Remote sensing load software design method and system adopting two-stage time slice rotation

Abstract

The invention relates to the technical field of remote sensing load control, and discloses a remote sensing load software design method and system adopting two-stage time slice rotation, and the method comprises the steps: dynamically setting a work period of a first-stage time slice according to a real-time rotation period of a remote sensing load driving motor; dividing a plurality of second-level time slices to form a task job table based on a whole satellite service scheduling demand and a load data processing flow in a work period of the first-level time slice; according to task requirements of different working modes of the remote sensing load, establishing a working mode information table to record task information in different working modes; configuring a task scheduling process, acquiring task information according to the current working mode by taking the rotation zero-crossing moment of the driving motor as the starting point of the first-stage time slice, and sequentially executing corresponding second-stage time slice task scheduling, thereby realizing unified management of the working mode of the remote sensing load; the problem of time sequence matching between a remote sensing load software operation time sequence and a plurality of asynchronous clock domains such as a whole satellite service scheduling time sequence and a remote sensing load scanning rotation time sequence is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing load control, and in particular to a remote sensing load software design method and system using two-level time slice rotation. Background Art

[0002] Remote sensing payloads collect signals from space or Earth through equipment, convert them into corresponding output voltages, digitize them, and transmit them to the ground via satellite for calibration. To cover the desired remote sensing observation area, the payload drives its own motor, coordinating scanning with the satellite. This data, including the observed location, is then transmitted to the ground via satellite for positioning.

[0003] The remote sensing payload computer serves as a bridge between the payload subsystem and the entire satellite platform. On the one hand, it serves as one of the lower computers of the entire satellite business, and executes tasks related to the satellite platform, such as remote control and telemetry tasks, according to the scheduling of the entire satellite business. At the same time, it also serves as the core of the remote sensing payload control system, and controls all data acquisition and processing processes within the remote sensing payload subsystem. In addition, there are some tasks that require the software's own timing cycle processing, such as thermal calibration source control.

[0004] Because the software's timing, the satellite's operational cycle, and the telemetry payload's data processing cycle (i.e., the motor's rotation cycle) all reside in asynchronous clock domains, their periods differ, their timing relationships are not fixed, and timing varies significantly under different payload operating modes. Whether adopting a traditional lower-level computer software design architecture, where execution is passively triggered by satellite communication interruptions and software timer interrupts, or a single time-slice design architecture for onboard computer software, achieving a comprehensive balance is difficult, posing significant challenges to software architecture and timing design.

[0005] Therefore, how to achieve coordinated matching of the remote sensing payload software's own operating timing with the satellite's business scheduling timing and the remote sensing payload scanning and rotation timing, achieve unified management of different payload working modes, and improve the versatility and scalability of remote sensing payload software is a technical problem that needs to be urgently solved in this field. Summary of the Invention

[0006] The purpose of the present invention is to solve the shortcomings of the above-mentioned prior art and to provide a remote sensing payload software design method and system using a two-level time slice rotation. The first-level time slice is used to synchronize with the motor rotation cycle, and the second-level time slice is used for specific payload data processing. It is scheduled with the entire satellite business and periodically processes data related to the entire satellite business, thereby achieving coordinated matching between the remote sensing payload software's own operating timing, the entire satellite business scheduling timing, and the remote sensing payload scanning and rotation timing.

[0007] On the one hand, a remote sensing payload software design method using two-level time slice rotation is provided, comprising the following steps: S1: In the telemetry payload control system, the duty cycle of the first-level time slice is dynamically set according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload performs cyclically as the drive motor rotates. S2: Within the working cycle of the first-level time slice, based on the satellite service scheduling requirements and payload data processing flow, multiple second-level time slices are divided to form a task operation table; S3: According to the mission requirements of different working modes of the remote sensing payload, a working mode information table is established to record the mission information under different working modes; S4: Configure the task scheduling process, taking the moment when the drive motor rotates through zero as the starting point of the first-level time slice, and execute the corresponding second-level time slice task scheduling in sequence according to the current working mode and task information.

[0008] Furthermore, in step S1, the tasks to be cyclically executed include: Gather the remote sensing and telemetry data collected by each module during this cycle, form a payload data packet in a specific format, and start the data transmission to the storage module; Based on the collected temperature analog parameters, the device and thermal reference source are temperature controlled; The optimal gain is calculated through a closed-loop feedback algorithm based on the real-time collected signal strength, and the programmable gain parameters are dynamically adjusted based on this; Transmit and process relevant data including remote control and telemetry of the entire satellite with the onboard computer.

