A satellite working mode autonomous switching method and system based on an on-board templated instruction library

Abstract

This invention discloses a method and system for autonomous switching of satellite operating modes based on an on-board templated instruction library. The method includes encapsulating instruction sequences for different satellite operating modes into standardized task templates to form an on-board templated instruction library, which is stored on the satellite. The ground segment generates task definition instructions and uploads them in batches to the satellite, which stores them as a planned task queue. At the planned execution time, the corresponding task template in the on-board templated instruction library is invoked, and the instruction sequence is sent to each subsystem. The method also includes a two-stage task execution safety constraint judgment during the task definition instruction upload stage and the initial stage of task execution. The system includes a ground segment subsystem and an on-board autonomous execution subsystem, which communicate bidirectionally via a space-ground telemetry and control link. This invention significantly reduces the amount of uplink instructions, alleviates the pressure on telemetry and control resources, improves the satellite's autonomous intelligence level and task response speed, enhances operational reliability, and achieves a standardized and universal technical architecture.

Description

Technical Field

[0001] This invention relates to the field of spacecraft telemetry, tracking, and command (TT&C) and on-orbit management technology. Specifically, this invention relates to a method and system for autonomous switching of satellite operating modes based on an on-board templated command library. Background Technology

[0002] Spacecraft telemetry, tracking, and command (TT&C) and on-orbit management technologies are the core support for ensuring the efficient operation of Earth observation satellites. Among these technologies, satellite operating mode switching technology directly determines the execution efficiency and response timeliness of observation missions. With the booming development of commercial spaceflight, the scale of satellite constellations continues to expand, application scenarios are becoming increasingly diverse, and the demand for emergency observation and batch observation is growing, placing higher requirements on the automation and autonomy of satellite operating mode switching.

[0003] Currently, the switching of operating modes for Earth observation satellites mainly relies on manual ground control. Ground operators need to manually compose dozens or even hundreds of specific commands according to the mission plan and intensively upload them to the satellite within a short telemetry and control (TT&C) interval. The satellite then executes these commands one by one or stores them and executes them on time to complete the mode switch. This approach has several significant drawbacks: First, it is inefficient, as a large number of uplink commands consume valuable TT&C channel resources and increase the workload of ground operators. Second, it is slow to respond to missions, with a long cycle from command composition and review to uploading, making it impossible to quickly respond to sudden observation needs. Third, it has high reliability risks; as the number of manually composed and transmitted commands increases, the probability of introducing errors also increases, and the success rate of transmitting a single command directly affects the overall mission performance. Fourth, it lacks operational flexibility; any minor adjustment within the mode requires the ground to recompose the entire command sequence, making the process cumbersome and lacking adaptability. In addition, with the expansion of satellite constellations, the traditional one-to-one manual control mode faces additional challenges such as a surge in labor costs and a shortage of TT&C resources.

[0004] Therefore, there is an urgent need for a satellite operating mode autonomous switching design that requires less instruction input, has a high degree of automation, fast response speed, and strong reliability. This design would solve the problems of traditional technologies that rely on manual instruction programming on the ground, resulting in low efficiency, slow response, insufficient reliability, and poor flexibility. It would meet the needs of batch execution of routine missions and rapid response to emergency missions for Earth observation satellites, and provide technical support for the efficient operation of large-scale satellite constellations. Summary of the Invention

[0005] Based on existing technologies, the objective of this invention is to provide a method and system for autonomous switching of satellite operating modes based on an onboard templated instruction library. This method and system have fewer instruction annotations, a high degree of automation, fast response speed, and strong reliability, and can solve the problems of existing technologies that rely on manual instruction arrangement on the ground, resulting in low efficiency, slow response, insufficient reliability, and poor flexibility.

[0006] A first aspect of the present invention provides a method for autonomous switching of satellite operating modes based on an on-board templated instruction library, comprising: The instruction sequences for different satellite operating modes are encapsulated into standardized mission templates to form an on-board templated instruction library, which is then stored in the satellite. On the ground segment, mission definition instructions are generated based on satellite observation requirements; The task definition instructions for a predetermined time period in the future are uploaded to the satellite in batches. Upon receiving the task definition instructions, the satellite stores them as a planned task queue. When the onboard time reaches the planned execution time of the task definition instruction in the planned task queue, the corresponding task template in the onboard templated instruction library is invoked, and the instruction sequence in the task template is sent to each subsystem of the satellite.

[0007] Furthermore, the instruction sequences for different operating modes of the satellite are encapsulated into standardized mission templates through template definition instructions, the template definition instructions including: Template ID, which is configured as a unique identifier for the task template; Template identifiers, which are configured as category tags based on the task template; The instruction sequence includes the underlying operation instructions corresponding to the task template; and Relative execution time includes the execution time of each instruction sequence relative to the task start time.

[0008] Furthermore, the task definition instructions include: Task ID, which is configured as a unique identifier for the task; The associated template ID includes the task template in the on-board templated instruction library that the task needs to call; Task execution time information, including the planned execution time of the task; and Template parameter adjustment information, including parameters that need to be changed when calling the task template.

