CN107046493B - Communication method and device - Google Patents

Abstract

The present disclosure relates to a communication method and device, which are applied to a satellite system including a master control node and a plurality of controlled nodes. The method is applied to the master control node, including: sending the The control node sends the roll call information; within the first preset time period after the roll call information is sent, judge whether the bus used by the roll call information has received the first data packet sent by the controlled node; if the first data packet is received, judge Whether the destination address is the address of the master control node; if the destination address is not the address of the master control node, judge whether the destination address and the source address are on the same bus; if the destination address and the source address are not on the same bus, forward the first data packet to on the target bus corresponding to the destination address. In this method, the master control node is equivalent to a control hub, which can coordinate different controlled nodes to upload data packets, and when forwarding is required, the data packets can be forwarded between different buses.

Description

Communication method and device

technical field

The present application relates to the technical field of communication, and in particular to a communication method and device.

Background technique

The intra-satellite communication bus is used to complete the information exchange between satellite subsystems and components. Satellites are usually composed of subsystems such as satellite affairs, attitude control, payload, energy, thermal control, communication, and propulsion. As a whole that works together, information interaction between subsystems and components is required.

Usually, the topological structure of the information flow in the star is a mesh structure, but considering factors such as too many signal lines and a limited number of interfaces, it is unrealistic to use a point-to-point connection for communication in the star, so the intra-satellite system Using the bus is an inevitable choice.

In recent years, there have been a lot of researches on communication buses in satellites, such as 1553, CAN (Controller Area Network, Controller Area Network), 485, 422, etc. These bus devices all require dedicated interfaces. However, the reality is that the types of communication interfaces of components in each satellite are not the same, and some small components cannot add 1553, CAN and other interfaces due to their own size, quality, power consumption, and cost constraints. Therefore, on the basis of not changing the interface , It is difficult to connect all the components with one bus.

Contents of the invention

The present application discloses a communication method and device to solve the problem in the background art that the satellite cannot use the bus to communicate with all the components.

In order to solve the above technical problems, the application discloses the following technical solutions:

A communication method, applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes communicates with at least one Bus connection, the communication method is applied to the master control node, the communication method includes:

Send roll call information to the controlled node through a bus connected to the controlled node;

Within the first preset time period after the roll call information is sent, it is judged whether the bus used by the roll call information has received the first data packet sent by the controlled node, and the first data packet carries a purpose address and source address;

If the first data packet is received, judging whether the destination address is the address of the master control node;

If the destination address is not the address of the master control node, determine whether the destination address and the source address are on the same bus;

If the destination address is not on the same bus as the source address, the first data packet is forwarded to the destination bus corresponding to the destination address.

Optionally, sending roll call information to the controlled node through at least one bus connected to the controlled node includes:

Determine the time division information corresponding to each controlled node, the time division information includes: the corresponding relationship between the controlled node identifier and the time slice, and the controlled node corresponds to the time slice one by one;

Determine a bus connected to each controlled node as the working bus;

According to the sorting order of the addresses of all the controlled nodes, roll call information is sent to each of the controlled nodes sequentially through their corresponding working buses.

Optionally, the method also includes:

If the first data packet is not received, add 1 to the communication error count value corresponding to the controlled node, and continue to send roll call information to the controlled node according to the set interval;

If the communication error count value is greater than a preset error threshold value, it is determined that the controlled node corresponding to the roll call information is abnormal in communication;

judging whether the controlled node with abnormal communication is connected to multiple buses;

If the controlled node with abnormal communication is connected to multiple buses, select a bus as the new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus standby list;

In a next time slice corresponding to the controlled node with abnormal communication, roll call information is sent to the controlled node with abnormal communication through the new working bus.

Optionally, the method also includes:

receiving the second data packet sent by the ground station through the measurement and control link connected to the master control node;

judging whether the destination address of the second data packet is equal to the address of the master control node;

If the destination address of the second data packet is not equal to the address of the master control node, forward the second data packet to the bus corresponding to the destination address;

or,

If the destination address and the source address of the first data packet are not on the same bus, the method also includes:

judging whether the destination address of the first data packet is a ground station address;

If the destination address of the first data packet is the address of the ground station, the first data packet is sent to the ground station through the measurement and control link connected to the master control node.

A communication method, applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes communicates with at least one Bus connection, the communication method is applied to the controlled node, the communication method includes:

receiving roll call information through at least one bus connected to the controlled node;

Determining the bus used by the roll call information as a working bus;

Sending the first data packet to the working bus within a second preset time period after receiving the roll call information.

