A spacecraft autonomous health test method, device, equipment, medium and product

Abstract

The application discloses a spacecraft autonomous health test method, device, equipment, medium and product, and relates to the technical field of automatic test. The method is that, firstly, for each test subproject, a corresponding test precondition is taken as a first state vector and added to a vector library; then, current state values of all subsystems are acquired to serve as a second state vector, and a tree layer structure including a root node layer and a non-root node layer is constructed; then, according to the vector library and the second state vector, non-root nodes in each non-root node layer are sequentially expanded from top to bottom, and state switching time lengths of the non-root nodes and whether the non-root nodes are leaf nodes are determined to obtain a tree structure; finally, a target node path branch corresponding to a shortest state switching total time length is determined in the tree structure, and the states of all the subsystems are switched according to a state vector sequence indicated by the target node path branch to complete a test task of the autonomous health test project, so that the highest test efficiency can be obtained, and spacecraft energy saving is facilitated.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic testing, and particularly relates to a spacecraft autonomous health testing method, device, equipment, medium and product. BACKGROUND

[0002] A spacecraft, also known as a space vehicle or a space vehicle, is a spacecraft that operates in space according to the laws of celestial mechanics and performs exploration tasks, development tasks, and specific tasks such as space and celestial bodies. Spacecraft autonomous health management refers to the ability of a spacecraft to sense, monitor and manage its own state during flight, and to detect, isolate and handle faults autonomously, including autonomous fault diagnosis and autonomous fault handling. Spacecraft autonomous health management is one of the important contents of realizing autonomous management of spacecraft in orbit, and is also the key to ensuring the on-orbit operational life and continuity of on-orbit tasks of the spacecraft.

[0003] At present, with the introduction of various algorithms, tools and software, the automation level of spacecraft autonomous health testing is constantly improving. However, considering that the spacecraft autonomous health testing project has multiple test sub-projects, this not only leads to a large amount of testing work, but also because each test sub-project needs to wait for the relevant spacecraft subsystem to have the required state for testing before performing the corresponding autonomous health testing, and the relevant spacecraft subsystems and their testing states required by different test sub-projects may be different, resulting in the problem that the testing efficiency is difficult to improve due to the long time required for state switching when performing the testing task of the spacecraft autonomous health testing project. SUMMARY

[0004] The purpose of the present application is to provide a spacecraft autonomous health testing method, device, computer equipment, computer readable storage medium and computer program product, to solve the problem of low testing efficiency due to long state switching time in the existing spacecraft autonomous health testing scheme.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] In a first aspect, a spacecraft autonomous health testing method is provided, comprising:

[0007] Extracting the test preconditions of each test sub-project from the preset autonomous health testing project, wherein the test preconditions include state values applicable to the corresponding test sub-project and all subsystems in the spacecraft;

[0008] For each test sub-project, the corresponding test precondition is taken as a first state vector, and the first state vector is added to the vector library;

[0009] acquire current state values of all subsystems and take the acquisition result as a second state vector;

[0010] construct a tree layer structure comprising a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in the tree layer structure in a top-down order;

[0011] initially set a root node in the root node layer, then extend non-root nodes in each non-root node layer in a top-down order according to the vector library and the second state vector, and determine state switching durations of the non-root nodes and whether the non-root nodes are leaf nodes to obtain the tree structure, wherein the root node corresponds to the second state vector, an rth non-root node in a kth non-root node layer corresponds to a third state vector, the third state vector is an nth state vector retrieved from the vector library and most similar to a fourth state vector, the fourth state vector is a state vector corresponding to an mth non-leaf node in a node layer above the kth non-root node layer, k, n, m and r respectively represent positive integers, the mth non-leaf node is a parent node of the rth non-root node, any non-root node corresponds to different state vectors of the any non-root node and any direct-line parent node of the any non-root node which is a non-root node, the state switching duration of the rth non-root node is a required switching duration of states of all subsystems from the fourth state vector to the third state vector, a to-be-tested sub-item set corresponding to the root node comprises all test sub-items in the autonomous health test items, and a judgment condition for determining that the rth non-root node is a leaf node comprises: if the to-be-tested sub-item set corresponding to the mth non-leaf node only comprises all applicable test sub-items corresponding to the third state vector, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test sub-items corresponding to the third state vector are removed from the to-be-tested sub-item set corresponding to the mth non-leaf node to serve as a to-be-tested sub-item set corresponding to the rth non-root node;

[0012] for each leaf node in the tree structure, accumulate the corresponding state switching duration and state switching durations of all direct-line parent nodes of the non-root node to obtain a corresponding state switching total duration;

[0013] determine a certain leaf node having a shortest state switching total duration in the tree structure, and take a path branch from the root node to the certain leaf node and sequentially passing through all direct-line parent nodes of the certain leaf node in a top-down order as a target node path branch;

[0014] switch states of all subsystems according to a state vector order indicated by the target node path branch to complete a test task of the autonomous health test items.

[0015] Based on the above invention content, a new scheme is provided for optimizing system state sequencing based on a tree structure to efficiently perform autonomous health testing of a spacecraft, i.e., first, for each test sub-project in the autonomous health testing project, a corresponding test precondition is taken as a first state vector, and the first state vector is added to a vector library; then, current state values of all subsystems are obtained as a second state vector, and a tree layer structure including a root node layer and at least one non-root node layer is constructed; then, according to the vector library and the second state vector, non-root nodes in each non-root node layer are sequentially expanded from top to bottom, and state switching durations of the non-root nodes are determined, and whether the non-root nodes are leaf nodes is determined, to obtain a tree structure; finally, in the tree structure, a target node path branch corresponding to a shortest state switching total duration is determined, and according to a state vector sequence indicated by the target node path branch, states of all subsystems are switched to complete a test task of the autonomous health testing project, so that the highest test efficiency can be obtained, which is beneficial to energy saving of the spacecraft and facilitates practical application and promotion.

[0016] In a possible design, the all subsystems include on-orbit device subsystems and / or ground station device subsystems.

[0017] In a possible design, the state values include first state values for reflecting whether corresponding subsystems are powered on and / or second state values for reflecting whether corresponding subsystems are on duty.