[0009] Furthermore, the task template includes a task entry template and a task exit template, and the instruction sequence of the working mode is split and stored in the corresponding task entry template and task exit template.

[0010] Furthermore, based on the task start time and / or load working mode of the task template, the task templates are classified, and a unique template identifier is assigned to each category of task templates.

[0011] Furthermore, the method also includes determining the security constraints for task execution, including: When annotating the task definition instruction, the safety of the task corresponding to the task definition instruction is judged. If the safety constraints are exceeded, the annotation of the task planning instruction is cancelled; and Within a preset time threshold before the mission begins, the safety of the mission is assessed. If the safety constraints are exceeded, the satellite autonomously enters the mission exit process.

[0012] A second aspect of the present invention provides a satellite operating mode autonomous switching system based on an on-board templated instruction library, the system comprising: The ground segment subsystem is configured to generate and provide mission-defined instructions based on satellite observation requirements and transmit them to the onboard autonomous execution subsystem; and The on-board autonomous execution subsystem establishes a two-way communication connection with the ground segment subsystem through a space-to-ground telemetry and control link. The on-board autonomous execution subsystem includes a pre-stored on-board templated instruction library and is configured to receive the task definition instructions and store them in the planned task queue. When the task execution time of the task definition instructions arrives, the subsystem calls the task template in the on-board templated instruction library and issues low-level operation instructions according to the instruction sequence in the task template to complete the autonomous switching of the satellite's working mode.

[0013] Furthermore, the ground segment subsystem includes: The requirements management module is configured to collect satellite observation requirements and transmit them to the mission planning module; The mission planning module is configured to generate a list corresponding to time and working mode based on the satellite observation requirements, and transmit the list to the instruction generation module. An instruction generation module is configured to convert the list into corresponding task definition instructions and transmit the task definition instructions to the measurement and control uplink module; and The telemetry, tracking, and command (TT&C) uplink module is configured to upload the task definition instructions to the onboard autonomous execution subsystem, and to perform a security constraint judgment on the task definition instructions during the uplink phase, canceling the uplink of task definition instructions that exceed the security constraints.

[0014] Furthermore, the on-board autonomous execution subsystem includes: A memory module configured to store the on-board templated instruction library; The onboard clock module is configured to provide onboard time; The spaceborne computer module, connected to the memory module, onboard clock module, and subsystem controller module via a CAN bus, is configured to store a queue of planned tasks, run a scheduler, and perform safety constraint checks within a preset time threshold after task execution begins. The spaceborne computer module includes an onboard scheduler, wherein: The on-board scheduler is configured to continuously compare the on-board time with the planned execution time of tasks in the planned task queue. When the on-board time reaches the planned execution time, it retrieves the instruction sequence of the task template from the on-board templated instruction library and sends it to the subsystem controller module; and The subsystem controller module is configured to drive the actuators of each subsystem to execute the instruction sequence after receiving the instruction sequence sent by the on-board scheduler.

[0015] Furthermore, the spacecraft computer module includes multiple independent hardware communication ports for sending the instruction sequence to subsystem controller modules at different addresses.

[0016] The present invention has at least the following beneficial effects: (1) This invention can significantly reduce the amount of uplink commands from satellites, effectively alleviating the resource pressure on ground telemetry and control. This invention adopts a "macro instruction" approach, encapsulating low-level, trivial operations (atomic instructions) into high-level, business-meaning operations (mode switching), and compressing complex instruction sequences into single high-level instructions, including template-defined instructions and task-defined instructions. This reduces the number of uplink commands by one to two orders of magnitude, reducing the occupation of telemetry and control channel resources and also reducing the workload of ground operators in sending commands. This is a successful application of classic optimization methods in software engineering and systems engineering in the aerospace field.

[0017] (2) This invention can significantly improve the autonomous intelligence level of satellites, effectively reduce the satellite's dependence on ground operations, and realize the separation of responsibilities and collaborative optimization between satellite and ground. The satellite can autonomously complete complex operation sequences according to a predetermined plan. During the command uplink phase, it can complete the judgment of constraints such as payload working time and satellite side swing angle. If the safety constraints are exceeded, the mission cannot be successfully uploaded, thereby avoiding the risks caused by ground misoperation. At the same time, in the early stage of autonomous execution, it can complete the judgment of attitude control safety constraints. If the safety constraints are exceeded, the satellite will autonomously enter the mission exit process, which can maximize the safety of the payload in orbit.

[0018] (3) This invention can effectively enhance the agility of satellite observation missions and realize the rapid planning and injection of observation missions. During long-term missions, ground operators only need to calculate and match the observation period and mission mode in the mission planning module according to the input observation mission requirements, and then fill in the mission definition instructions according to the calculation and matching results, which makes rapid mission planning and injection possible and improves the response speed to various observation requirements.