Optionally, before sending the first data packet to the working bus within a second preset time period after receiving the roll call information, the method further includes:

Put all data packets to be forwarded into the sending queue, and the data packets in the sending queue follow the first-in-first-out principle;

determining the first data packet in the sending queue as the first data packet;

Or, after the first data packet is sent, the method further includes:

judging whether the first data packet needs to receive a confirmation message;

If the confirmation message does not need to be received, the first data packet in the sending queue is removed, and the next first data packet in the sending queue is determined as a new first data packet;

If it is necessary to receive a confirmation message, determine whether the confirmation message is received within the third preset time period after the first data packet is sent; if the confirmation message is received, set the preset communication abnormal value to 0; if the confirmation message is not received , resend the first data packet, and count the number of retransmissions; if the number of retransmissions is greater than the preset retransmission threshold, lose the first data packet, and add 1 to the preset communication abnormal value ;

If the communication abnormal value is greater than the preset abnormal value threshold, it is determined that the working bus is abnormal.

A communication device, applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes communicates with at least one Bus connection, the communication device is applied to the master control node, and the communication device includes:

a roll call information sending unit, configured to send roll call information to the controlled node through a bus connected to the controlled node;

The data packet reception judging unit is used to judge whether the bus used by the roll call information has received the first data packet sent by the controlled node within the first preset time period after the roll call information is sent, so The first data packet carries a destination address and a source address;

an address judging unit, configured to judge whether the destination address is the address of the master control node when the first data packet is received;

A bus judging unit, configured to judge whether the destination address and the source address are on the same bus when the destination address is not the address of the master control node;

A forwarding unit, configured to forward the first data packet to a target bus corresponding to the destination address when the destination address is not on the same bus as the source address.

Optionally, the roll call information sending unit includes:

The time division information determination subunit is used to determine the time division information corresponding to each controlled node, the time division information includes: the corresponding relationship between the controlled node identifier and the time slice, and the controlled node is equal to the time slice one-to-one correspondence;

A working bus determining subunit, configured to determine a bus connected to each controlled node as a working bus;

The sending subunit is configured to send roll call information to each of the controlled nodes sequentially through their corresponding working buses according to the address sorting order of all the controlled nodes.

Optionally, the device also includes:

A count determination unit, configured to add 1 to the communication error count value corresponding to the controlled node when the first data packet is not received;

The roll call information sending unit is further configured to continue sending roll call information to the controlled node at a set interval;

An abnormality determination unit, configured to determine that the communication of the controlled node corresponding to the roll call information is abnormal when the communication error count value is greater than a preset error threshold;

a bus judging unit, configured to judge whether the controlled node with the abnormal communication is connected to multiple buses;

A bus switching unit, configured to select a bus as a new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus standby list when the controlled node with abnormal communication is connected to multiple buses;

The sending unit is further configured to send roll call information to the controlled node with abnormal communication through the new working bus in the next time slice corresponding to the controlled node with abnormal communication.

Optionally, the device also includes:

A data packet receiving unit, configured to receive the second data packet sent by the ground station through the measurement and control link connected to the master control node;

a first address judging unit, configured to judge whether the destination address of the second data packet is equal to the address of the master control node;

A data packet forwarding unit, configured to forward the second data packet to the bus corresponding to the destination address when the destination address of the data packet is not equal to the address of the master control node;

or,

If the destination address and the source address of the first data packet are not on the same bus, the device also includes:

A second address judging unit, configured to judge whether the destination address of the first data packet is a ground station address;

A data packet sending unit, configured to send the first data packet to the ground station through the measurement and control link connected to the master control node when the destination address of the first data packet is the address of the ground station.

A communication device, applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes communicates with at least one Bus connection, the communication device is applied to the controlled node, and the device includes:

a roll call information receiving unit, configured to receive roll call information through at least one bus connected to the controlled node;

A working bus determining unit, configured to determine the bus used by the roll call information as a working bus;

A data packet sending unit, configured to send the first data packet to the working bus within a second preset time period after receiving the roll call information.

