CN113220492A - Plug and play supporting global satellite navigation system positioning software fault tolerance method - Google Patents
Plug and play supporting global satellite navigation system positioning software fault tolerance method Download PDFInfo
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- CN113220492A CN113220492A CN202010070159.6A CN202010070159A CN113220492A CN 113220492 A CN113220492 A CN 113220492A CN 202010070159 A CN202010070159 A CN 202010070159A CN 113220492 A CN113220492 A CN 113220492A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
- G06F11/0736—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function
- G06F11/0739—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function in a data processing system embedded in automotive or aircraft systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/0751—Error or fault detection not based on redundancy
- G06F11/0754—Error or fault detection not based on redundancy by exceeding limits
- G06F11/076—Error or fault detection not based on redundancy by exceeding limits by exceeding a count or rate limit, e.g. word- or bit count limit
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
- G06F11/1402—Saving, restoring, recovering or retrying
- G06F11/1446—Point-in-time backing up or restoration of persistent data
- G06F11/1458—Management of the backup or restore process
- G06F11/1469—Backup restoration techniques
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Abstract
The invention relates to a fault-tolerant method for positioning software of a global navigation satellite system in a multi-platform environment, and discloses a plug-and-play supporting fault-tolerant method for positioning software of the global navigation satellite system, which comprises the following steps: the method comprises the steps of exception triggering, exception message analysis, driver signature of equipment where a fault exists, signature of a software module where the fault exists, signature of a board card where the fault exists, signature of a global satellite navigation system positioning computer where the fault exists, judgment of error correction capability, data recovery processing, judgment of backup pieces, switching of backup pieces, isolation of fault equipment or modules and recording of fault information. The invention solves the problem that the global navigation satellite system positioning software of a multiprocessor and hardware equipment is not easy to expand and be compatible when adopting fault-tolerant design under the complex application environment, and has the advantages of improving the rapid development capability and reliability of the software, supporting the plug and play of the equipment and the like.
Description
Technical Field
The invention relates to the technical field of satellite global navigation system positioning software fault tolerance design and software-hardware fault tolerance design, in particular to a global navigation system positioning software fault tolerance method supporting plug and play of a plurality of processors, hardware equipment and various software components.
Background
Through the research on the reliability of global satellite navigation system positioning software in the last decades, it is found that software errors are still the most critical factors influencing the reliability of the system. The design of the high-precision navigation equipment requires that the system can still keep running to provide corresponding services even if the system fails, so that the high-precision navigation equipment is required to have super-strong fault tolerance capability, and the high reliability of the system is ensured. It is difficult to directly develop fault-tolerant application, because the developer not only needs to process complex application logic, such as various heterogeneous hardware devices on the satellite, software modules with different architectures, a single machine and subsystems, but also faces the complex fault-tolerant logic, and the developer is difficult to consider the application logic and the fault-tolerant logic of the whole system comprehensively, so that the reliability of the system cannot be guaranteed comprehensively. On the basis of the design of the positioning software of the global satellite navigation system, aiming at a fault-tolerant model of a high-precision navigation equipment system, a fault-tolerant management method supporting plug and play is designed, so that the fault-tolerant implementation and management difficulty can be shielded, the fault-tolerant processing difficulty is reduced, and the fault-tolerant management is refined.
The Fault-tolerant architecture of the global satellite navigation system positioning Software needs to consider not only the Fault Tolerance of Software, but also the Fault Tolerance of hardware and an upper system, the technology of realizing the Fault Tolerance of the hardware by the Software is called as Software-Implemented Fault Tolerance (SIFT), the Fault-tolerant field of the global satellite navigation system positioning Software is expanded, and the Fault-tolerant architecture is realized by combining the Fault-tolerant technology of the Software and adopting a layering mode, and the Fault-tolerant architecture can be divided into the following parts from top to bottom according to the service characteristics and the influence range of Fault-tolerant objects: system level, board level, module level and component level. In order to realize quick response and on-orbit maintenance, the Fault Tolerance method of the positioning Software of the global navigation satellite system supporting plug and play needs to consider not only the Fault Tolerance of Software, but also the Fault Tolerance of hardware and an upper system, the technology of realizing the Fault Tolerance of the hardware through the Software is called Software-Implemented Fault Tolerance (SIFT), the Fault Tolerance is realized by adopting a layering mode, and the Fault Tolerance method can be divided into the following steps from top to bottom according to the service characteristics and the influence range of a Fault-tolerant object: system level, board level, module level and component level. Aiming at the characteristics of data flow and control flow of a middleware of global navigation satellite system positioning software, a multi-level fault-tolerant management software middleware framework is designed, and a standardized fault-tolerant service and a standardized fault-tolerant protocol are respectively established on four levels of a system, a board card, a module, a component and the like by adopting a hierarchical software component design technology and a hierarchical signature technology.