[0019] (4) This invention can significantly improve the reliability of satellite operation. By conducting dual safety constraint judgments during the instruction uploading stage and the initial stage of autonomous mission execution, it ensures the stable operation of the satellite system. The pre-stored mission templates on the satellite have all been fully verified on the ground, which can effectively avoid errors that may be introduced during the manual real-time instruction arrangement process and reduce mission execution failures caused by instruction problems. The safety constraint judgment in the initial stage of autonomous mission execution can promptly stop missions that exceed safety constraints, ensuring the safety of payload use in orbit to the greatest extent, and making the entire system operation of satellite working mode switching and mission execution more stable and reliable.

[0020] (5) This invention achieves standardization and generalization of the technical architecture, and has good modular design and promotion value. The satellite working mode autonomous switching architecture adopted by this invention is easy to implement and promote in a modular way, which can lay a technical foundation for building a standardized satellite platform, and also provides effective support for the construction of automated ground operation and control systems. It can be reused and promoted in related aerospace measurement and control fields.

[0021] This invention, through its core design of templated storage, advanced command triggering, and on-board autonomous execution, optimizes and upgrades traditional satellite operating mode switching technology from multiple dimensions, including command transmission, autonomous operation, safety control, operational reliability, and technology promotion. It effectively solves problems such as low command uploading efficiency, slow task response, insufficient operational reliability, and poor flexibility in mode adjustment inherent in traditional technologies. This significantly improves the automation and autonomy of satellite operating mode switching while reducing the workload and resource consumption of ground-based telemetry and control. The invention has wide applications, adapting to routine on-orbit observation and mode switching tasks of a single Earth observation satellite, enabling rapid response to rapid observation needs in scenarios such as sudden natural disasters and emergency monitoring. It is also suitable for the batch, automated on-orbit management of large-scale Earth observation satellite constellations consisting of dozens or more satellites. This effectively reduces the operational manpower costs of large-scale satellite constellations, improves the overall operational efficiency of aerospace telemetry and control systems, and provides a practical technical solution for the development of spacecraft telemetry, control, and on-orbit management technology, meeting the on-orbit operation needs of various Earth observation satellites in commercial aerospace and aerospace engineering. Attached Figure Description

[0022] To further illustrate the advantages and other features of the various embodiments of the present invention, a more specific description of the embodiments of the present invention will be presented with reference to the accompanying drawings. It is understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by the same or similar reference numerals for clarity.

[0023] Figure 1 A flowchart of a method according to one embodiment of the present invention is shown.

[0024] Figure 2 The diagram illustrates the design logic of the subsystem instructions and task templates involved in task execution in one embodiment of the present invention.

[0025] Figure 3 An autonomous switching system architecture diagram of one embodiment of the present invention is shown.

[0026] Figure 4 An end-to-end task execution flow is illustrated in one embodiment of the present invention.

[0027] List of reference numerals 100 Autonomous Switching System 101 Ground Segment Subsystem 101-1 Requirements Management Module 101-2 Task Planning Module 101-3 Instruction Generation Module 101-4 Measurement and Control Uplink Module 102 satellite autonomous execution subsystem 102-1 Memory Module 102-2 Onboard Clock Module 102-3 Star Service Computer Module 102-4 Subsystem Controller Module Detailed Implementation It should be noted that the components in the various figures may be shown exaggeratedly for illustrative purposes and are not necessarily to scale. In each figure, the same reference numerals are used for components that are identical or have the same function.

[0028] In this invention, the various embodiments are merely intended to illustrate the solutions of the invention and should not be construed as limiting.

[0029] In this invention, unless otherwise specified, the quantifiers “a” and “one” do not exclude scenarios involving multiple elements.

[0030] It should also be noted that, in the embodiments of the present invention, only a portion of the components or parts may be shown for clarity and simplicity. However, those skilled in the art will understand that, under the teachings of the present invention, necessary components or parts can be added as needed for specific scenarios. Furthermore, unless otherwise stated, features in different embodiments of the present invention can be combined with each other. For example, a feature in the second embodiment can replace a corresponding or functionally identical or similar feature in the first embodiment, and the resulting embodiment will also fall within the scope of disclosure or description of this application.

[0031] In this invention, the modules of the system according to the invention can be implemented using software, hardware, firmware, or a combination thereof. When a module is implemented using software, its function can be implemented through computer program flow. For example, the module can be implemented using code segments (such as code segments in languages ​​like C and C++) stored in a storage device (such as a hard disk, memory, etc.), wherein the corresponding function of the module can be implemented when the code segment is executed by a processor. When a module is implemented using hardware, its function can be implemented by setting a corresponding hardware structure. For example, the module's function can be implemented by hardware programming a programmable device such as a field-programmable gate array (FPGA), or by designing an application-specific integrated circuit (ASIC) that includes multiple transistors, resistors, capacitors, and other electronic devices. When a module is implemented using firmware, the module's function can be written into a read-only memory such as an EPROM or EEPROM in the form of program code, and the corresponding function of the module can be implemented when the program code is executed by a processor. In addition, some functions of the module may need to be implemented by separate hardware or by working in cooperation with the hardware. For example, the detection function is implemented by a corresponding sensor (such as a proximity sensor, accelerometer, gyroscope, etc.), the signal transmission function is implemented by a corresponding communication device (such as a Bluetooth device, infrared communication device, baseband communication device, Wi-Fi communication device, etc.), the output function is implemented by a corresponding output device (such as a display, speaker, etc.), and so on.