Optionally, the device also includes:

The data packet stacking unit is used to put all the data packets to be forwarded into the sending queue, and the data packets in the sending queue follow the first-in-first-out principle;

a first data packet determining unit, configured to determine the first data packet in the sending queue as the first data packet;

Or, after the first data packet is sent, the device further includes:

A confirmation message judging unit, configured to judge whether the first data packet needs to receive a confirmation message;

The first data packet updating unit is configured to remove the first-ranked data packet in the sending queue when the confirmation message does not need to be received, and determine the next first-ranked data packet in the sending queue as a new one first packet;

A confirmation message judging unit, used to determine whether a confirmation message is received within a third preset time period after the first data packet is sent when a confirmation message needs to be received; a communication abnormality setting unit is used to, when a confirmation message is received, Set the default communication abnormal value to 0; the first data packet retransmission unit is used to resend the first data packet when no confirmation message is received, and count the number of retransmissions; the communication abnormality setting unit , for when the number of retransmissions is greater than the preset retransmission threshold, the first data packet is lost, and the preset communication abnormal value is increased by 1;

An abnormality determining unit, configured to determine that the working bus is abnormal when the communication abnormal value is greater than a preset abnormal value threshold.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

The method provided by the embodiment of the present application is applied to a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes Nodes are connected to at least one bus. In this satellite system, the master control node is equivalent to a control hub, which can coordinate different controlled nodes to upload data packets, and when forwarding is required, the data packets can be forwarded between different buses. Therefore, as long as the interface on the main control node is compatible, the communication between different buses in different intra-satellite systems can be realized conveniently by using the original bus communication interface. It not only reduces the communication cost of the intra-satellite system, but also facilitates the expansion of the topological structure of the intra-satellite system.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the background technology. Obviously, for those of ordinary skill in the art, Other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a satellite system provided by an embodiment of the present application;

Fig. 2 is another schematic structural diagram of the satellite system provided by the embodiment of the present application;

FIG. 3 is a schematic flowchart of a communication method provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a communication device provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a communication device provided by an embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

FIG. 1 is a schematic structural diagram of a satellite system provided by an embodiment of the present application.

As shown in Figure 1, the figure includes: the master control node 0 and a plurality of controlled nodes (numbers 1-6 in the figure). Communication between the master control node 0 and the controlled nodes is carried out through the bus. In Figure 1, the bus includes : CAN (Controller Area Network, controller area network) bus, SPI (Serial Peripheral Interface, serial peripheral interface) bus, I2C (Inter-Integrated Circuit) bus and 422 bus. In the embodiment of this application, the master control node 0 has common interfaces such as UART interface, CAN interface, SPI interface, I2C interface and 422 interface, etc., so the master control node 0 can communicate with CAN bus, SPI bus, I2C bus and 422 The bus communicates directly, and communicates directly with a controlled node (controlled node 6 in the figure) through the UART interface. In Figure 1, when the same bus communicates with different nodes, the same arrows are used. For example, the CAN bus and all nodes are represented by solid arrows, and the communication between the I2C bus and nodes is represented by long dashed arrows. .

In the embodiment of the present application, each controlled node can be connected to at least one bus, for example: in FIG. 1 , the controlled node 3 can communicate with the master control node 0 through the CAN bus and the I2C bus. Since the UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter) interface can only be used for point-to-point connections, the controlled node 6 can only communicate with the master control node 0 through one UART interface. In addition, since the main control node has only one UART interface, when there are multiple controlled nodes that need to communicate with the main control node 0 through the UART interface, an FPGA (Field-Programmable Gate Array, ie Field Programmable Gate Array) module 10 can be used. Carry out port expansion, as shown in Figure 2, the master control node 0 communicates with the controlled node 6 and the controlled node 7 respectively through two UART interfaces on the FPGA module 10, and the master control node 0 communicates with: CAN respectively through the FPGA module 10 Bus, SPI bus, I2C bus and 422 bus for communication.

FIG. 3 is a schematic flowchart of a communication method provided by an embodiment of the present application.

The method is applied to the satellite system shown in FIG. 1 or FIG. 2 . As shown in FIG. 3 , the communication method may include the following steps.

S101. The master control node sends roll call information to the controlled node through a bus connected to the controlled node.

Before working, the master control node obtains the address list of all controlled nodes in advance, and the master control node divides the time slice according to the number of controlled nodes in advance, and obtains the communication time slot corresponding to each controlled node. In this way, each controlled node has a separate corresponding communication time slot.

The roll call information does not contain specific data, and its role is to communicate with the controlled node to determine whether the controlled node is online. In the embodiment of the present application, when sending roll call information, the master node may send roll call information to each controlled node sequentially according to the order of addresses of all controlled nodes. The format of the roll call information is a preset format, and this format has also been predicted by the controlled node.

When the controlled node is only connected to one bus, the master control node can directly send roll call information to the controlled node through the bus. When the controlled node is connected to multiple buses, the master control node can choose any bus among the multiple buses, and then send roll call information to the controlled node through the selected bus.