[0018] In a possible design, according to the vector library and the second state vector, the non-root nodes in each non-root node layer are sequentially expanded from top to bottom, the state switching durations of the non-root nodes are determined, and whether the non-root nodes are leaf nodes is determined, to obtain the tree structure, including the following steps S51-S57:

[0019] S51. All test sub-projects in the autonomous health testing project are taken as a set of to-be-tested sub-projects corresponding to the root node, and the root node is made to correspond to the second state vector, and then the root node is taken as a parent node, and step S52 is performed;

[0020] S52. From the vector library, the first N fifth state vectors most similar to a parent node state vector are retrieved, and then step S53 is performed, where the parent node state vector refers to a state vector corresponding to the parent node, N represents a preset positive integer, the fifth state vector is different from any direct parent node state vector, and the any direct parent node state vector refers to a state vector corresponding to any direct parent node of the parent node and being a non-root node;

[0021] S53. For each fifth state vector in the first N fifth state vectors, create a certain non-root node under the parent node and corresponding to the certain non-root node in the next node layer of the node layer where the parent node is located, determine the state switching duration of the certain non-root node, and determine whether the certain non-root node is a leaf node, and then perform step S54, wherein the state switching duration of the certain non-root node is the required switching duration of the states of all subsystems from the parent node state vector to a non-root node state vector corresponding to the certain non-root node, and the judgment condition for determining that the certain non-root node is a leaf node includes: if the set of to-be-tested sub-items corresponding to the parent node only includes all applicable test sub-items corresponding to the non-root node state vector, it is determined that the certain non-root node is a leaf node, otherwise, it is determined that the certain non-root node is a new non-leaf node, and all applicable test sub-items corresponding to the non-root node state vector are removed from the set of to-be-tested sub-items corresponding to the parent node as the set of to-be-tested sub-items corresponding to the certain non-root node;

[0022] S54. For each leaf node newly created in the next node layer, accumulate the state switching duration of the corresponding state and the state switching duration of all direct parent nodes that are non-root nodes to obtain a corresponding first state switching total duration, and for each non-leaf node newly created in the next node layer, accumulate the state switching duration of the corresponding state and the state switching duration of all direct parent nodes that are non-root nodes to obtain a corresponding second state switching total duration, and then perform step S55;

[0023] S55. Determine whether there is a certain non-leaf node with the shortest second state switching total duration in all non-leaf nodes that have not yet been expanded to create child nodes, and the shortest second state switching duration is shorter than the shortest first state switching total duration, if so, the certain non-leaf node is taken as a new parent node, and then step S52 is performed, otherwise step S56 is performed;

[0024] S56. End the expansion of creating non-root nodes to obtain a tree structure.

[0025] In one possible design, the first N fifth state vectors most similar to the parent node state vector are retrieved from the vector library, including steps S521-S524:

[0026] S521. Initialize a first state vector set and a second state vector set to empty sets respectively, and then perform step S522;

[0027] S522. Perform ANN vector retrieval on the vector library based on the parent node state vector, to obtain a certain state vector that has the maximum similarity with the parent node state vector and is not in the first state vector set and the second state vector set, and then perform step S523, wherein the parent node state vector refers to a state vector corresponding to the parent node;

[0028] S523. Determine whether the certain state vector is the same as any direct parent node state vector, if yes, add the certain state vector to the first state vector set, and then return to perform step S522, otherwise add the certain state vector to the second state vector set, and then perform step S524, wherein the any direct parent node state vector refers to a state vector corresponding to any direct parent node of the parent node and being a non-root node;

[0029] S524. Determine whether the total number of vectors in the second state vector set is less than N, if yes, return to perform step S522, otherwise end the vector retrieval, and correspondingly take the N state vectors in the second state vector set as the first N fifth state vectors most similar to the parent node state vector, wherein N represents a preset positive integer, and the fifth state vector is different from the any direct parent node state vector.

[0030] In one possible design, according to the state vector order indicated by the target node path branch, the states of all subsystems are switched to complete the test task of the autonomous health test item, including steps S81-S84 as follows:

[0031] S81. Initialize an integer variable i = 1, and then perform step S82;

[0032] S82. Switch the states of the all subsystems from the current state vector to a state vector corresponding to an i-th non-root node in the target node path branch and arranged in a top-down order, and then perform step S83;

[0033] S83. First, for each applicable test sub-item corresponding to the current switched state vector, apply a corresponding test flow and test result evaluation rule to complete a corresponding test task, and then perform step S84;

[0034] S84. Determine whether the i-th non-root node is a leaf node in the target node path branch, if yes, end the test task of the autonomous health test item, otherwise increment i by 1, and then return to perform step S82.

[0035] In a second aspect, a spacecraft autonomous health test device is provided, comprising a pre-test condition extraction unit, a vector library adding unit, a current state acquisition unit, a tree layer structure creating unit, a tree structure extending unit, a switching time calculating unit, a target path determining unit and a system state switching unit;

[0036] The pre-test condition extraction unit is configured to extract test preconditions of each test sub-project from preset autonomous health test projects, wherein the test preconditions include state values of all subsystems of the spacecraft applicable to the corresponding test sub-project;

[0037] The vector library adding unit is in communication connection with the pre-test condition extraction unit and configured to add the corresponding test preconditions as first state vectors for each test sub-project to a vector library;

[0038] The current state acquisition unit is configured to acquire current state values of all subsystems and acquire the acquisition results as second state vectors;

[0039] The tree layer structure creating unit is configured to build a tree layer structure comprising a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in a top-down order in the tree layer structure;

[0040] The tree structure expansion unit is respectively connected in communication with the vector library adding unit, the current state obtaining unit and the tree layer structure creating unit, is configured to initially set a root node in a root node layer, then expand non-root nodes in each non-root node layer from top to bottom in turn according to the vector library and the second state vector, and determine the state switching duration of the non-root nodes and whether the non-root nodes are leaf nodes, to obtain the tree structure, wherein the root node corresponds to the second state vector, the rth non-root node in the kth non-root node layer corresponds to the third state vector, the third state vector refers to the nth state vector retrieved from the vector library and most similar to the fourth state vector, the fourth state vector refers to a state vector corresponding to the mth non-leaf node in the node layer above the kth non-root node layer, k, n, m and r respectively represent positive integers, the mth non-leaf node is the parent node of the rth non-root node, any non-root node corresponds to a different state vector with any direct-line parent node of the non-root node, the state switching duration of the rth non-root node is the required switching duration of the states of all subsystems from the fourth state vector to the third state vector, the to-be-tested sub-item set corresponding to the root node includes all test sub-items in the autonomous health test items, and the judgment condition for determining that the rth non-root node is a leaf node includes: if the to-be-tested sub-item set corresponding to the mth non-leaf node only includes all applicable test sub-items corresponding to the third state vector, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test sub-items corresponding to the third state vector are removed from the to-be-tested sub-item set corresponding to the mth non-leaf node to serve as the to-be-tested sub-item set corresponding to the rth non-root node;

[0041] The switching duration calculating unit is connected in communication with the tree structure expansion unit, configured to, for each leaf node in the tree structure, accumulate the corresponding state switching duration and the state switching duration of all direct-line parent nodes of the non-root node, to obtain the corresponding state switching total duration;

[0042] The target path determining unit is connected in communication with the switching duration calculating unit, configured to determine a certain leaf node in the tree structure with the shortest state switching total duration, and branch a path from the root node to the certain leaf node and passing through all direct-line parent nodes of the certain leaf node from top to bottom as a target node path branch;

[0043] The system state switching unit is connected in communication with the target path determining unit, configured to switch the states of all subsystems according to the state vector sequence indicated by the target node path branch to complete the test task of the autonomous health test items.