[0032] Furthermore, the numbering of the steps in the methods of the present invention does not limit the execution order of the method steps. Unless otherwise specified, the method steps may be executed in different orders.

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] Figure 1 A flowchart of a method according to one embodiment of the present invention is shown.

[0035] In one embodiment of the present invention, a method for autonomous switching of satellite operating modes based on an on-board templated instruction library is provided, comprising the following steps: Step S100: Onboard Templated Instruction Library Construction and Storage: The instruction sequences for different working modes of the satellite, such as Earth imaging, radiometric calibration, yaw calibration, and solar calibration, are encapsulated into standardized task templates through template definition instructions. All task templates are integrated to form an onboard templated instruction library, which is then stored in the non-volatile memory of the satellite's onboard computer.

[0036] Step S200: Ground segment task definition instruction generation: The ground segment receives satellite observation task requirements, conducts task planning based on requirements such as observation targets and observation periods, determines the working mode and planned execution time of the satellite to perform observation tasks, generates corresponding task definition instructions based on the planning results, and simultaneously completes batch generation of task definition instructions for all satellite observation tasks within the future preset time period.

[0037] Step S300, Batch Upload and Onboard Storage of Mission Definition Instructions: Within the telemetry and control arc, the ground segment uploads all mission definition instructions generated within the future preset time period to the satellite in batches via the space-ground telemetry and control link. After receiving all mission definition instructions through the satellite's onboard computer, the satellite does not execute the instructions immediately. Instead, it organizes all mission definition instructions in the order of their planned execution times and stores them as a planned mission queue. This queue is stored in the onboard computer's memory, providing data support for the satellite to autonomously retrieve and execute mission definition instructions in the future.

[0038] Step S400: Onboard Trigger Template Recall and Task Execution: The scheduler in the satellite's onboard computer continuously reads the onboard time provided by the onboard clock and compares it in real time with the planned execution time of each task definition instruction in the planned task queue. When the onboard time reaches the planned execution time of a certain task definition instruction, the scheduler accurately retrieves the corresponding task entry template and task exit template from the onboard templated instruction library based on the associated template ID in the task definition instruction. The satellite first executes the instruction sequence in the task entry template, sending corresponding low-level operation instructions to various subsystems such as attitude control, payload, data transmission, and power supply through the onboard computer, completing the autonomous switching of the satellite's working mode, entering the working state of the observation task, and starting the observation operation; after the observation operation is completed, the satellite then executes the instruction sequence in the task exit template, sending corresponding low-level operation instructions to each subsystem, completing the reset of the working mode, until the entire observation task is completed. The satellite scheduler sequentially completes the triggering, template retrieval, and task execution of all task definition instructions according to the order of the planned task queue, realizing continuous autonomous switching of the satellite's working mode.

[0039] Figure 2 The diagram illustrates the design logic of the subsystem instructions and task templates involved in task execution in one embodiment of the present invention.

[0040] In one embodiment of this invention, mission instruction sequence analysis is the fundamental step in the entire mission instruction design. Its core logic lies in systematically deconstructing the complete execution flow of various satellite tasks and extracting operational nodes with standardized and reusable attributes. Taking the core mission of an Earth observation satellite as an example, the entire mission lifecycle is clearly divided into three core stages: mission start, mission execution, and mission end. The mission execution stage covers aspects such as satellite attitude adjustment (e.g., attitude control working mode setting, attitude Euler angle setting), data transmission coordination (e.g., primary / backup selection, compression format selection), payload configuration (e.g., mission ID configuration, detector selection), and mission execution operations. The mission end stage involves core functional operations such as payload standby, data transmission, and satellite re-alignment with the sun to complete equipment reset and status recovery. During the disassembly process, the timing relationship and functional dependency logic between each operation node will be sorted out simultaneously. The core elements of the template design will be clarified, including satellite attitude determination, payload working mode setting, data transmission compression matching, and task start and / or end determination. Finally, a structured and standardized task instruction sequence will be formed, providing accurate and complete operational basis for the modular encapsulation of subsequent task templates, and avoiding redundancy and confusion in instruction design under different task scenarios from the root.

[0041] In one embodiment of this invention, mission template design is the core component for analyzing mission instruction sequences and enabling autonomous onboard execution. Its core logic involves modularly decomposing and encapsulating standardized mission instruction sequences to construct a pre-stored and reusable onboard template system. The mission template design follows a logic of standardization and refinement, designing dedicated sub-templates for different operating modes such as routine observation, Earth imaging, radiometric calibration, yaw calibration, and solar calibration. For ease of management, the mission template design breaks down the complete mission instruction sequence into mission entry templates and mission exit templates. The mission entry template corresponds to all preparatory operations at the beginning of the mission, while the mission exit template corresponds to the reset and recovery operations at the end of the mission. These two types of templates form a complementary relationship, ensuring a closed-loop process for switching satellite operating modes. All designed mission templates are stored as binary templates in the satellite's non-volatile memory, forming an onboard templated instruction library. This enables the satellite to retrieve standardized instruction sequences onboard, changing the passive execution logic of real-time ground-based instructions in the traditional mode and achieving autonomous execution of satellite missions.