[0009] Furthermore, in step S2, the secondary time slices are divided according to the task priorities and timing constraints in the current working mode, and the division further includes: Allocating a variable time slice for the load data processing task that is executed cyclically with the rotation of the drive motor, wherein the duration of the variable time slice is adjusted according to the current data volume; Allocate time slices for data processing tasks related to the entire satellite's business. The data processing tasks related to the entire satellite's business are interrupted and triggered as the entire satellite's work cycle is scheduled. Multiple second-level time slices need to be allocated within one first-level time slice for timely processing.

[0010] Furthermore, in step S3, the attributes of the working mode information table include but are not limited to the primary time slice period, the total number of secondary time slices, the secondary time slice processing function job table and the allocated time of each secondary time slice; The remote sensing payload software obtains task information according to the current working mode and executes the related secondary time slice task scheduling.

[0011] Furthermore, in step S4, the sequential execution of the corresponding secondary time slice task scheduling specifically includes: S41: The starting point starts scheduling to start the first secondary time slice corresponding to the primary time slice; S42: Subsequent secondary time slices are triggered by the previous secondary time slice through software timing, and are executed in sequence until the last secondary time slice of the current primary time slice; S43: Wait for the next driving motor to rotate through zero, start the next first-level time slice task cycle, and cycle in sequence.

[0012] Preferably, the secondary time slice task scheduling within a primary time slice task cycle further includes: A timing margin is reserved between the execution intervals of each secondary time slice to process non-real-time background tasks; The first secondary time slice is started in the motor zero-crossing interrupt service routine, and the precise execution time is set by the hardware timer; Subsequent secondary time slices are triggered in a chain manner through a software timer, and a timing error compensation mechanism is used to ensure that the cumulative timing error does not exceed a preset threshold.

[0013] On the other hand, a remote sensing payload software design system using two-level time slice rotation is provided, including: A primary time slice configuration module is used to dynamically set the duty cycle of the primary time slice in the telemetry payload control system according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload executes cyclically as the drive motor rotates, and to specify periodic task information according to different operating modes of the telemetry payload. The secondary time slice allocation module is used to divide the working cycle of the primary time slice into multiple secondary time slices based on the satellite service scheduling requirements and payload data processing flow, and form a task operation table under this mode; The task scheduling configuration module is used to configure the task scheduling process. It takes the zero-crossing moment of the driving motor as the starting point of the first-level time slice, obtains task information according to the current working mode, and executes the corresponding second-level time slice task scheduling in sequence.

[0014] At the same time, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the program includes a boot program and an application program, and when executed by a processor, implements any of the above-mentioned remote sensing payload software design methods using two-level time slice rotation.

[0015] In addition, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any of the above-mentioned methods for designing remote sensing payload software using two-level time slice rotation.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a dynamic two-level time slice architecture, including a first-level time slice bound to the motor rotation cycle and a second-level time slice dynamically allocating tasks. This achieves precise timing matching between the remote sensing payload software and multiple asynchronous clock domains such as satellite business scheduling and drive motor rotation, avoiding data loss or task conflicts caused by timing misalignment in traditional solutions. The present invention supports seamless switching of multiple working modes (such as standard observation, high resolution, and low power consumption modes) by establishing a working mode information table and a multi-working mode adaptive configuration module to adapt to complex task requirements. The present invention configures the task scheduling process of the first-level time slice and the second-level time slice, takes the moment when the driving motor rotates through zero as the starting point of the first-level time slice, and executes the corresponding second-level time slice task scheduling in sequence according to the current working mode and task information, thereby improving the overall stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a flow chart of a remote sensing payload software design method using two-level time slice rotation according to the present invention; Figure 2 This is a schematic diagram of an example of a time slice partitioning topology structure of the present invention; Figure 3 The figure is a schematic diagram of a time slice scheduling process of the present invention. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] The present invention solves key issues such as multi-source asynchronous timing coordination, mode switching flexibility, and mission reliability in remote sensing payload systems through core technologies such as a dynamic two-level time slice architecture, adaptive configuration of working modes, timing synchronization, and fault-tolerant mechanisms. It also optimizes resource utilization and data transmission quality, significantly improving the performance, adaptability, and economy of remote sensing payload systems. It is suitable for aerospace remote sensing payload control scenarios with high dynamics and multi-task requirements.