[0044] In a third aspect, the present application provides a computer device comprising a memory, a processor and a transceiver connected in sequence, wherein the memory is configured to store a computer program, the transceiver is configured to transmit and receive messages, and the processor is configured to read the computer program and execute the spacecraft autonomous health test method according to any possible design of the first aspect.

[0045] In a fourth aspect, the present application provides a computer readable storage medium having instructions stored thereon, wherein the instructions, when executed on a computer, perform the spacecraft autonomous health test method according to any possible design of the first aspect.

[0046] In a fifth aspect, the present application provides a computer program product comprising a computer program or instructions, wherein the computer program or the instructions, when executed on a computer, implement the spacecraft autonomous health test method according to any possible design of the first aspect.

[0047] The above-mentioned scheme has the following beneficial effects:

[0048] (1) The present application provides a new scheme for optimizing system state sequencing based on tree structure to efficiently perform spacecraft autonomous health test, i.e., first, for each test sub-project in the autonomous health test project, the corresponding test precondition is taken as a first state vector, and the first state vector is added to the vector library; then, the current state value of all subsystems is obtained as a second state vector, and a tree layer structure comprising a root node layer and at least one non-root node layer is constructed; then, according to the vector library and the second state vector, each non-root node in each non-root node layer is sequentially expanded from top to bottom, and the state switching duration of the non-root node and whether the non-root node is a leaf node are determined to obtain the tree structure; finally, in the tree structure, a target node path branch corresponding to the shortest state switching total duration is determined, and the state vector sequence indicated by the target node path branch is used to switch the state of all subsystems to complete the test task of the autonomous health test project, so that the highest test efficiency can be obtained, which is beneficial to energy saving of the spacecraft and facilitates practical application and promotion. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0050] Figure 1 The flowchart of the spacecraft autonomous health test method provided by the embodiments of the present application is shown.

[0051] Figure 2 An example diagram of a tree structure provided for an embodiment of the present application.

[0052] Figure 3 A structural schematic diagram of a spacecraft autonomous health test device provided for an embodiment of the present application.

[0053] Figure 4 A structural schematic diagram of a computer device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the present application will be briefly introduced below in combination with the drawings and the descriptions of the embodiments or the prior art. Obviously, the following description of the drawings is only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings. It should be noted that the description of these embodiments is used to help understand the present application, but does not constitute a limitation on the present application.

[0055] It should be understood that although the terms first and second, etc. may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, a first object can be called a second object, and similarly, a second object can be called a first object, without departing from the scope of the example embodiments of the present application.

[0056] It should be understood that for the term "and / or" that may appear herein, it is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, B exists alone, or A and B exist together, etc. For example, A, B and / or C can mean that any one of A, B and C exists or any combination thereof. For the term " / and" that may appear herein, it is another description of the association relationship of another associated object, which means that there can be two relationships, for example, A / and B can mean that A exists alone or A and B exist together. In addition, for the character " / " that may appear herein, it generally means that the associated objects before and after are in an "or" relationship.

[0057] Embodiment:

[0058] As shown in Figures 1-2 The spacecraft autonomous health test method provided by the first aspect of the present embodiment can be executed by a test host with certain computing resources and a spacecraft autonomous health test system, but is not limited thereto. The spacecraft autonomous health test system is an existing system, and the test host can be arranged on the spacecraft side or on the ground station side. Figure 1As shown, the spacecraft autonomous health test method comprises but is not limited to the following steps S1-S8.

[0059] S1. Extract the test preconditions of each test sub-project from the preset autonomous health test project, wherein the test preconditions comprise but are not limited to the state values of all subsystems applicable to the corresponding test sub-project.

[0060] In the step S1, the autonomous health test project can be designed in advance, which can include multiple test sub-projects, and the related spacecraft subsystems and their test states required by different test sub-projects can be different or the same. Specifically, the all subsystems include but are not limited to on-orbit device subsystems and / or ground station device subsystems, etc., wherein the on-orbit device refers to instruments and devices that can be installed on artificial satellites, space probes and spacecraft, i.e. instruments and devices on the spacecraft side, and the ground station device refers to instruments and devices on the ground station side. Specifically, the state values include but are not limited to the first state value for reflecting whether the corresponding subsystem is powered on and / or the second state value for reflecting whether the corresponding subsystem is on duty, etc., wherein the first state value can use the numerical value "1" to reflect that the corresponding subsystem is powered on, and use the numerical value "0" to reflect that the corresponding subsystem is not powered on, and the second state value can use the numerical value "1" to reflect that the corresponding subsystem is on duty (e.g. in working mode), and use the numerical value "0" to reflect that the corresponding subsystem is not on duty (e.g. in sleep mode). In addition, the specific extraction method of the test preconditions is a prior art means.

[0061] S2. For each test sub-project, the corresponding test precondition is taken as a first state vector, and the first state vector is added to the vector library.

[0062] In the step S2, since the related spacecraft subsystems of the test sub-projects can be part of the all subsystems, each test sub-item can correspond to multiple first state vectors, i.e. the correspondence between the test sub-projects and the first state vectors can be one-to-one, or many-to-one or one-to-many.

[0063] S3. Obtain the current state values of the all subsystems, and take the obtained results as a second state vector.

[0064] In the step S3, the current state values of the all subsystems can be obtained by the existing state real-time monitoring device.

[0065] S4. Constructing a tree layer structure comprising a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in the tree layer structure in a top-down order.

[0066] In the step S4, the aforementioned root node refers to a top layer node in the tree data structure without a parent node, which is the starting point of the tree, and all other nodes are its child nodes or descendant nodes; the root node layer is the layer where the root node is located. The aforementioned non-root node refers to other nodes in the tree data structure that are not the root node; the non-root node layer is the layer where the non-root node is located; the number of non-root node layers needs to be determined based on the subsequent expansion results. In addition, the arrangement order of the root node layer and the at least one non-root node layer can be, for example, Figure 2 as shown.