[0042] In one embodiment of the present invention, a hierarchical instruction system is constructed using a high-level instruction design, employing a small number of concise high-level instructions to handle complex template definition, template invocation, and task execution processes. The high-level instruction design includes template definition instructions and task definition instructions.

[0043] In one embodiment of the present invention, template definition instructions are used to construct and update an on-board templated instruction library. By carrying information such as template identifiers, instruction sequences, and execution timing, standardized task templates are solidified into on-board non-volatile memory, providing reusable instruction resources for on-board autonomous execution. Template definition instructions include a template ID, a template identifier, an instruction sequence, and a relative execution time, wherein: The template ID is a unique identifier assigned to each mission template, enabling the satellite to accurately identify and retrieve different mission templates; Template identifiers serve as category tags for task templates, used to distinguish the type and applicable scenarios of task templates; The instruction sequence consists of the underlying operation instructions corresponding to each mission template, covering all operation instructions required for each subsystem of the satellite to complete its corresponding working mode; The relative execution time is the execution time of each underlying operation instruction after the task starts, which clarifies the execution sequence of the instruction sequence.

[0044] In one embodiment of the present invention, the task definition command, as the core command for ground-triggered satellite mission execution, carries a task identifier, an associated template identifier, execution time, and parameter adjustment information, enabling the satellite to autonomously invoke the corresponding template at a preset time to complete the working mode switch and mission execution. The task definition command includes a task ID, an associated template ID, mission execution time information, and template parameter adjustment information, wherein: The mission ID is a unique identifier assigned to each observation mission, used by the satellite to identify, manage, and trace different observation missions. The associated template ID is the mission template identifier in the on-board templated instruction library that the observation mission needs to call. The satellite can use this information to accurately match the corresponding mission entry template and mission exit template. The mission execution time information is the planned execution time of the observation mission, which serves as the basis for the satellite to autonomously trigger mission execution. The template parameter adjustment information contains the parameters that need to be changed when calling the mission template, including parameters that are frequently modified in observation missions, such as satellite side swing angle and payload working duration. The adjustment of mission template parameters can be completed without generating separate parameter modification commands.

[0045] In one embodiment of the present invention, a two-stage mission execution safety constraint judgment is performed throughout the entire process of autonomous switching of satellite operating modes. The first stage is the mission definition instruction uploading stage. During the process of uploading the mission definition instruction to the satellite from the ground segment, a safety judgment is simultaneously performed on the observation task corresponding to the mission definition instruction. This verifies whether parameters such as payload operating time and satellite side swing angle meet the safety constraint requirements. If the relevant parameters exceed the safety constraint range, the uploading operation of the mission definition instruction is directly canceled to prevent erroneous instructions from entering the planned task queue. The second stage is the initial mission execution verification stage. Within a preset time threshold for the start of the observation task, the satellite performs real-time safety judgment on core indicators such as attitude control safety of the task. This verifies whether the operating status of the satellite attitude control system meets the safety constraint requirements for mission execution. If the safety constraint range is exceeded, the satellite will autonomously enter the mission exit process, terminating the execution of the current observation task, thus maximizing the on-orbit safety of the satellite payload and its subsystems.

[0046] Figure 3 An autonomous switching system architecture diagram of one embodiment of the present invention is shown.

[0047] like Figure 3 As shown, in one embodiment of the present invention, a satellite working mode autonomous switching system (hereinafter referred to as "autonomous switching system") 100 based on an on-board templated instruction library is provided, including a ground segment subsystem 101 and an on-board autonomous execution subsystem 102.

[0048] In one embodiment of the present invention, the ground segment subsystem 101 is configured as the control and command generation core of the autonomous switching system 100, used to receive satellite observation requirements and convert them into uploadable task definition commands, while ensuring the security of command uploading. The ground segment subsystem 101 includes a requirement management module 101-1, a mission planning module 101-2, a command generation module 101-3, and a telemetry, tracking, and command uplink module 101-4, with each module sequentially connected to complete the entire process from requirement to command.

[0049] The demand management module 101-1 is configured to collect various satellite observation demands, including information such as observation targets, time periods, and modes in scenarios such as emergency observation, routine imaging, and radiometric calibration. After verifying the completeness of the demand information and standardizing and organizing it, it is transmitted to the mission planning module 101-2 to provide accurate input for subsequent mission planning.

[0050] The mission planning module 101-2 is configured to formulate the satellite's working timeline based on the received observation requirements, combined with constraints such as satellite orbit parameters, telemetry and control arc window, and payload working capacity, generate a list that corresponds one-to-one with time and working mode, and then transmit the list to the instruction generation module 101-3.