Therefore, the fault-tolerant method for the global satellite navigation system positioning software supporting plug and play can make up the defect that the fault-tolerant design does not support the compatibility of a multiprocessor and different hardware devices under the traditional global satellite navigation system positioning software design mode, realizes the generalization and the productization of the fault-tolerant design of the global satellite navigation system positioning software, and can support the middleware layered system architecture of the global satellite navigation system positioning software, and the method improves the development efficiency of the global satellite navigation system positioning software and the reliability of the global satellite navigation system positioning software.
At present, no explanation or report of the similar technology of the invention is found, and similar data at home and abroad are not collected.
Disclosure of Invention
The invention aims to provide a plug-and-play supporting global satellite navigation system positioning software fault-tolerant method, which aims to solve the problem that the fault-tolerant design does not support the compatibility of a plurality of processors and different hardware devices under the traditional global satellite navigation system positioning software design mode and realize the generalization and the commercialization of the global satellite navigation system positioning software fault-tolerant design.
In order to achieve the above object, the present invention provides a plug and play supporting global satellite navigation system positioning software fault-tolerant method, which comprises the following steps:
s1: triggering an exception and acquiring an exception message;
s2: analyzing the abnormal message to obtain an abnormal type, a program address before the abnormality, data of a system register set before the abnormality, an equipment identifier accessed before the abnormality and a memory physical address causing the abnormality;
s3: signing the device driver of the fault;
s4: signing the software module where the fault is located;
s5: signing the board card where the fault is located;
s6: carrying out positioning computer signature of the global satellite navigation system where the fault is located;
s7: judging whether the memory has error correction capability or not according to whether redundant data exists in the memory physical address causing the abnormality or not, if the redundant data exists, entering step S8, and if the redundant data does not exist, entering step S9;
s8: performs data recovery processing, and then proceeds to step S12;
s9: checking whether a software module or a hardware device with the same function exists according to the program address before the exception and the device identifier accessed before the exception, judging whether a backup part exists, if so, entering step S10, if not, entering step S12;
s10: switching to select backup parts;
s11: isolating the faulty device or module;
s12: and recording fault information.
Preferably, the exception trigger is triggered by a processor trap interrupt.
Preferably, in step S3, the signature of the device driver where the failure occurs is determined according to the device identifier accessed before the failure, and is represented by an 8-bit integer number; in step S4, the signature of the software module where the fault is located is a coded signature of each subprogram entry by the global navigation satellite system positioning software, and is represented by an 8-bit integer number; in step S5, the signature of the board where the fault is located is a coded signature according to the hardware board to which the device identifier accessed before the abnormality belongs, and is represented by an 8-bit integer number; in step S6, the gnss positioning computer signature at the fault is represented by an 8-bit integer number.
Preferably, the step S8 specifically includes: and if the hardware memory chip where the memory physical address causing the abnormality is located supports the Hamming check (EDAC) error correction function, performing data recovery processing by adopting a Hamming check (EDAC) one-bit error interrupt error correction mode.
Preferably, the hamming check (EDAC) error-correction-by-bit error correction method specifically includes: all memory units are read circularly according to the address sequence in the global satellite navigation system positioning software background task, if a bit error occurs in the read memory unit, the processor triggers the correctable memory error interrupt, the memory unit address with the error is read in the correctable memory error interrupt service program, and the correct data is written back to the memory unit address with the error through hardware Hamming verification (EDAC) error correction.