[0067] S5. Initially setting a root node in the root node layer, then expanding non-root nodes in each non-root node layer from top to bottom according to the vector library and the second state vector, and determining the state switching duration of the non-root nodes and whether the non-root nodes are leaf nodes to obtain a tree structure, wherein the root node corresponds to the second state vector, the rth non-root node in the kth non-root node layer corresponds to the third state vector, the third state vector refers to the nth state vector retrieved from the vector library and most similar to the fourth state vector, the fourth state vector refers to the state vector corresponding to the mth non-leaf node in the previous node layer of the kth non-root node layer, k, n, m, and r represent positive integers, the mth non-leaf node is the parent node of the rth non-root node, any non-root node corresponds to a different state vector with any straight-line parent node of the non-root node, the state switching duration of the rth non-root node is the required switching duration of the state of all subsystems from the fourth state vector to the third state vector, the set of to-be-tested sub-projects corresponding to the root node includes all test sub-projects in the autonomous health test project, and the judgment condition for determining whether the rth non-root node is a leaf node includes: if the set of to-be-tested sub-projects corresponding to the mth non-leaf node only includes all applicable test sub-projects corresponding to the third state vector, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test sub-projects corresponding to the third state vector are removed from the set of to-be-tested sub-projects corresponding to the mth non-leaf node as the set of to-be-tested sub-projects corresponding to the rth non-root node.

[0068] In the step S5, the finally obtained tree structure can be, for example, Figure 2 as shown, when the kth non-root node layer isFigure 2 the first non-root node layer, the previous node layer of the kth non-root node layer is the root node layer, at this time if the rth non-root node is non-root node 1A, the fourth state vector is the second state vector, and the non-root node 1A does not have any direct parent node which is a non-root node; when the kth non-root node layer is the third non-root node layer, the previous node layer of the kth non-root node layer is the second non-root node layer, at this time if the rth non-root node is non-root node 3B, the non-root node 3B has two direct parent nodes which are non-root nodes in turn sorted in the order from bottom to top, i.e. non-root node 2B and non-root node 1A, and the non-root node 3B, the non-root node 2B and the non-root node 1A correspond to different state vectors respectively (it is considered that there can be a state vector completely same as the second state vector in the vector library, thus this embodiment does not require that the non-root node 1A or the non-root node 1B correspond to a different state vector from the root node: they can be the same or different). Figure 2 Figure 2 Figure 2 In the embodiment, the leaf node is represented by a square box, for example, the non-root node 2A and the non-root node 3B are leaf nodes; the non-leaf node is represented by an oval box, for example, the root node, the non-root node 1A, the non-root node 1B, the non-root node 2B and the non-root node 3A are non-leaf nodes. In addition, through the above judgment condition, it can be ensured that the state vector corresponding to each leaf node and the state vector combination corresponding to all direct parent nodes of the leaf node can be applied to all test sub-projects, and it can be ensured that the test task of the autonomous health test project can be completed based on the target node path branch subsequently.

[0069] In the step S5, in order to quickly and with low computing resource requirement obtain the tree structure, preferably, the non-root nodes in each non-root node layer are expanded in turn from top to bottom according to the vector library and the second state vector, and the state switching duration of the non-root node and whether the non-root node is a leaf node are determined to obtain the tree structure, including but not limited to the following steps S51-S56.

[0070] S51. All test sub-projects in the autonomous health test project are taken as a set of to-be-tested sub-projects corresponding to the root node, and the root node is made to correspond to the second state vector, and then the root node is taken as a parent node, and the step S52 is executed.

[0071] ​​S52. retrieve the first N fifth state vectors most similar to the parent state vector from the vector library, wherein the parent state vector refers to a state vector corresponding to the parent node, N represents a preset positive integer, the fifth state vector is different from any direct parent node state vector, and the any direct parent node state vector refers to a state vector corresponding to any direct parent node of the parent node and being a non-root node.

[0072] In the step S52, when the parent node is the root node, the parent state vector is the second state vector, and there is no any direct parent node state vector; when the parent node is the non-root node 1A or the non-root node 1B in the parent node, there is also no any direct parent node state vector; when the parent node is the non-root node 2B in the parent node, the any direct parent node state vector is the state vector corresponding to the non-root node 1A. Figure 2 Figure 2 In the step S52, when the parent node is the root node, the parent state vector is the second state vector, and there is no any direct parent node state vector; when the parent node is the non-root node 1A or the non-root node 1B in the parent node, there is also no any direct parent node state vector; when the parent node is the non-root node 2B in the parent node, the any direct parent node state vector is the state vector corresponding to the non-root node 1A.

[0073] S521. initialize the first state vector set and the second state vector set to empty sets respectively, and then perform step S522.

[0074] In the step S521, the first state vector set is used to record all state vectors corresponding to any direct parent node of the parent node and being a non-root node, and the second state vector set is used to record the fifth state vector meeting the requirement.

[0075] S522. perform ANN vector retrieval on the vector library based on the parent state vector to obtain a certain state vector having the maximum similarity to the parent state vector and not being in the first state vector set and the second state vector set, and then perform step S523, wherein the parent state vector refers to a state vector corresponding to the parent node.

[0076] ​In the step S522, the ANN (Approximate Nearest Neighbor) vector search is a prior art for processing similarity search in large-scale data sets, which is mainly used to quickly find similar data items to the query object in large data sets; this technology has applications in many fields, including vector database, retrieval enhancement generation, large-scale information retrieval, recommendation system, drug discovery and image search, etc. The core of ANN vector search is to use efficient indexing and search algorithms to approximately find the nearest neighbors in the data set (note that it is not exactly find the nearest neighbors), this approximate method allows a certain error while ensuring search efficiency, so as to significantly improve the search speed when processing large-scale data sets. In general, ANN vector search technology uses efficient indexing and search algorithms, and specific graph methods such as HNSW (Hierarchical Navigable Small World Graph, a graph method for vector search, which is based on the idea of skip list, and realizes efficient approximate nearest neighbor search by constructing a navigable small world graph; it organizes data by using navigable small world graph at each layer to form a hierarchical structure, so that the retrieval process can gradually approach the target vector space from top to bottom, thereby improving search efficiency; in the graph construction process, HNSW can guarantee the connectivity of the graph by pruning the edges, ensuring the smooth progress of the search process), which can significantly improve the efficiency of similarity search in large-scale data sets while ensuring the accuracy of the search results. Therefore, the ANN vector search based on the parent node state vector can accurately and efficiently obtain the search result: the certain state vector with the maximum similarity to the parent node state vector and not in the first state vector set and the second state vector set.