[0051] The instruction generation module 101-3 is configured to convert the time and working mode list into corresponding task definition instructions. The instructions integrate the unique task identifier information, the associated task entry template ID and task exit template ID, the task planned execution time, the task duration, and the template parameters that need to be adjusted. After the instructions are generated, they are transmitted to the measurement and control uplink module 101-4.

[0052] The telemetry, tracking, and command (TT&C) uplink module 101-4 is configured to upload mission definition commands to the onboard autonomous execution subsystem 102 within the TT&C arc. At the same time, it performs safety constraint judgment during the uplink phase, and verifies parameters such as payload working time and satellite side swing angle in the command. If the parameters exceed the preset safety constraint range, the uplink operation of the mission definition command is directly canceled and error information is fed back to the ground to prevent erroneous commands from entering the onboard mission queue.

[0053] In one embodiment of the present invention, the on-board autonomous execution subsystem 102 is configured as the on-board execution core of the autonomous switching system 100. It stores the on-board templated instruction library and planned task queue, autonomously invokes templates and issues instructions at preset times, while ensuring the security of task execution. The on-board autonomous execution subsystem 102 includes a memory module 102-1, an onboard clock module 102-2, a space service computer module 102-3, and a subsystem controller module 102-4. These modules are interconnected and interact with each other via a CAN bus.

[0054] The memory module 102-1 is configured to store the on-board templated instruction library, which is stored in non-volatile memory for various task templates. Each template contains a unique template ID, a template identifier, a sequence of underlying operation instructions, and the relative execution time of the instructions.

[0055] The onboard clock module 102-2 is configured to provide accurate onboard reference time and synchronize ground time signals, providing a reliable reference for time comparison in onboard scheduling procedures.

[0056] The satellite computer module 102-3 is connected to the memory module 102-1, the onboard clock module 102-2, and the subsystem controller module 102-4 via a CAN bus. The satellite computer module 102-3 internally carries a scheduler, configured to continuously read the onboard reference time provided by the onboard clock module 102-2 and compare it in real time with the planned execution time of each task in the planned task queue stored in the memory of the satellite computer module 102-3. When the onboard reference time reaches the planned execution time of a certain task, the satellite computer module 102-3 is triggered to enter the template execution process via hardware interrupt or software polling: first, it retrieves the corresponding task entry and task exit templates from the memory module 102-1, and then sends the instruction sequence within the template to the subsystem controller module 102-4. Simultaneously, the satellite computer module 102-3 performs safety constraint judgments within a preset time threshold after the start of task execution, verifying the satellite attitude control system status, payload operating parameters, etc. If the safety constraints are exceeded, it autonomously calls the task exit template to terminate the current task, ensuring the satellite's on-orbit safety.

[0057] In one specific embodiment of the present invention, the spacecraft computer module 102-3 includes multiple independent hardware communication ports, which can send standardized electrical signal commands to the subsystem controller modules 102-4 at different addresses, thereby avoiding command conflicts and improving command issuance efficiency and reliability.

[0058] The subsystem controller module 102-4 is configured to receive the command sequence issued by the satellite computer module 102-3, and drive the actuators of each subsystem to complete the corresponding operations. For example, after receiving the attitude adjustment command, the attitude control subsystem controller drives the reaction flywheel to adjust the satellite attitude to the specified side swing angle; after receiving the power-on command, the payload subsystem controller starts the imaging detector to collect observation data; after receiving the link establishment command, the data transmission subsystem controller completes the data transmission link with the ground station, and finally realizes the autonomous switching of satellite working mode and mission execution.

[0059] In one embodiment of the present invention, the ground segment subsystem 101 and the on-board autonomous execution subsystem 102 establish a bidirectional communication connection via a space-to-ground telemetry and control link. The command data stream generated by the ground segment subsystem 101 is modulated and sent to the on-board autonomous execution subsystem 102 via the space-to-ground telemetry and control link; the telemetry data stream generated by the on-board autonomous execution subsystem 102 is transmitted back to the ground segment subsystem 101 via the space-to-ground telemetry and control link.

[0060] In one embodiment of the present invention, the demand management module 101-1, task planning module 101-2, instruction generation module 101-3, and telemetry and control uplink module 101-4 interact with each other via inter-process communication within the server. The output of the instruction generation module 101-3 is communicatively connected to the input of the telemetry and control uplink module 101-4, specifically transmitting the encapsulated instruction data packets via Ethernet or a dedicated serial link. The telemetry and control uplink module 101-4 integrates an instruction encoder and a modulator, and its signal output is connected to a ground-based radio frequency transmitting antenna to complete the physical transmission process of the instructions.

[0061] In one embodiment of the present invention, when it is necessary to significantly modify the template content in the onboard templated instruction library, the ground segment subsystem 101 can generate a template definition instruction containing the updated instruction sequence, and upload it to the onboard autonomous execution subsystem 102 through the telemetry, tracking and command uplink module 101-4. After receiving it, the satellite service computer module 102-3 replaces the original template with the same template ID, thus completing the template library update. When it is necessary to terminate or cancel a task, the corresponding task definition instruction can be located in the planned task queue according to the task's unique identifier information, and a deletion operation can be performed. This operation does not affect the storage and execution of other tasks. If the task has already started execution, the scheduler can also autonomously call the corresponding task to exit the template, terminate the task, and reset the satellite to a safe standby state.

