8. The satellite mission management method according to claim 1 or 7, characterized in that, Modify the task parameters of the task according to the second control instruction, including one or any combination of the following modification methods: Modify the instruction number of the on-board stored instruction; Individually modify or batch modify the instruction number and relative task time called in the corresponding task sub-module according to the task sub-module number; Modify the task type, task priority, and sub-module number sequence of the corresponding task template according to the task template number.

9. The satellite mission management method according to any one of claims 1-7, characterized in that, The task queue is an array linked list; the task queue includes: one or any combination of a task number, a task start time, a task template number, a next task number, and a task occupancy flag; wherein the task number serves as the index of the array element in the array linked list; the next task number serves as the index of the next array element in the array linked list; the task occupancy flag is used to indicate whether the current array element in the array linked list is in an occupied state or an idle state.

10. A satellite mission management system, characterized in that, including: a task generation sub-module, configured to update the on-board stored instructions of the satellite according to a first control instruction; combine at least one task sub-module stored in the satellite into a task template according to the on-board stored instructions; a task insertion sub-module, configured to insert the task template into the corresponding position of the task queue according to the task priority and / or task execution time of the task template; an autonomous task management module, configured to traverse task targets from a target library pre-stored in the satellite; during the execution of the tasks in the task queue, in response to receiving a second control instruction, modify the task parameters of the task according to the second control instruction; a task execution sub-module, configured to execute the tasks in the task queue according to the task targets. A resource status management module, configured to monitor the operation of payload single units on the satellite and manage tasks in the task queue corresponding to the payload single units according to the operation status; A memory for storing instructions executable by a processor; A processor for executing the instructions to implement the satellite task management method according to any one of claims 1-9.

11. A computer-readable medium storing computer program code, characterized in that, The computer program code, when executed by a processor, implements the satellite task management method according to any one of claims 1-9.

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