[0077] S523. Determine whether the certain state vector is the same as any direct parent node state vector, if yes, add the certain state vector to the first state vector set, and then return to execute step S522, otherwise add the certain state vector to the second state vector set, and then execute step S524, wherein the any direct parent node state vector refers to the state vector corresponding to any direct parent node of the parent node and being a non-root node;

[0078] S524. Determine whether the total number of vectors in the second state vector set is less than N, if yes, return to execute step S522, otherwise end the vector retrieval and correspondingly take the N state vectors in the second state vector set as the first N fifth state vectors most similar to the parent node state vector, wherein N represents a preset positive integer, and the fifth state vectors are different from the parent node state vector.

[0079] In step S524, the first N fifth state vectors can have the same similarity to the parent node state vector or can be different. In addition, as shown in the figure, N can be taken as 2, so as to respectively create non-root node 1A and non-root node 1B, non-root node 2A and non-root node 2B, and non-root node 2A and non-root node 3B, and so on. Figure 2

[0080] S53. First, for each fifth state vector in the first N fifth state vectors, create a certain non-root node under the parent node and corresponding to the certain non-root node in the next node layer of the node layer where the parent node is located, determine the state switching duration of the certain non-root node, and determine whether the certain non-root node is a leaf node, and then execute step S54, wherein the state switching duration of the certain non-root node is the required switching duration of the states of all subsystems from the parent node state vector to a non-root node state vector, the non-root node state vector refers to a state vector corresponding to the certain non-root node, and the determination condition for determining that the certain non-root node is a leaf node includes: if the set of to-be-tested sub-items corresponding to the parent node only includes all applicable test sub-items corresponding to the non-root node state vector, it is determined that the certain non-root node is a leaf node, otherwise it is determined that the certain non-root node is a new non-leaf node, and all applicable test sub-items corresponding to the non-root node state vector are removed from the set of to-be-tested sub-items corresponding to the parent node as the set of to-be-tested sub-items corresponding to the certain non-root node.

[0081] In step S53, when the parent node is the root node, the certain non-root node is non-root node 1A and non-root node 1B; when the parent node is non-root node 1A in the figure, the certain non-root node is non-root node 2A and non-root node 2B; when the parent node is non-root node 2A in the figure, the certain non-root node is non-root node 3A and non-root node 3B; and when the parent node is non-root node 3A in the figure, the certain non-root node is non-root node 4A and non-root node 4B. Figure 2 Figure 2 ​​the parent node state vector to the non-root node state vector can be determined in advance by routine experiments and added to a data table for instant look-up and application in this step; and the set of to-be-tested sub-items corresponding to the parent node is not changed due to elimination. In addition, if the required switching time length of the state of all subsystems from the parent node state vector to the non-root node state vector (which can be infinite due to failure) divided by the number of all applicable test sub-items corresponding to the non-root node state vector (which reflects the average required state switching time length of these applicable test sub-items) exceeds a preset time length threshold, in order to avoid inefficiently performing the test task of all applicable test sub-items corresponding to the non-root node state vector in the state corresponding to the non-root node state vector, the non-root node state vector can be eliminated from the first N fifth state vectors, and then the first N fifth state vectors are completed by the steps S522-S524, and finally, for the completed fifth state vectors, a certain non-root node under the parent node and corresponding to the certain non-root node is created in the next node layer of the node layer where the parent node is located, the state switching time length of the certain non-root node is determined, and whether the certain non-root node is a leaf node is determined.

[0082] S54. For each leaf node newly created in the next node layer, the state switching time length corresponding to the leaf node and the state switching time length of all direct parent nodes corresponding to the leaf node are accumulated to obtain a first state switching total time length corresponding to the leaf node, and for each non-leaf node newly created in the next node layer, the state switching time length corresponding to the non-leaf node and the state switching time length of all direct parent nodes corresponding to the non-leaf node are accumulated to obtain a second state switching total time length corresponding to the non-leaf node, and then the step S55 is performed.

[0083] In the step S54, when the parent node is a non-root node 1A in the node layer, Figure 2 In the step S54, when the parent node is a non-root node 1A in the node layer, the newly created leaf node is a non-root node 2A, and at this time, the state switching time length of the non-root node 2A and the non-root node 1A needs to be accumulated to obtain a first state switching total time length corresponding to the non-root node 2A; the newly created non-leaf node is a non-root node 2B, and at this time, the state switching time length of the non-root node 2B and the non-root node 1A needs to be accumulated to obtain a second state switching total time length corresponding to the non-root node 2B. When the parent node is a non-root node 1B in the node layer, Figure 2When a non-root node 2B is created, the newly created leaf node is non-root node 3B. At this time, the state transition times of non-root node 3B, non-root node 2B, and non-root node 1A need to be accumulated to obtain the first total state transition time corresponding to non-root node 3B. Similarly, when a new non-leaf node is created, it is non-root node 3A. At this time, the state transition times of non-root node 3A, non-root node 2B, and non-root node 1A need to be accumulated to obtain the second total state transition time corresponding to non-root node 3A.

[0084] S55. Determine whether there exists a non-leaf node among all non-leaf nodes that have not yet expanded downwards to create child nodes, and whether the shortest total second state transition time is shorter than the shortest total first state transition time. If it exists, then take the non-leaf node as the new parent node and return to step S52; otherwise, proceed to step S56.

[0085] In step S55, for example, Figure 2 As shown, all non-leaf nodes that have not yet expanded downwards to create child nodes include non-root node 1B and non-root node 3A. If the second state transition duration of non-root node 1B is shorter than that of non-root node 3A, and the second state transition duration of non-root node 1B is also shorter than the first state transition duration of non-root node 2A and non-root node 3B respectively, it indicates that based on non-root node 1B, it is possible to obtain a new leaf node with a first state transition duration shorter than that of non-root node 2A and non-root node 3B. This may lead to a target leaf node with a shorter total state transition duration and a better target node path branch, thereby improving testing efficiency. Therefore, non-root node 1B (i.e., a non-leaf node with the shortest total second state transition duration and whose shortest second state transition duration is shorter than the shortest total first state transition duration) can be used as the new parent node, and then the process returns to step S52. If a non-leaf node does not exist, it will be impossible to obtain a target leaf node with a shorter total state transition time and determine a better target node path branch. Therefore, there is no need to continue expanding the tree structure, thus achieving the goal of timely terminating node expansion to reduce computational resources. Furthermore, if a leaf node cannot be created, any non-leaf node among all non-leaf nodes that have not yet expanded downwards to create child nodes and corresponds to the fewest sub-items to be tested can be designated as a leaf node (at this time, its first total state transition time is equal to the second total state transition time of that non-leaf node). The set of sub-items to be tested corresponding to that non-leaf node is then removed from the autonomous health test project, and step S56 is executed to maximize the completion of the autonomous health test project's testing tasks.