[0062] The satellite mission execution process design of this invention will be further described below.

[0063] Figure 4 An end-to-end task execution flow is illustrated in one embodiment of the present invention.

[0064] like Figure 4 As shown, in one embodiment of the present invention, the process design for end-to-end execution of the overall mission is implemented, forming a closed-loop collaborative link from the input of observation requirements to the autonomous execution of the satellite mission. The specific process is as follows: Users or ground operators first submit observation requests to the ground mission planning system, including core information such as the target area, desired observation time, and preferred observation modes. Upon receiving the requests, the ground mission planning system uses its planning software to perform mission planning calculations. Combining constraints such as satellite orbital parameters, telemetry and control (TT&C) arc windows, and payload operational capabilities, it determines the execution time for each observation mission and matches the corresponding observation modes, generating a standardized "time-mode" list. Subsequently, the ground mission planning system converts the entries in the "time-mode" list into corresponding mission definition instructions. These instructions integrate key parameters such as the mission's unique identifier ID, the associated mission template ID, the mission start time, and the mission end time, laying the foundation for subsequent space-ground collaborative execution.

[0065] Within the telemetry and control arc, ground control stations will upload a batch of mission definition instructions generated in the future to the satellite and confirm the instruction transmission status. After receiving these mission definition instructions, the satellite does not execute them immediately. Instead, the satellite's computer organizes and stores them as a planned mission queue. The list is arranged in chronological order of mission execution time and stored in the onboard memory to ensure that the scheduler can quickly access and schedule them.

[0066] The scheduler within the satellite's computer continuously reads the onboard reference time provided by the onboard clock and compares it in real time with the planned execution times of each task in the task queue. When the onboard reference time reaches the planned execution time of a task, the scheduler retrieves the corresponding task template from the onboard templated instruction library. Then, strictly following the pre-stored underlying instruction timing within the task template, it sequentially sends instructions to each of the satellite's subsystems (such as the attitude control subsystem, data transmission subsystem, and payload subsystem). Upon receiving the instructions, each subsystem controller drives its corresponding actuator to complete the operation. For example, the attitude control subsystem adjusts the satellite's attitude to the observation angle, the payload subsystem activates the imaging detector to acquire data, and the data transmission subsystem establishes a data transmission link, until the entire task is completed. If an attitude control anomaly or parameters exceeding safety constraints are detected early in the task execution, the scheduler can also autonomously invoke the task exit template, terminate the task, and reset the satellite to a safe state, ensuring safe on-orbit operation.

[0067] In summary, the entire process, from demand input, ground planning, command uploading to autonomous execution on the satellite, forms a complete end-to-end closed loop, realizing the automation and autonomy of satellite working mode switching, and improving mission response efficiency and execution reliability.

[0068] The application scenarios of the present invention will be further illustrated below with reference to specific embodiments of the present invention.

[0069] In a specific embodiment of the present invention, rapid response observation of a specific area is achieved through the method and system described in the foregoing embodiments of the present invention. When the ground receives a request for emergency imaging of an area affected by a sudden natural disaster, and there is less than one hour of preparation time from the mission assignment to the satellite's next overpass of the area, the traditional method requires planning and calculation to determine the observation time, and then the ground operator manually choreographs a complete imaging sequence containing dozens of instructions, including attitude maneuvers, payload activation, parameter settings, and data transmission and storage settings, according to the observation needs. This is time-sensitive and prone to errors, and it may be impossible to complete the uploading of all instructions within the short overpass time. However, using the method and system provided in the foregoing embodiments of the present invention, the ground segment can complete the entire process from mission planning to mission definition instruction generation within one minute. For example, it can generate mission definition instructions containing mission ID, associated template ID, and mission start and end times. Only one mission definition instruction needs to be uploaded within the telemetry and control arc, which can fully guarantee the uplink success rate and shorten the occupied telemetry and control arc time. This allows limited telemetry and control station resources to serve more satellites or perform other tasks simultaneously, realizing an improvement in emergency observation response capability from the hour level to the minute level, and significantly improving timeliness, reliability, and ease of operation.

[0070] In one specific embodiment of the present invention, the batch and automated management of a large-scale constellation is achieved through the method and system described in the foregoing embodiments of the present invention. For a constellation consisting of dozens of Earth observation satellites that need to perform hundreds of routine and calibration observation tasks every day, the traditional one-to-one satellite control mode will generate high manpower costs. However, using the method of the present invention, ground control can achieve one-stop planning. The operation and control center uploads a list of all routine and calibration observation tasks for the next 24 hours. The task planning module of the ground segment subsystem automatically and in batches assigns routine observation mode, yaw calibration mode, radiometric calibration mode, and other working modes to each satellite for each task arc based on the orbits of all satellites. The instruction generation module generates a series of task definition instructions for each satellite. The ground control station only needs to upload the task definition instructions for each satellite in batches during 1 to 2 fixed arcs every day. The entire constellation operates precisely according to the preset process, achieving highly automated control and improving the low-cost operation capability of a large-scale constellation.