S102. The controlled node receives roll call information through at least one bus connected to the controlled node.

S103. The controlled node determines the bus used by the roll call information as a working bus.

S104. The controlled node sends the first data packet to the working bus within a second preset time period after receiving the roll call information.

S105. The master control node determines whether the first data packet sent by the controlled node is received through the bus used by the roll call information within a first preset time period after the roll call information is sent.

The first preset time period may be set on the basis of considering factors such as time delay.

In the embodiment of this application, the format of the data packet has also been notified to the master node in advance, and the first data packet carries the destination address and source address, and then when the master node receives the data, it can The source address carried can accurately determine whether it is the first data packet uploaded by the controlled node that sent the roll call information.

If the first data packet is received, step S106 is executed. Otherwise, end the process.

S106, controlling the node to determine whether the destination address is the address of the controlling node.

Since the role of the master control node is a data transfer hub, when the master control node receives the first data packet, it must first analyze the destination address of the first data packet. The first step is to analyze the first data packet. Whether the data packet is sent to the master control node or not is determined by comparing whether the destination address is consistent with the address of the master control node.

If the destination address is not the address of the master control node, perform step S107, otherwise, end the process.

S107. The master control node judges whether the destination address and the source address are on the same bus.

If the destination address is not the address of the master control node, it proves that the first data packet is not sent to the master control node. For this reason, the master control node needs to judge whether the destination address and the source address are on the same bus. If they are on the same bus, it means that the first data packet can be automatically transmitted on the sent bus, and the master control node does not need to check the first data packet. Packets are processed. However, if they are not on the same bus, then the master control node needs to forward the first data packet to other buses.

If the destination address and the source address are not on the same bus, execute step S108; otherwise, end the process.

S108. The master control node forwards the first data packet to the target bus corresponding to the destination address.

When pre-registering the addresses of all controlled nodes, the corresponding relationship between the controlled nodes and the bus is also registered at the same time, that is, which controlled nodes are on each bus, and then when the first data packet to be forwarded is known After the target address in , the target bus corresponding to the target address can be found according to the aforementioned affiliation correspondence.

The method provided by the embodiment of the present application is applied to a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes Nodes are connected to at least one bus. In this satellite system, the master control node is equivalent to a control hub, which can coordinate different controlled nodes to upload data packets, and when forwarding is required, the data packets can be forwarded between different buses. Therefore, as long as the interface on the main control node is compatible, the communication between different buses in different intra-satellite systems can be realized conveniently by using the original bus communication interface. It not only reduces the communication cost of the intra-satellite system, but also facilitates the expansion of the topological structure of the intra-satellite system.

In addition, when the number of interfaces on the master control node is too small to be used, an FPGA module can be added as an expansion interface module, as shown in Figure 2, so that the master control node can be compatible with more buses.

In the embodiment of the present application, the following steps may be adopted when forwarding the roll call information in the aforementioned step S101.

S11. Determine time division information corresponding to each controlled node.

The time division information includes: a correspondence between controlled node identifiers and time slices, and the controlled nodes correspond to time slices one-to-one. In the embodiment of the present application, an independent time slice may be allocated for each controlled node in advance, so as to communicate with the specific controlled node within the time slice.

S12. The master control node determines a bus connected to each controlled node as a working bus.

S13, the master control node sends roll call information to each of the controlled nodes sequentially through their corresponding working buses according to the address sorting order of all the controlled nodes.

In the embodiment of the present application, the master control node does not receive the first data packet within the first preset time period after the roll call information is sent, and may further include the following steps.

S21. The master control node adds 1 to the communication error count value corresponding to the controlled node, and continues to send roll call information to the controlled node at a set interval.

S22. The master control node continues to send roll call information to the controlled node at a set interval.

S23. The master control node determines that the communication of the controlled node corresponding to the roll call information is abnormal.

S24. The master control node judges whether the controlled node with abnormal communication is connected to multiple buses.

S25. If the controlled node with abnormal communication is connected to multiple buses, the master control node selects a bus as a new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus backup list.

S26. The master control node sends roll call information to the controlled node with abnormal communication through the new working bus in a next time slice corresponding to the controlled node with abnormal communication.

With this method, for a controlled node connected to multiple buses, the master control node can switch between multiple buses in a trial manner until a bus that can communicate is found. However, if the first data packet fed back by the controlled node has not been received after trying all the buses connected to a certain controlled node, then it can be determined that the controlled node is offline or faulty, and the controlled node is checked. mark, no roll call information will be sent to it in the future, and at the same time, the time slice allocated to the controlled node can be removed to optimize the allocated time slice.