[0086] S56. End the expansion and create non-root nodes to obtain the tree structure.

[0087] S6. Accumulate the corresponding state switching duration and the state switching durations of all direct parent nodes for each leaf node in the tree structure to obtain the corresponding state switching total duration.

[0088] In the step S6, the state switching total duration is the first state switching total duration in the step S54, so if the first state switching total duration of each leaf node has been calculated before the step S6, the step S6 can be skipped.

[0089] S7. Determine a certain leaf node in the tree structure with the shortest state switching total duration, and take the path branch from the root node to the certain leaf node and all direct parent nodes of the certain leaf node in turn as the target node path branch.

[0090] In the step S7, based on the tree structure shown in FIG. 1, if the certain leaf node is the non-root node 3B, the path branch from the root node to the non-root node 1A, the non-root node 2B and the non-root node 3B in turn can be taken as the target node path branch (i.e. the path with bold and arrow in FIG. 1). Figure 2 Figure 3 In the step S7, based on the tree structure shown in FIG. 1, if the certain leaf node is the non-root node 3B, the path branch from the root node to the non-root node 1A, the non-root node 2B and the non-root node 3B in turn can be taken as the target node path branch (i.e. the path with bold and arrow in FIG. 1).

[0091] S8. Switch the states of all subsystems according to the state vector sequence indicated by the target node path branch to complete the test task of the autonomous health test item.

[0092] In the step S8, the target node path branch corresponds to the shortest state switching total duration, so based on the state vector sequence indicated thereby, the test task of the autonomous health test item can be performed by switching the states of all subsystems to obtain the highest test efficiency, which is beneficial to the energy saving of the spacecraft. Specifically, switching the states of all subsystems according to the state vector sequence indicated by the target node path branch to complete the test task of the autonomous health test item includes but is not limited to the following steps S81-S84.

[0093] S81. Initialize an integer variable i = 1, and then execute step S82.

[0094] S82. Switch the states of all subsystems from the current state vector to the state vector corresponding to the i-th non-root node in the target node path branch and arranged in the order from top to bottom, and then execute step S83.

[0095] S83. First, for each applicable test sub-item corresponding to the current switched state vector, apply the corresponding test procedure and test result evaluation rule to complete the corresponding test task, and then execute step S84.​

[0096] S84. Determine whether the i-th non-root node is a leaf node in the target node path branch, if yes, end the test task of the autonomous health test project, otherwise make i self-increment 1, and then return to execute step S82.

[0097] In the above step S83, the specific process of completing the test task of the applicable test sub-project by applying the test flow and test result evaluation rule of the applicable test sub-project is a prior art means, which will not be described here.

[0098] Therefore, based on the spacecraft autonomous health test method described in the foregoing steps S1-S8, a new scheme for optimizing system state ordering based on a tree structure to efficiently perform spacecraft autonomous health testing is provided, that is, first, for each test sub-project in the autonomous health test project, the corresponding test precondition is taken as a first state vector, and the first state vector is added to the vector library, then the current state value of all subsystems is obtained as a second state vector, and a tree layer structure including a root node layer and at least one non-root node layer is constructed, then according to the vector library and the second state vector, the non-root nodes in each non-root node layer are sequentially expanded from top to bottom, and the state switching duration of the non-root nodes is determined and whether the non-root nodes are leaf nodes is determined, to obtain a tree structure, finally, the target node path branch corresponding to the shortest state switching total duration is determined in the tree structure, and the state vector sequence indicated thereby is used to switch the states of all subsystems to complete the test task of the autonomous health test project, so that the highest test efficiency can be obtained, which is beneficial to spacecraft energy saving and facilitates practical application and promotion.

[0099] As shown in Figure 4 the second aspect of the present embodiment provides a virtual device for implementing the spacecraft autonomous health test method of the first aspect, comprising a precondition extraction unit, a vector library adding unit, a current state acquisition unit, a tree layer structure creating unit, a tree structure expanding unit, a switching duration calculation unit, a target path determining unit and a system state switching unit;

[0100] The precondition extraction unit is configured to extract test preconditions of each test sub-project from a preset autonomous health test project, wherein the test preconditions include state values of all subsystems in the spacecraft applicable to the corresponding test sub-project.

[0101] The vector library adding unit is communicatively connected to the precondition extraction unit and configured to, for each test sub-project, take the corresponding test precondition as a first state vector, and add the first state vector to the vector library.

[0102] The current state acquisition unit is configured to acquire current state values of all subsystems and take the acquisition result as a second state vector;

[0103] The tree layer structure creation unit is configured to construct a tree layer structure including a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in the tree layer structure in a top-down order;

[0104] The tree structure expansion unit is respectively communicatively connected to the vector library adding unit, the current state acquisition unit and the tree layer structure creation unit, configured to initially set a root node in the root node layer, then expand non-root nodes in each non-root node layer from top to bottom according to the vector library and the second state vector, and determine state switching time lengths of the non-root nodes and whether the non-root nodes are leaf nodes, to obtain a tree structure, wherein the root node corresponds to the second state vector, an rth non-root node in a kth non-root node layer corresponds to a third state vector, the third state vector is an nth state vector retrieved from the vector library and most similar to a fourth state vector, the fourth state vector is a state vector corresponding to an mth non-leaf node in a node layer above the kth non-root node layer, k, n, m and r respectively represent positive integers, the mth non-leaf node is a parent node of the rth non-root node, any non-root node corresponds to different state vectors with any straight-line parent node of the any non-root node and being a non-root node, a state switching time length of the rth non-root node is a required switching time length of states of all subsystems from the fourth state vector to the third state vector, a to-be-tested subitem set corresponding to the root node includes all test subitems in the autonomous health test items, and a judgment condition for determining that the rth non-root node is a leaf node includes: if the to-be-tested subitem set corresponding to the mth non-leaf node only includes all applicable test subitems corresponding to the third state vector, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test subitems corresponding to the third state vector are removed from the to-be-tested subitem set corresponding to the mth non-leaf node to serve as a to-be-tested subitem set corresponding to the rth non-root node;

[0105] The switching time length calculation unit is communicatively connected to the tree structure expansion unit, configured to, for each leaf node in the tree structure, accumulate a corresponding state switching time length and state switching time lengths of all straight-line parent nodes of the non-root node, to obtain a corresponding state switching total time length;

[0106] The target path determination unit is in communication connection with the switching time length calculation unit, configured to determine a certain leaf node with the shortest total state switching time length in the tree structure, and take a path branch from the root node to the certain leaf node and sequentially passing all direct parent nodes of the certain leaf node from top to bottom as a target node path branch;

[0107] The system state switching unit is in communication connection with the target path determination unit, configured to switch the states of all subsystems according to the state vector sequence indicated by the target node path branch to complete the test task of the autonomous health test item.