Preferably, the step S8 specifically includes: and if the hardware memory chip where the memory physical address causing the abnormality is located does not support the Hamming verification (EDAC) error correction function, performing data recovery by adopting a data three-out-of-two voting mode.
Preferably, the step S10 specifically includes: judging whether the software module or the hardware equipment with the current fault has an uncorrectable fault or not, if the software module or the hardware equipment with the current fault has the uncorrectable fault, setting a variable flag in a program, and executing the backup piece to replace the software module or the hardware equipment with the fault by judging the variable flag without executing the software module or the hardware equipment with the fault.
Preferably, the method for determining whether an uncorrectable fault occurs includes: the time of program module deadlock is recorded by a monitoring timer, and after the count reaches a specified threshold, an uncorrectable fault occurs.
Preferably, the method for determining whether an uncorrectable fault occurs includes: through periodic self-checking of the hardware equipment, after the error count reaches a specified threshold, an uncorrectable fault occurs.
Preferably, the fault information includes: the fault detection method comprises the steps of fault occurrence time, equipment where the fault exists, a software module where the fault exists, a board card where the fault exists, a global satellite navigation system positioning computer where the fault exists, an abnormal type, a program address before the abnormality, data of a system register set before the abnormality, equipment identification accessed before the abnormality and a memory physical address causing the abnormality.
According to the plug-and-play supporting global satellite navigation system positioning software fault-tolerant method, due to the adoption of the technical scheme, software signature flow design of a system level, a board card level, a module level and a component level is adopted, and various fault-tolerant designs of fault detection, fault isolation and fault recovery are organically unified in a software architecture. The invention solves the problem that the traditional global navigation satellite system positioning software is not easy to be compatible with different processors, hardware equipment and software middleware under different application environments for reuse due to zero fragmentation of fault-tolerant design, and has the beneficial effect of improving the development efficiency and reliability of the global navigation satellite system positioning software.
Drawings
FIG. 1 is a flow chart of a plug and play enabled GNSS positioning software fault tolerance method provided in the present invention;
FIG. 2 is a flowchart of the preferred embodiment process for determining the autonomic recovery capabilities of the module in which the failure is located;
FIG. 3 is a flowchart of the preferred embodiment triple fetch two data recovery process.
Detailed Description
To better illustrate the present invention, a preferred embodiment is described in detail with reference to the accompanying drawings, in which:
as shown in fig. 1, the plug and play supporting global navigation satellite system positioning software fault-tolerant method provided by this embodiment includes the following steps:
s1: performing exception triggering and acquiring exception information;
wherein, the exception triggering is triggered by the interruption of processor trap.
S2: analyzing the abnormal message; acquiring an exception type, a program address before exception, data of a system register set before exception, an equipment identifier accessed before exception and a memory physical address causing exception;
s3: signing the device driver of the fault;
s4: signing the software module where the fault is located;
s5: signing the board card where the fault is located;
s6: carrying out positioning computer signature of the global satellite navigation system where the fault is located;
s7: judging whether the data has the error correction capability, if the data has redundant data, entering the step S8, if the data has no redundant data, entering the step S9;
and judging whether the memory has error correction capability or not according to whether redundant data exists in the memory physical address causing the abnormity.
S8: performs data recovery processing, and then proceeds to step S12;
s9: judging whether a backup piece exists, if so, entering step S10, and if not, entering step S12;
and checking whether a software module or hardware equipment with the same function exists according to the program address before the exception and the equipment identifier accessed before the exception, and judging whether a backup piece exists.
S10: switching to select backup parts;
s11: isolating the faulty device or module;
s12: and recording fault information.
The recorded fault information includes: the fault detection method comprises the steps of fault occurrence time, equipment where the fault exists, a software module where the fault exists, a board card where the fault exists, a global satellite navigation system positioning computer where the fault exists, an abnormal type, a program address before the abnormality, data of a system register set before the abnormality, equipment identification accessed before the abnormality and a memory physical address causing the abnormality.