In the embodiment of the present application, the main control node, as a data transmission hub, can also directly communicate with the ground station through data transmission equipment. In order to realize the communication between the ground station and the controlled node, the method may also include the following steps.

S31. The main control node receives the second data packet sent by the ground station through the measurement and control link connected to the main control node;

S32. The master control node judges whether the destination address of the second data packet is equal to the address of the master control node;

S33. If the destination address of the second data packet is not equal to the address of the master control node, the master control node forwards the second data packet to the bus corresponding to the destination address.

Correspondingly, after the controlled node sends the first data packet through the bus, when the master control node judges that the destination address of the first data packet is not on the same bus as the source address, the method may further include the following steps.

S41. The master control node judges whether the destination address of the first data packet is a ground station address;

If the destination address of the first data packet is the address of the ground station, S42, the master control node sends the first data packet to the ground station through the measurement and control link connected to the master control node.

From the above description, it can be seen that whether the ground station sends a data packet to the controlled node or the controlled node sends a data packet to the ground station, the master control node can easily forward it according to the destination address in the data packet.

In the embodiment of the present application, before sending the first data packet to the working bus within the second preset time period after receiving the roll call information, the following steps are further included.

S51. The controlled node puts all data packets to be forwarded into the sending queue.

When the controlled node has data to send, it can put the data packet to be forwarded into the sending queue without waiting for the roll call information to be sent. In the embodiment of the present application, the data packets in the sending queue follow the first-in-first-out principle.

S52. The controlled node determines the first data packet in the sending queue as the first data packet.

In this way, once the roll call information is received, the controlled node can directly take the first data packet as the first data packet and send it out.

In addition, considering the verification process after the data packet is sent, in the embodiment of the present application, the method may further include the following steps.

S61. After the first data packet is sent, the controlled node determines whether the first data packet needs to receive a confirmation message.

S62. If the confirmation message does not need to be received, the controlled node removes the first data packet in the sending queue, and determines the next first data packet in the sending queue as a new first data packet.

S63. If it is necessary to receive an acknowledgment message, the controlled node determines whether the acknowledgment message is received within a third preset time period after the first data packet is sent.

S64. If the confirmation message is received, the controlled node sets the preset communication abnormality value to 0.

S65. If the confirmation message is not received, the controlled node resends the first data packet, and counts the number of times of resending.

S66. If the number of retransmissions is greater than the preset retransmission threshold, the controlled node loses the first data packet, and adds 1 to the preset communication abnormality value.

S67. If the communication abnormal value is greater than the preset abnormal value threshold, the controlled node determines that the working bus is abnormal.

When the controlled node determines that the working bus is abnormal, on the one hand, it can record it by itself or report it through other channels; is abnormal.

Through the above steps, the controlled node is added to verify the accuracy of the first data packet sent to ensure that each first data packet sent out is successfully sent, avoiding insignificant empty sending due to bus anomalies , improving the accuracy of the data.

The solution proposed in the embodiment of the present application is essentially a virtual bus, which can solve the following two problems: (1) communication between heterogeneous buses, that is, communication between two different types of buses, such as CAN and 422 two buses, using the method provided by the embodiment of the present application can realize the communication between CAN and 422; (2) it can make the equipment without bus interface participate in the communication through the virtual bus, for example, some equipment only has UART Serial interface (controlled node 6 as shown in Figure 1), UART is not a bus interface, the device can connect to the master control node through FPGA, and then participate in the communication of other buses through information interaction with the master control node. In the solution provided by the embodiment of the present application, the main control node is the information center, which can realize the transfer of data between different buses, non-bus interfaces and buses, and realize many-to-many communication through time division multiple access. Here, the virtual bus is Refers to the virtual bus established on the basis of physical bus and point-to-point communication. The master control node controls the controlled node to communicate in the way of time-division multiple access. Here, time-division multiple access refers to time-division multiple access on the virtual bus.

Through the description of the above method embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the essence of the technical solution of this application or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to make a A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media capable of storing program codes such as read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk.

Fig. 4 is a schematic structural diagram of a communication device provided by an embodiment of the present application.