[0108] The working process, working details and technical effects of the foregoing device provided by the second aspect of the embodiment can be referred to the spacecraft autonomous health test method described in the first aspect, which will not be repeated here.

[0109] As shown in ​ The third aspect of the embodiment provides a computer device for executing the spacecraft autonomous health test method described in the first aspect, which comprises a memory, a processor and a transceiver in communication connection in sequence, wherein the memory is configured to store a computer program, the transceiver is configured to transceive messages, and the processor is configured to read the computer program and execute the spacecraft autonomous health test method described in the first aspect. Specifically, the memory can include, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a flash memory, a first input first output (FIFO) memory and / or a first input last output (FILO) memory, etc.; and the processor can be, but is not limited to, a microprocessor with a model number of STM32F105 series. In addition, the computer device can further include, but is not limited to, a power module, a display screen and other necessary components.

[0110] The working process, working details and technical effects of the foregoing computer device provided by the third aspect of the embodiment can be referred to the spacecraft autonomous health test method described in the first aspect, which will not be repeated here.

[0111] The fourth aspect of the embodiment provides a computer readable storage medium storing instructions of the spacecraft autonomous health test method as described in the first aspect, that is, the computer readable storage medium stores instructions, and when the instructions are run on a computer, the spacecraft autonomous health test method as described in the first aspect is executed. Wherein, the computer readable storage medium refers to a carrier for storing data, which can include, but is not limited to, floppy disks, optical disks, hard disks, flash memories, USB flash disks and / or Memory Stick, etc. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices.

[0112] The working process, working details and technical effects of the aforementioned computer readable storage medium provided by the fourth aspect of the embodiment can be referred to the spacecraft autonomous health test method as described in the first aspect, which will not be described here.

[0113] The fifth aspect of the embodiment provides a computer program product, including a computer program or instructions, which, when executed by a computer, implements the spacecraft autonomous health test method as described in the first aspect. Wherein, the computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices.

[0114] Finally, it should be pointed out that: the above only for the preferred embodiments of the present application, and not for limiting the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A spacecraft autonomous health test method, characterized by, The method comprises the following steps: extracting test preconditions of each test sub-project from preset autonomous health test projects, wherein the test preconditions include state values of all subsystems in the spacecraft and are applicable to the corresponding test sub-project; for each test sub-project, taking the corresponding test preconditions as a first state vector and adding the first state vector to a vector library; obtaining current state values of all subsystems and taking the obtained results as a second state vector; constructing a tree layer structure comprising a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in the tree layer structure in a top-down order; initially setting a root node in the root node layer, then extending non-root nodes in each non-root node layer in a top-down order according to the vector library and the second state vector, and determining state switching durations of the non-root nodes and whether the non-root nodes are leaf nodes to obtain a tree structure, wherein the root node corresponds to the second state vector, an rth non-root node in a kth non-root node layer corresponds to a third state vector, the third state vector is an nth state vector retrieved from the vector library and most similar to a fourth state vector, the fourth state vector is a state vector corresponding to an mth non-leaf node in a node layer above the kth non-root node layer, k, n, m and r respectively represent positive integers, the mth non-leaf node is a parent node of the rth non-root node, any non-root node corresponds to different state vectors of the any non-root node and any direct-line parent node of the any non-root node, the state switching duration of the rth non-root node is a required switching duration of states of all subsystems from the fourth state vector to the third state vector, a test sub-project set corresponding to the root node includes all test sub-projects in the autonomous health test projects, and a judgment condition for determining whether the rth non-root node is a leaf node includes: if the test sub-project set corresponding to the mth non-leaf node only includes all applicable test sub-projects corresponding to the third state vector, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test sub-projects corresponding to the third state vector are removed from the test sub-project set corresponding to the mth non-leaf node to serve as a test sub-project set corresponding to the rth non-root node; for each leaf node in the tree structure, accumulating the corresponding state switching duration and state switching durations of all direct-line parent nodes of the non-root node to obtain a corresponding total state switching duration; determining a certain leaf node in the tree structure with the shortest total state switching duration, and taking a path branch from the root node to the certain leaf node and sequentially passing through all direct-line parent nodes of the certain leaf node in a top-down order as a target node path branch; switching states of all subsystems according to a state vector order indicated by the target node path branch to complete a test task of the autonomous health test projects.

2. The spacecraft autonomous health test method of claim 1, wherein, The all subsystems include on-orbit device subsystems and / or ground station device subsystems.

3. The spacecraft autonomous health test method of claim 1, wherein, The state values include first state values for reflecting whether corresponding subsystems are powered on and / or second state values for reflecting whether corresponding subsystems are on duty.

4. The spacecraft autonomous health test method of claim 1, wherein, According to the vector library and the second state vector, non-root nodes in each non-root node layer are sequentially expanded from top to bottom, and state switching durations of the non-root nodes are determined and whether the non-root nodes are leaf nodes are determined, to obtain a tree structure, including the following steps S51-S57: S51. All test sub-projects in the autonomous health test project are taken as a set of to-be-tested sub-projects corresponding to the root node, and the root node is made to correspond to the second state vector, and then the root node is taken as a parent node, and step S52 is executed; S52. The first N fifth state vectors most similar to a parent node state vector are retrieved from the vector library, and then step S53 is executed, wherein the parent node state vector refers to a state vector corresponding to the parent node, N represents a preset positive integer, the fifth state vector is different from any direct parent node state vector, and the any direct parent node state vector refers to a state vector corresponding to the parent node and any direct parent node which is a non-root node; S53. For each fifth state vector in the first N fifth state vectors, a certain non-root node corresponding to the parent node is created in a next node layer of a node layer where the parent node is located, and a state switching duration of the certain non-root node is determined, and whether the certain non-root node is a leaf node is determined, and then step S54 is executed, wherein the state switching duration of the certain non-root node is a required switching duration of states of all subsystems from the parent node state vector to a non-root node state vector corresponding to the certain non-root node, and a judgment condition for determining that the certain non-root node is a leaf node includes that if a set of to-be-tested sub-projects corresponding to the parent node only includes all applicable test sub-projects corresponding to the non-root node state vector, it is determined that the certain non-root node is a leaf node, otherwise, it is determined that the certain non-root node is a new non-leaf node, and all applicable test sub-projects corresponding to the non-root node state vector are removed from the set of to-be-tested sub-projects corresponding to the parent node as a set of to-be-tested sub-projects corresponding to the certain non-root node; S54. For each leaf node newly created in the next node layer, state switching durations of the corresponding leaf node and non-root nodes and all direct parent nodes corresponding to the leaf node are accumulated to obtain a corresponding first state switching total duration, and for each non-leaf node newly created in the next node layer, state switching durations of the corresponding non-leaf node and non-root nodes and all direct parent nodes corresponding to the non-leaf node are accumulated to obtain a corresponding second state switching total duration, and then step S55 is executed; S55. judging whether there is a certain non-leaf node with the shortest second state switching total time length and the shortest second state switching total time length is shorter than the shortest first state switching total time length among all non-leaf nodes which have not yet been expanded to create child nodes at present, if yes, taking the certain non-leaf node as a new parent node, then returning to execute step S52, otherwise executing step S56; S56. ending the expansion to create non-root nodes, and obtaining a tree structure.