In the above step S3, the signature of the device driver where the failure occurs is determined according to the device identifier accessed before the failure, and is represented by an 8-bit integer number; in the step S4, the signature of the software module where the fault is located is a coded signature of each subprogram entry by the global navigation satellite system positioning software, and is represented by an 8-bit integer number;
in the step S5, the signature of the board where the fault exists is a coded signature according to the hardware board to which the device identifier accessed before the fault exists, and is represented by an 8-bit integer number;
in step S6, the gnss positioning computer signature at the fault is represented by an 8-bit integer.
The step S8 is specifically: and if the hardware memory chip where the memory physical address causing the abnormality is located supports the Hamming verification (EDAC) error correction function, performing data recovery processing by adopting a Hamming verification (EDAC) one-bit error interruption error correction mode. The hamming check (EDAC) one-bit error interruption error correction method specifically includes: all memory units are read circularly according to the address sequence in the global satellite navigation system positioning software background task, if a bit error occurs in the read memory unit, the processor triggers the correctable memory error interrupt, the memory unit address with the error is read in the correctable memory error interrupt service program, and the correct data is written back to the memory unit address with the error through hardware Hamming verification (EDAC) error correction.
Step S10 specifically includes: judging whether the software module or the hardware equipment with the current fault has an uncorrectable fault or not, if the software module or the hardware equipment with the current fault has the uncorrectable fault, setting a variable flag in a program, and executing the backup piece to replace the software module or the hardware equipment with the fault by judging the variable flag without executing the software module or the hardware equipment with the fault. The variable mark is expressed by 8-bit integer number and is stored in three memory units according to triple modular redundancy. Specifically, the switching optional backup part is to determine whether an uncorrectable fault occurs in a module or a hardware device after confirming that the software module or the hardware device which realizes the same function exists in the system, set a variable flag in the program if the module or the hardware device has the uncorrectable fault, and enable the program to execute the software module or the hardware device which replaces the fault by determining the variable flag. When judging the backup piece, after confirming that the software module or the hardware equipment realizing the same function exists in the system, the software module or the hardware equipment which has a fault is not executed by judging the variable mark in the program.
The method for judging whether uncorrectable faults occur (i.e. whether the fault has the autonomous recovery capability) comprises the following steps: the time of program module deadlock is recorded by a monitoring timer, and after the count reaches a specified threshold, an uncorrectable fault occurs. Referring to fig. 2, if the threshold in this embodiment is set to a preset maximum time value (MAX _ TIMEOUT), the determining process includes: count the watchdog timer plus 1; and judging whether the count of the monitoring timer is larger than a maximum time value (MAX _ TIMEOUT), if so, reducing the task priority and then cleaning the monitoring timer, and if not, ending.
In another preferred embodiment, step S8 specifically includes: and if the hardware memory chip where the memory physical address causing the abnormality is located does not support the Hamming verification (EDAC) error correction function, performing data recovery by adopting a data three-out-of-two voting mode. Specifically, the two-out-of-three voting refers to that the same variable or program is stored in the memory data block A, B, C with three fixed address intervals, when the two-out-of-three voting is used, A, B, C is converted into a binary system, bit operation is performed, and an output result R is calculated by using a formula of (a & B) | (a & C) | (B & C). Referring to fig. 3, the data two-out-of-three voting in the present embodiment includes: start and enter parameters A, B, C; bit width alignment processing on data block A, B, C; interrupts are disabled (to avoid data blocks being modified by other running tasks in the voting process); calculating R ═ (a & B) | (a & C) | (B & C); opening an interrupt; and returning R. Wherein the symbol "&" represents a bit AND operation and the symbol "|" represents a bit OR operation.
In another preferred embodiment, the method for determining whether an uncorrectable fault occurs is as follows: through periodic self-checking of the hardware equipment, after the error count reaches a specified threshold, an uncorrectable fault occurs.