The device can be applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes is connected to at least one bus , the communication device is applied to the master control node, as shown in Figure 4, the communication device includes:

A roll call information sending unit 11, configured to send roll call information to the controlled node through a bus connected to the controlled node;

A data packet reception judging unit 12, configured to determine whether the bus used by the roll call information has received the first data packet sent by the controlled node within a first preset time period after the roll call information is sent, The first data packet carries a destination address and a source address;

An address judging unit 13, configured to judge whether the destination address is the address of the master control node when the first data packet is received;

A bus judging unit 14, configured to judge whether the destination address and the source address are on the same bus when the destination address is not the address of the master control node;

The forwarding unit 15 is configured to forward the first data packet to a target bus corresponding to the destination address when the destination address and the source address are not on the same bus.

The device provided by the embodiment of the present application is applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes Nodes are connected to at least one bus. In this satellite system, the master control node is equivalent to a control hub, which can coordinate different controlled nodes to upload data packets, and when forwarding is required, the data packets can be forwarded between different buses. Therefore, as long as the interface on the main control node is compatible, the communication between different buses in different intra-satellite systems can be realized conveniently by using the original bus communication interface. It not only reduces the communication cost of the intra-satellite system, but also facilitates the expansion of the topological structure of the intra-satellite system.

In one embodiment of the present application, the roll call information sending unit includes:

The time division information determination subunit is used to determine the time division information corresponding to each controlled node, the time division information includes: the corresponding relationship between the controlled node identifier and the time slice, and the controlled node is equal to the time slice one-to-one correspondence;

A working bus determining subunit, configured to determine a bus connected to each controlled node as a working bus;

The sending subunit is configured to send roll call information to each of the controlled nodes sequentially through their corresponding working buses according to the address sorting order of all the controlled nodes.

In one embodiment of the present application, the device further includes:

A count determination unit, configured to add 1 to the communication error count value corresponding to the controlled node when the first data packet is not received;

The roll call information sending unit is further configured to continue sending roll call information to the controlled node at a set interval;

An abnormality determination unit, configured to determine that the communication of the controlled node corresponding to the roll call information is abnormal when the communication error count value is greater than a preset error threshold;

a bus judging unit, configured to judge whether the controlled node with the abnormal communication is connected to multiple buses;

A bus switching unit, configured to select a bus as a new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus standby list when the controlled node with abnormal communication is connected to multiple buses;

The sending unit is further configured to send roll call information to the controlled node with abnormal communication through the new working bus in the next time slice corresponding to the controlled node with abnormal communication.

In one embodiment of the present application, the device further includes:

A data packet receiving unit, configured to receive the second data packet sent by the ground station through the measurement and control link connected to the master control node;

a first address judging unit, configured to judge whether the destination address of the second data packet is equal to the address of the master control node;

A data packet forwarding unit, configured to forward the second data packet to the bus corresponding to the destination address when the destination address of the data packet is not equal to the address of the master control node;

In another embodiment of the present application, if the destination address and the source address of the first data packet are not on the same bus, the device further includes:

A second address judging unit, configured to judge whether the destination address of the first data packet is a ground station address;

A data packet sending unit, configured to send the first data packet to the ground station through the measurement and control link connected to the master control node when the destination address of the first data packet is the address of the ground station.

Fig. 5 is a schematic structural diagram of a communication device provided by an embodiment of the present application.

The device is applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, and each of the controlled nodes is connected to at least one bus, The communication device is applied to the controlled node, as shown in Figure 5, the device includes:

A roll call information receiving unit 21, configured to receive roll call information through at least one bus connected to the controlled node;

A work bus determining unit 22, configured to determine the bus used by the roll call information as a work bus;

The data packet sending unit 23 is configured to send the first data packet to the working bus within a second preset time period after receiving the roll call information.

In the device provided in the embodiment of the present application, for a controlled node connected to multiple buses, the master control node can switch between multiple buses in a trial manner until a bus that can communicate is found.

In one embodiment of the present application, the device may also include:

The data packet stacking unit is used to put all the data packets to be forwarded into the sending queue, and the data packets in the sending queue follow the first-in-first-out principle;

The first data packet determining unit is configured to determine the first data packet in the sending queue as the first data packet.

In another embodiment of the present application, after the first data packet is sent, the device may further include:

A confirmation message judging unit, configured to judge whether the first data packet needs to receive a confirmation message;

The first data packet updating unit is configured to remove the first-ranked data packet in the sending queue when the confirmation message does not need to be received, and determine the next first-ranked data packet in the sending queue as a new one first packet;

A confirmation message judging unit, used to determine whether a confirmation message is received within a third preset time period after the first data packet is sent when a confirmation message needs to be received; a communication abnormality setting unit is used to, when a confirmation message is received, Set the default communication abnormal value to 0; the first data packet retransmission unit is used to resend the first data packet when no confirmation message is received, and count the number of retransmissions; the communication abnormality setting unit , for when the number of retransmissions is greater than the preset retransmission threshold, the first data packet is lost, and the preset communication abnormal value is increased by 1;

An abnormality determining unit, configured to determine that the working bus is abnormal when the communication abnormal value is greater than a preset abnormal value threshold.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiments. The device and system embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, It can be located in one place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

In this article, each preferred solution only focuses on the difference from other solutions. As long as there is no conflict, each preferred solution can be combined arbitrarily, and the embodiments formed after the combination are also within the scope of this specification. For brevity, the embodiment formed by the combination will not be separately described herein.