5. The spacecraft autonomous health test method of claim 4, wherein, Retrieving the first N fifth state vectors most similar to the parent node state vector from the vector library, including steps S521-S524 as follows: S521. initializing a first state vector set and a second state vector set as empty sets respectively, then executing step S522; S522. performing ANN vector retrieval on the vector library based on the parent node state vector, obtaining a certain state vector with the maximum similarity to the parent node state vector and not in the first state vector set and the second state vector set, then executing step S523, wherein the parent node state vector refers to a state vector corresponding to the parent node; S523. judging whether the certain state vector is the same as any direct parent node state vector, if yes, adding the certain state vector to the first state vector set, then returning to execute step S522, otherwise adding the certain state vector to the second state vector set, then executing step S524, wherein the any direct parent node state vector refers to a state vector corresponding to any direct parent node of the parent node and being a non-root node; S524. judging whether the total number of vectors in the second state vector set is less than N, if yes, returning to execute step S522, otherwise ending the vector retrieval, and taking the N state vectors in the second state vector set as the first N fifth state vectors most similar to the parent node state vector one by one, wherein N represents a preset positive integer, and the fifth state vector is different from the any direct parent node state vector.

6. The spacecraft autonomous health test method of claim 1, wherein, Switching the states of all subsystems according to the state vector order indicated by the target node path branch to complete the test task of the autonomous health test project, including steps S81-S84 as follows: S81. initializing an integer variable i = 1, then executing step S82; S82. switching the states of all subsystems from the current state vector to a state vector corresponding to the i-th non-root node arranged in the order from top to bottom in the target node path branch, then executing step S83; S83. first, for each applicable test sub-project corresponding to the current switched state vector, applying the corresponding test process and test result evaluation rule to complete the corresponding test task, then executing step S84; S84. judging whether the i-th non-root node is a leaf node in the target node path branch, if yes, ending the test task of the autonomous health test project, otherwise making i self-increment by 1, then returning to execute step S82.

7. An autonomous health test apparatus for a spacecraft, characterized by, The system comprises a pre-test condition extraction unit, a vector library adding unit, a current state acquisition unit, a tree layer structure creating unit, a tree structure expanding unit, a switching time calculating unit, a target path determining unit and a system state switching unit. The pre-test condition extraction unit is configured to extract test preconditions of each test sub-project from preset autonomous health test projects, wherein the test preconditions include state values of all subsystems of the spacecraft applicable to the corresponding test sub-project; The vector library adding unit is in communication connection with the pre-test condition extraction unit and configured to add the corresponding test preconditions as first state vectors to the vector library for each test sub-project; The current state acquisition unit is configured to acquire current state values of all subsystems and take the acquisition results as second state vectors; The tree layer structure creating unit is configured to build a tree layer structure comprising a root node layer and at least one non-root node layer, wherein the root node layer and the at least one non-root node layer are arranged in the tree layer structure in a top-down order; The tree structure expanding unit is in communication connection with the vector library adding unit, the current state acquisition unit and the tree layer structure creating unit respectively and configured to initially set a root node in the root node layer, then expand non-root nodes in each non-root node layer from top to bottom according to the vector library and the second state vectors, determine state switching time of the non-root nodes and determine whether the non-root nodes are leaf nodes to obtain the tree structure, wherein the root node corresponds to the second state vectors, the rth non-root node in the kth non-root node layer corresponds to the third state vectors, the third state vectors refer to the nth state vectors retrieved from the vector library and most similar to the fourth state vectors, the fourth state vectors refer to state vectors corresponding to the mth non-leaf node in the node layer above the kth non-root node layer, k, n, m and r represent positive integers respectively, the mth non-leaf node is the parent node of the rth non-root node, any non-root node corresponds to different state vectors with any straight-line parent node of the non-root node, the state switching time of the rth non-root node is the required switching time of the state of all subsystems from the fourth state vectors to the third state vectors, the test sub-project set corresponding to the root node comprises all test sub-projects in the autonomous health test projects, and the judgment condition for determining whether the rth non-root node is a leaf node comprises: if the test sub-project set corresponding to the mth non-leaf node only includes all applicable test sub-projects corresponding to the third state vectors, it is determined that the rth non-root node is a leaf node, otherwise, it is determined that the rth non-root node is a new non-leaf node, and all applicable test sub-projects corresponding to the third state vectors are removed from the test sub-project set corresponding to the mth non-leaf node to serve as the test sub-project set corresponding to the rth non-root node. The switching time length calculation unit is in communication connection with the tree structure expansion unit, configured to accumulate the state switching time length of each leaf node in the tree structure and the state switching time length of all direct parent nodes corresponding to the non-root node, to obtain the corresponding state switching total time length; The target path determination unit is in communication connection with the switching time length calculation unit, configured to determine a certain leaf node in the tree structure with the shortest state switching total time length, and take a path branch from the root node to the certain leaf node and passing through all direct parent nodes of the certain leaf node from top to bottom as a target node path branch; The system state switching unit is in communication connection with the target path determination unit, configured to switch the state of all subsystems according to the state vector sequence indicated by the target node path branch to complete the test task of the autonomous health test item.

8. A computer device, comprising: The system comprises a memory, a processor and a transceiver connected in sequence, wherein the memory is configured to store a computer program, the transceiver is configured to transceive messages, and the processor is configured to read the computer program and execute the spacecraft autonomous health test method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that The computer readable storage medium stores instructions, and when the instructions are executed on the computer, the spacecraft autonomous health test method according to any one of claims 1-6 is executed.

10. A computer program product comprising computer programs or instructions, characterized in that, The computer program or the instructions realize the spacecraft autonomous health test method according to any one of claims 1-6 when executed on the computer.

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