[0020] The specific implementation of the present invention is described below with reference to the accompanying drawings and embodiments.

[0021] Example 1 See also Figure 1 This embodiment provides a technical solution for a remote sensing payload software design method using two-level time slice rotation. This embodiment is applied to a remote sensing payload control system. The system is centered around a remote sensing payload computer and is loaded with a remote sensing payload computer software program. The method includes the following steps: S1: In the telemetry payload control system, the duty cycle of the first-level time slice is dynamically set according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload performs cyclically as the drive motor rotates. S2: Within the working cycle of the first-level time slice, based on the satellite service scheduling requirements and payload data processing flow, multiple second-level time slices are divided to form a task operation table; S3: According to the mission requirements of different working modes of the remote sensing payload, a working mode information table is established to record the mission information under different working modes; S4: Configure the task scheduling process, taking the moment when the drive motor rotates through zero as the starting point of the first-level time slice, and execute the corresponding second-level time slice task scheduling in sequence according to the current working mode and task information.

[0022] First, as in step S1, we set the first-level time slice working cycle according to the rotation cycle of the remote sensing load driving motor.

[0023] The telemetry payload periodically collects space telemetry data as the drive motor rotates. The primary time slice period is used to define the tasks that the telemetry payload must perform cyclically as the drive motor rotates. These tasks include, but are not limited to, remote sensing scan data acquisition, drive motor rotation telemetry data acquisition, programmable gain parameter adjustment, and payload source packet data download. The telemetry payload drive motor rotation period is typically longer than the entire satellite's mission scheduling period, so it is set as the primary time slice period.

[0024] The tasks executed cyclically include: Gather the remote sensing and telemetry data collected by each module during this cycle, form a payload data packet in a specific format, and start the data transmission to the storage module; Based on the collected temperature analog parameters, the device and thermal reference source are temperature controlled; The optimal gain is calculated through a closed-loop feedback algorithm based on the real-time collected signal strength, and the programmable gain parameters are dynamically adjusted based on this; Transmit and process relevant data including remote control and telemetry of the entire satellite with the onboard computer.

[0025] Specifically, in this embodiment, the telemetry payload periodically collects space telemetry data as the drive motor rotates. The primary time slice period defines the tasks that the telemetry payload cyclically performs as the drive motor rotates. These tasks include, but are not limited to, remote sensing scan data acquisition, drive motor rotation telemetry data acquisition, programmable gain parameter adjustment, and payload source packet data packet downloading. Typically, the telemetry payload drive motor rotation period is greater than the entire satellite's mission scheduling period, so it is set as the primary time slice period.

[0026] Then, the secondary time slice division described in step S2 is performed. According to the entire satellite business and payload data processing flow, several secondary time slices are divided within the primary time slice working cycle for various data processing.

[0027] Secondary time slices are used to allocate specific task execution times and sequences. These include payload data processing tasks that execute cyclically with the drive motors, satellite-related data processing tasks (such as remote control and telemetry data processing), and tasks that are scheduled for execution within the satellite's operating cycle. Furthermore, tasks processed periodically by software timing are also allocated.

[0028] Specifically, the division of the secondary time slice is based on the task priority and timing constraints in the current working mode, and further includes: Allocating a variable time slice for the load data processing task that is executed cyclically with the rotation of the drive motor, wherein the duration of the variable time slice is adjusted according to the current data volume; Allocate time slices for data processing tasks related to the entire satellite's business. The data processing tasks related to the entire satellite's business are interrupted and triggered as the entire satellite's work cycle is scheduled. Multiple second-level time slices need to be allocated within one first-level time slice for timely processing.

[0029] In this embodiment, if Figure 2 As shown, assume the satellite service scheduling cycle is 0.5s, the payload drive motor rotation cycle is 1.8s, and the heat source calibration processing cycle is approximately 0.3s. First, set the primary time slot to 1.8s. Then, allocate several secondary time slots for payload data processing tasks, such as reading various telemetry acquisition parameters, reading remote sensing acquisition parameters, and programmable gain AGC adjustment. Additionally, allocate several time slots for data processing tasks related to satellite services, such as remote control and telemetry data processing. These tasks are interrupted and triggered by satellite task scheduling. Therefore, the remote control and telemetry data interrupt flags must be queried and processed periodically within the 0.5s satellite service scheduling cycle (set to every 0.3s in this example). Finally, allocate a time slot every 0.3s for heat source calibration processing. The timing of each secondary time slot can be set based on actual conditions. To simplify the description, in this embodiment, the processing time of each secondary time slot is set to 0.1s.