[0071] Although various embodiments of the invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined solely by the appended claims and their equivalents.

Claims

1. A method for autonomous switching of satellite operating modes based on an on-board templated instruction library, characterized in that, include: The instruction sequences for different satellite operating modes are encapsulated into standardized mission templates to form an on-board templated instruction library, which is then stored in the satellite. On the ground segment, mission definition instructions are generated based on satellite observation requirements; The task definition instructions for a future preset time period are uploaded to the satellite in batches. After receiving the task definition instructions, the satellite stores them as a planned task queue. as well as When the onboard time reaches the planned execution time of the task definition instruction in the planned task queue, the corresponding task template in the onboard templated instruction library is invoked, and the instruction sequence in the task template is sent to each subsystem of the satellite.

2. The method according to claim 1, characterized in that, The instruction sequences for different operating modes of the satellite are encapsulated into standardized mission templates through template definition instructions, the template definition instructions including: Template ID, which is configured as a unique identifier for the task template; Template identifiers, which are configured as category tags based on the task template; The instruction sequence includes the underlying operation instructions corresponding to the task template; and Relative execution time includes the execution time of each instruction sequence relative to the task start time.

3. The method according to claim 1, characterized in that, The task definition instructions include: Task ID, which is configured as a unique identifier for the task; The associated template ID includes the task template in the on-board templated instruction library that the task needs to call; Task execution time information, including the planned execution time of the task; and Template parameter adjustment information, including parameters that need to be changed when calling the task template.

4. The method according to claim 1, characterized in that, The task template includes a task entry template and a task exit template. The instruction sequence of the working mode is split and stored in the corresponding task entry template and task exit template.

5. The method according to claim 4, characterized in that, Based on the task start time and / or load working mode of the task template, the task templates are classified, and a unique template identifier is assigned to each category of task templates.

6. The method according to claim 1, characterized in that, The method also includes determining the security constraints for task execution, including: When annotating the task definition instruction, the security of the task corresponding to the task definition instruction is judged. If the security constraints are exceeded, the annotation of the task definition instruction is cancelled; and Within a preset time threshold before the mission begins, the safety of the mission is assessed. If the safety constraints are exceeded, the satellite autonomously enters the mission exit process.

7. A satellite operating mode autonomous switching system based on an on-board templated instruction library, characterized in that, The system includes: The ground segment subsystem is configured to generate and provide mission-defined instructions based on satellite observation requirements and transmit them to the onboard autonomous execution subsystem; and The on-board autonomous execution subsystem establishes a two-way communication connection with the ground segment subsystem through a space-to-ground telemetry and control link. The on-board autonomous execution subsystem includes a pre-stored on-board templated instruction library and is configured to receive the task definition instructions and store them in the planned task queue. When the task execution time of the task definition instructions arrives, the subsystem calls the task template in the on-board templated instruction library and issues low-level operation instructions according to the instruction sequence in the task template to complete the autonomous switching of the satellite's working mode.

8. The system according to claim 7, characterized in that, The ground segment subsystem includes: The requirements management module is configured to collect satellite observation requirements and transmit them to the mission planning module; The mission planning module is configured to generate a list corresponding to time and working mode based on the satellite observation requirements, and transmit the list to the instruction generation module. An instruction generation module is configured to convert the list into corresponding task definition instructions and transmit the task definition instructions to the measurement and control uplink module; and The telemetry, tracking, and command (TT&C) uplink module is configured to upload the mission definition instructions to the onboard autonomous execution subsystem, and to perform a safety constraint judgment on the mission definition instructions during the uplink phase, canceling the uplink of mission definition instructions that exceed the safety constraints. The TT&C uplink module includes an instruction encoder and a modulator, the input of which is connected to the output of the instruction generation module, and the output is connected to the ground radio frequency transmitting antenna.

9. The system according to claim 7, characterized in that, The on-board autonomous execution subsystem includes: A memory module configured to store the on-board templated instruction library; The onboard clock module is configured to provide onboard time; The spaceborne computer module, connected to the memory module, onboard clock module, and subsystem controller module via a CAN bus, is configured to store a queue of planned tasks, run a scheduler, and perform safety constraint checks within a preset time threshold after task execution begins. The spaceborne computer module includes an onboard scheduler, wherein: The on-board scheduler is configured to continuously compare the on-board time with the planned execution time of tasks in the planned task queue. When the on-board time reaches the planned execution time, it retrieves the instruction sequence of the task template from the on-board templated instruction library and sends it to the subsystem controller module; and The subsystem controller module is configured to drive the actuators of each subsystem to execute the instruction sequence after receiving the instruction sequence sent by the on-board scheduler.

10. The system according to claim 9, characterized in that, The spaceborne computer module includes multiple independent hardware communication ports for sending the instruction sequence to subsystem controller modules at different addresses.

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