The invention solves the problem that the global navigation satellite system positioning software of a multiprocessor and hardware equipment is not easy to expand and be compatible when adopting fault-tolerant design under the complex application environment, and has the advantages of improving the rapid development capability and reliability of the software, supporting the plug and play of the equipment and the like.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to make modifications or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A global satellite navigation system positioning software fault-tolerant method supporting plug and play is characterized by comprising the following steps:
s1: triggering an exception and acquiring an exception message;
s2: analyzing the abnormal message to obtain an abnormal type, a program address before the abnormality, data of a system register set before the abnormality, an equipment identifier accessed before the abnormality and a memory physical address causing the abnormality;
s3: signing the device driver of the fault;
s4: signing the software module where the fault is located;
s5: signing the board card where the fault is located;
s6: carrying out positioning computer signature of the global satellite navigation system where the fault is located;
s7: judging whether the memory has error correction capability or not according to whether redundant data exists in the memory physical address causing the abnormality or not, if the redundant data exists, entering step S8, and if the redundant data does not exist, entering step S9;
s8: performs data recovery processing, and then proceeds to step S12;
s9: checking whether a software module or a hardware device with the same function exists according to the program address before the exception and the device identifier accessed before the exception, judging whether a backup part exists, if so, entering step S10, if not, entering step S12;
s10: switching to select backup parts;
s11: isolating the faulty device or module;
s12: and recording fault information.
2. The plug and play enabled gnss positioning software fault tolerant method of claim 1, wherein said exception trigger is triggered by a processor trap interrupt.
3. The plug-and-play enabled gnss positioning software fault tolerant method of claim 1, wherein in step S3, the device driver signature at the fault is determined according to the device id accessed before the abnormality, and is represented by 8-bit integer numbers; in step S4, the signature of the software module where the fault is located is a coded signature of each subprogram entry by the global navigation satellite system positioning software, and is represented by an 8-bit integer number; in step S5, the signature of the board where the fault is located is a coded signature according to the hardware board to which the device identifier accessed before the abnormality belongs, and is represented by an 8-bit integer number; in step S6, the gnss positioning computer signature at the fault is represented by an 8-bit integer number.
4. The plug-and-play supporting global navigation satellite system positioning software fault-tolerant method of claim 1, wherein said step S8 specifically comprises: and if the hardware memory chip where the memory physical address causing the abnormality is located supports the Hamming check (EDAC) error correction function, performing data recovery processing by adopting a Hamming check (EDAC) one-bit error interrupt error correction mode.
5. The plug-and-play supporting global satellite navigation system positioning software fault-tolerant method of claim 4, wherein the Hamming verification (EDAC) one-bit error interruption error correction method specifically comprises: all memory units are read circularly according to the address sequence in the global satellite navigation system positioning software background task, if a bit error occurs in the read memory unit, the processor triggers the correctable memory error interrupt, the memory unit address with the error is read in the correctable memory error interrupt service program, and the correct data is written back to the memory unit address with the error through hardware Hamming verification (EDAC) error correction.
6. The plug-and-play supporting global navigation satellite system positioning software fault-tolerant method of claim 1, wherein said step S8 specifically comprises: and if the hardware memory chip where the memory physical address causing the abnormality is located does not support the Hamming verification (EDAC) error correction function, performing data recovery by adopting a data three-out-of-two voting mode.
7. The plug-and-play supporting global navigation satellite system positioning software fault-tolerant method of claim 1, wherein said step S10 specifically comprises: judging whether the software module or the hardware equipment with the current fault has an uncorrectable fault or not, if the software module or the hardware equipment with the current fault has the uncorrectable fault, setting a variable flag in a program, and executing the backup piece to replace the software module or the hardware equipment with the fault by judging the variable flag without executing the software module or the hardware equipment with the fault.
8. The plug and play enabled gnss positioning software fault tolerant method of claim 7, wherein the method of determining whether an uncorrectable fault occurs is: the time of program module deadlock is recorded by a monitoring timer, and after the count reaches a specified threshold, an uncorrectable fault occurs.
9. The plug and play enabled gnss positioning software fault tolerant method of claim 7, wherein the method of determining whether an uncorrectable fault occurs is: through periodic self-checking of the hardware equipment, after the error count reaches a specified threshold, an uncorrectable fault occurs.
10. The plug and play enabled gnss positioning software fault tolerant method of claim 1, wherein the fault information comprises: the fault detection method comprises the steps of fault occurrence time, equipment where the fault exists, a software module where the fault exists, a board card where the fault exists, a global satellite navigation system positioning computer where the fault exists, an abnormal type, a program address before the abnormality, data of a system register set before the abnormality, equipment identification accessed before the abnormality and a memory physical address causing the abnormality.
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