[0030] In step S3, the first-level time slice working cycle and its data processing flow are adjusted as the remote load working mode is switched, and the software records the task information under different modes through the working mode information table.

[0031] Under different operating modes, the telemetry payload's motor rotation period and telemetry data collection tasks will change, requiring corresponding adjustments to the corresponding secondary time-slice tasks. The software records task information for each operating mode in a working mode information table. Attributes of the working mode information table include, but are not limited to, the primary time-slice period, the total number of secondary time-slices, the secondary time-slice processing function table, and the allocated time for each secondary time-slice. The software then schedules tasks based on the current operating mode and task information.

[0032] The attributes of the working mode information table include the primary time slice period, the total number of secondary time slices, the secondary time slice processing function table, and the allocation time of each secondary time slice; According to the current working mode and task information, the telemetry payload software executes the related secondary time slice task scheduling.

[0033] Then configure the task scheduling process described in step S4. The software uses the moment when the motor rotates through zero as the starting point of the first-level time slice, and schedules the corresponding second-level time slice tasks to run in sequence according to the current working mode and task information.

[0034] Specifically, in order to ensure the synchronization of the time slice task and the remote sensing data acquisition work, i.e., the motor rotation timing, the sequential execution of the corresponding secondary time slice task scheduling specifically includes: S41: The starting point starts scheduling to start the first secondary time slice corresponding to the primary time slice; S42: Subsequent secondary time slices are triggered by the previous secondary time slice through software timing, and are executed in sequence until the last secondary time slice of the current primary time slice; S43: Wait for the next driving motor to rotate through zero, start the next first-level time slice task cycle, and cycle in sequence.

[0035] In this embodiment, if Figure 3 As shown, the first secondary time slice executes in the motor zero-crossing interrupt service subroutine, initiating the execution timer for the current time slice. Subsequent secondary time slices execute in the timer interrupt service subroutine, triggered by the timer interrupt of the previous time slice. For reliability purposes, both time slices should have a certain amount of timing margin. The gap between the exit of the previous time slice interrupt and the start of the next time slice interrupt is used to execute background tasks.

[0036] Therefore, the second-level time-slice task scheduling within a first-level time-slice task cycle further includes: A timing margin is reserved between the execution intervals of each secondary time slice to process non-real-time background tasks; The first secondary time slice is started in the motor zero-crossing interrupt service routine, and the precise execution time is set by the hardware timer; Subsequent secondary time slices are triggered in a chain manner through a software timer, and a timing error compensation mechanism is used to ensure that the cumulative timing error does not exceed a preset threshold.

[0037] Through the method described above, the present invention solves the timing matching problem between the remote sensing payload software's own operating timing and multiple asynchronous clock domains such as the whole satellite business scheduling timing and the remote sensing payload scanning and rotation timing, avoids the confusion of system timing design caused by asynchronous clock domain data interaction, and improves the versatility and scalability of the remote sensing payload software.

[0038] In addition, this embodiment also provides a remote sensing payload software design system using two-level time slice rotation, including: A primary time slice configuration module is used to dynamically set the duty cycle of the primary time slice in the telemetry payload control system according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload executes cyclically as the drive motor rotates, and to specify periodic task information according to different operating modes of the telemetry payload. The secondary time slice allocation module is used to divide the working cycle of the primary time slice into multiple secondary time slices based on the satellite service scheduling requirements and payload data processing flow, and form a task operation table under this mode; The task scheduling configuration module is used to configure the task scheduling process. It takes the zero-crossing moment of the driving motor as the starting point of the first-level time slice, obtains task information according to the current working mode, and executes the corresponding second-level time slice task scheduling in sequence.

[0039] It should be noted that the steps in the remote sensing payload software design method using two-level time slice rotation provided in this embodiment can be implemented using corresponding modules in the remote sensing payload software design system using two-level time slice rotation. Those skilled in the art can refer to the technical solution of the system to implement the step flow of the method, that is, the embodiments in the system can be understood as preferred examples for implementing the method, which will not be elaborated here.

[0040] In addition to implementing the system and its various devices provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. by logically programming the method steps. Therefore, the system and its various devices provided by the present invention can be considered a hardware component, and the devices included therein for implementing the various functions can also be considered as structures within the hardware component; the devices for implementing the various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0041] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention, which are apparent to those skilled in the art, should also be considered within the scope of protection of the present invention.