It will be appreciated that the present application is applicable to numerous general purpose or special purpose computing system environments or configurations. Examples: personal computers, server computers, handheld or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, including A distributed computing environment for any of the above systems or devices, etc.

This application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.

The above descriptions are only specific implementation manners of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. A communication method, characterized in that it is applied in a satellite system comprising a master control node and a plurality of controlled nodes, wherein the master control node communicates with the controlled nodes through a bus, and each of the The controlled node is connected to at least one bus, and the communication method is applied to the master control node, and the communication method includes: Send roll call information to the controlled node through a bus connected to the controlled node; Within the first preset time period after the roll call information is sent, it is judged whether the bus used by the roll call information has received the first data packet sent by the controlled node, and the first data packet carries a purpose address and source address; If the first data packet is received, judging whether the destination address is the address of the master control node; If the destination address is not the address of the master control node, determine whether the destination address and the source address are on the same bus; If the destination address is not on the same bus as the source address, the first data packet is forwarded to the destination bus corresponding to the destination address. 2. The method according to claim 1, wherein the sending roll call information to the controlled node through at least one bus connected to the controlled node comprises: Determine the time division information corresponding to each controlled node, the time division information includes: the corresponding relationship between the controlled node identifier and the time slice, and the controlled node corresponds to the time slice one by one; Determine a bus connected to each controlled node as the working bus; According to the sorting order of the addresses of all the controlled nodes, roll call information is sent to each of the controlled nodes sequentially through their corresponding working buses. 3. The method according to claim 2, wherein the method further comprises: If the first data packet is not received, add 1 to the communication error count value corresponding to the controlled node, and continue to send roll call information to the controlled node according to the set interval; If the communication error count value is greater than a preset error threshold value, it is determined that the controlled node corresponding to the roll call information is abnormal in communication; judging whether the controlled node with abnormal communication is connected to multiple buses; If the controlled node with abnormal communication is connected to multiple buses, select a bus as the new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus standby list; In a next time slice corresponding to the controlled node with abnormal communication, roll call information is sent to the controlled node with abnormal communication through the new working bus. 4. The method according to claim 1, wherein the method further comprises: receiving the second data packet sent by the ground station through the measurement and control link connected to the master control node; judging whether the destination address of the second data packet is equal to the address of the master control node; If the destination address of the second data packet is not equal to the address of the master control node, forward the second data packet to the bus corresponding to the destination address; or, If the destination address and the source address of the first data packet are not on the same bus, the method also includes: judging whether the destination address of the first data packet is a ground station address; If the destination address of the first data packet is the address of the ground station, the first data packet is sent to the ground station through the measurement and control link connected to the master control node. 5. A communication method, applied to a controlled node, corresponding to the communication method according to claim 1 applied to a master control node, wherein the communication method comprises: receiving roll call information through at least one bus connected to the controlled node; Determining the bus used by the roll call information as a working bus; Sending the first data packet to the working bus within a second preset time period after receiving the roll call information. 6. The method according to claim 5, characterized in that, before the first data packet is sent on the working bus within the second preset time period after receiving the roll call information, the method also includes: Put all data packets to be forwarded into the sending queue, and the data packets in the sending queue follow the first-in-first-out principle; determining the first data packet in the sending queue as the first data packet; Or, after the first data packet is sent, the method further includes: judging whether the first data packet needs to receive a confirmation message; If the confirmation message does not need to be received, the first data packet in the sending queue is removed, and the next first data packet in the sending queue is determined as a new first data packet; If it is necessary to receive a confirmation message, determine whether the confirmation message is received within the third preset time period after the first data packet is sent; if the confirmation message is received, set the preset communication abnormal value to 0; if the confirmation message is not received , resend the first data packet, and count the number of retransmissions; if the number of retransmissions is greater than the preset retransmission threshold, lose the first data packet, and add 1 to the preset communication abnormal value ; If the communication abnormal value is greater than the preset abnormal value threshold, it is determined that the working bus is abnormal. 7. A communication device, characterized in that it is applied in a satellite system including a master control node and a plurality of controlled nodes, the master control node communicates with the controlled nodes through a bus, each of the The controlled node is connected to at least one bus, and the communication device is applied to the master control node, and the communication device includes: a roll call information sending unit, configured to send roll call information to the controlled node through a bus connected to the controlled node; The data packet reception judging unit is used to judge whether the bus used by the roll call information has received the first data packet sent by the controlled node within the first preset time period after the roll call information is sent, so The first data packet carries a destination address and a source address; an address judging unit, configured to judge whether the destination address is the address of the master control node when the first data packet is received; A bus judging unit, configured to judge whether the destination address and the source address are on the same bus when the destination address is not the address of the master control node; A forwarding unit, configured to forward the first data packet to a target bus corresponding to the destination address when the destination address is not on the same bus as the source address. 8. The device according to claim 7, wherein the roll call information sending unit comprises: The time division information determination subunit is used to determine the time division information corresponding to each controlled node, the time division information includes: the corresponding relationship between the controlled node identifier and the time slice, and the controlled node is equal to the time slice one-to-one correspondence; A working bus determining subunit, configured to determine a bus connected to each controlled node as a working bus; The sending subunit is configured to send roll call information to each of the controlled nodes sequentially through their corresponding working buses according to the address sorting order of all the controlled nodes. 9. The device according to claim 7, further comprising: A count determination unit, configured to add 1 to the communication error count value corresponding to the controlled node when the first data packet is not received; The roll call information sending unit is further configured to continue sending roll call information to the controlled node at a set interval; An abnormality determination unit, configured to determine that the communication of the controlled node corresponding to the roll call information is abnormal when the communication error count value is greater than a preset error threshold; a bus judging unit, configured to judge whether the controlled node with the abnormal communication is connected to multiple buses; A bus switching unit, configured to select a bus as a new working bus according to the remaining buses of the controlled node with abnormal communication in the preset bus standby list when the controlled node with abnormal communication is connected to multiple buses; The sending unit is further configured to send roll call information to the controlled node with abnormal communication through the new working bus in the next time slice corresponding to the controlled node with abnormal communication. 10. The device according to claim 7, further comprising: A data packet receiving unit, configured to receive the second data packet sent by the ground station through the measurement and control link connected to the master control node; a first address judging unit, configured to judge whether the destination address of the second data packet is equal to the address of the master control node; A data packet forwarding unit, configured to forward the second data packet to the bus corresponding to the destination address when the destination address of the data packet is not equal to the address of the master control node; or, If the destination address and the source address of the first data packet are not on the same bus, the device also includes: A second address judging unit, configured to judge whether the destination address of the first data packet is a ground station address; A data packet sending unit, configured to send the first data packet to the ground station through the measurement and control link connected to the master control node when the destination address of the first data packet is the address of the ground station. 11. A communication device, applied to a controlled node, corresponding to the communication device according to claim 7 applied to a master control node, wherein the device comprises: a roll call information receiving unit, configured to receive roll call information through at least one bus connected to the controlled node; A working bus determining unit, configured to determine the bus used by the roll call information as a working bus; A data packet sending unit, configured to send the first data packet to the working bus within a second preset time period after receiving the roll call information. 12. The device according to claim 11, further comprising: The data packet stacking unit is used to put all the data packets to be forwarded into the sending queue, and the data packets in the sending queue follow the first-in-first-out principle; a first data packet determining unit, configured to determine the first data packet in the sending queue as the first data packet; Or, after the first data packet is sent, the device further includes: A confirmation message judging unit, configured to judge whether the first data packet needs to receive a confirmation message; The first data packet updating unit is configured to remove the first-ordered data packet in the sending queue when the confirmation message does not need to be received, and determine the next first-ranking data packet in the sending queue as a new one first packet; A confirmation message judging unit, used to determine whether a confirmation message is received within a third preset time period after the first data packet is sent when a confirmation message needs to be received; a communication abnormality setting unit is used to, when a confirmation message is received, Set the default communication abnormal value to 0; the first data packet retransmission unit is used to resend the first data packet when no confirmation message is received, and count the number of retransmissions; the communication abnormality setting unit , for when the number of retransmissions is greater than the preset retransmission threshold, the first data packet is lost, and the preset communication abnormal value is increased by 1; An abnormality determining unit, configured to determine that the working bus is abnormal when the communication abnormal value is greater than a preset abnormal value threshold.