[0042] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A remote sensing payload software design method using two-level time slice rotation, characterized in that: The steps include: S1: In the telemetry payload control system, the duty cycle of the first-level time slice is dynamically set according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload performs cyclically as the drive motor rotates. S2: Within the working cycle of the first-level time slice, based on the satellite service scheduling requirements and payload data processing flow, multiple second-level time slices are divided to form a task operation table; S3: According to the mission requirements of different working modes of the remote sensing payload, a working mode information table is established to record the mission information under different working modes; S4: Configure the task scheduling process, taking the moment when the drive motor rotates through zero as the starting point of the first-level time slice, and execute the corresponding second-level time slice task scheduling in sequence according to the current working mode and task information.

2. The remote sensing payload software design method using two-level time slice rotation according to claim 1 is characterized in that: In step S1, the tasks executed cyclically include: Gather the remote sensing and telemetry data collected by each module during this cycle, form a payload data packet in a specific format, and start the data transmission to the storage module; Based on the collected temperature analog parameters, the device and thermal reference source are temperature controlled; The optimal gain is calculated through a closed-loop feedback algorithm based on the real-time collected signal strength, and the programmable gain parameters are dynamically adjusted based on this; Transmit and process relevant data including remote control and telemetry of the entire satellite with the onboard computer.

3. The remote sensing payload software design method using two-level time slice rotation according to claim 1 is characterized in that: In step S2, the secondary time slices are divided according to the task priorities and timing constraints in the current working mode, and the division further includes: Allocating a variable time slice for the load data processing task that is executed cyclically with the rotation of the drive motor, wherein the duration of the variable time slice is adjusted according to the current data volume; Allocate time slices for data processing tasks related to the entire satellite's business. The data processing tasks related to the entire satellite's business are interrupted and triggered as the entire satellite's work cycle is scheduled. Multiple second-level time slices need to be allocated within one first-level time slice for timely processing.

4. The remote sensing payload software design method using two-level time slice rotation according to claim 1 is characterized in that: In step S3, the attributes of the working mode information table include but are not limited to the primary time slice period, the total number of secondary time slices, the secondary time slice processing function job table and the allocation time of each secondary time slice; The remote sensing payload software obtains task information according to the current working mode and executes the related secondary time slice task scheduling.

5. The remote sensing payload software design method using two-level time slice rotation according to claim 1 is characterized in that: In step S4, the sequential execution of the corresponding secondary time slice task scheduling specifically includes: S41: The starting point starts scheduling to start the first secondary time slice corresponding to the primary time slice; S42: Subsequent secondary time slices are triggered by the previous secondary time slice through software timing, and are executed in sequence until the last secondary time slice of the current primary time slice; S43: Wait for the next driving motor to rotate through zero, start the next first-level time slice task cycle, and cycle in sequence.

6. The remote sensing payload software design method using two-level time slice rotation according to claim 6 is characterized in that: The second-level time-slice task scheduling within a first-level time-slice task cycle further includes: A timing margin is reserved between the execution intervals of each secondary time slice to process non-real-time background tasks; The first secondary time slice is started in the motor zero-crossing interrupt service routine, and the precise execution time is set by the hardware timer; Subsequent secondary time slices are triggered in a chain manner through a software timer, and a timing error compensation mechanism is used to ensure that the cumulative timing error does not exceed a preset threshold.

7. A remote sensing payload software design system using two-level time slice rotation, characterized in that: include: A primary time slice configuration module is used to dynamically set the duty cycle of the primary time slice in the telemetry payload control system according to the real-time rotation cycle of the telemetry payload drive motor. The duty cycle is used to define the tasks that the telemetry payload executes cyclically as the drive motor rotates, and to specify periodic task information according to different operating modes of the telemetry payload. The secondary time slice allocation module is used to divide the working cycle of the primary time slice into multiple secondary time slices based on the satellite service scheduling requirements and payload data processing flow, and form a task operation table under this mode; The task scheduling configuration module is used to configure the task scheduling process. It takes the zero-crossing moment of the driving motor as the starting point of the first-level time slice, obtains task information according to the current working mode, and executes the corresponding second-level time slice task scheduling in sequence.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program includes a boot program and an application program, and when executed by a processor, implements the remote sensing payload software design method using two-level time slice rotation according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the remote sensing payload software design method using two-level time slice rotation as described in any one of claims 1 to 6.

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