Implementing Onboard Data Compression for the Van Allen Probes
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1 Implementing Onboard Data Van Allen Probes Compression for the Van Allen Probes Mark Reid Johns Hopkins University, Applied Physics Lab 1
2 Agenda Introduction Rationale for Adding Compression Recorder Management Software Overview Requirements Additions High Level Design, with Compression Configuration Parameter Table Considerations for Flight Compression Performance and CPU Usage Conclusions 2
3 Introduction The Van Allen Probes mission is a NASA mission to study near-earth space radiation. The mission consists of two nearly identical spacecraft. Each spacecraft hosts 5 instrument suites, with a total of 10 unique science instruments per spacecraft. The launch build of the Command and Data Handling (C&DH) Flight Software (FSW) for each spacecraft consisted of 17 unique applications and 8 libraries built upon NASA s core Flight Executive (cfe). This presentation will discuss the addition of an 18 th application post launch, which added on-board data compression of science, housekeeping and engineering data. 3
4 Rationale for Adding Compression FSW team evaluated 2 weeks of observatory data following commissioning Used gzip of files of recorded data Determined compression could result in a data reduction of approximately 1/3 (or 50% more data) Prototyped an application on FSW test-bed hardware Refined algorithm for packet level compression Verified performance on target hardware Estimated software to require 5% of the available CPU Also required a small memory footprint (RAM and EEPROM) Evaluated impact of implementing the prototype for flight Estimated both FSW and Ground Software (GSW) effort 3.5 Staff Months of additional effort (not in the baseline plan) 4 Calendar Months to implement Implementation was deemed low risk and transparent to operations 4
5 Recorder Management Software Overview Instrument Interfaces Spacecraft Interfaces (PDU, PSE, XCVR) SSR Directory Structure Instrument HK, Science Spacecraft HK IM SI Other Apps HK Packets REC File Opened For Write /ssr/rec/ Moved by REC when closed File Moved To DNL for Playback /ssr/px/ Downlink Protocol Data Units (PDU) Buffer CFDP Output Stream PB File Opened for Read /ssr/dnl/ /ssr/trash/ File Deleted or Moved by PB when closed If Auto-delete OFF 5 Major applications involved in creating, moving or deleting files in the flow of data on and off of SSR. Instrument Management (IM) and Spacecraft Interface (SI) receive interface data. TO CCSDS Downlink Telemetry Frames Record (REC) and Playback (PB) move data on and off of the Solid State Recorder (SSR) Telemetry Output (TO) sends data to the downlink 5
6 C&DH Software Requirements Additions 6
7 High Level Design ZIP Application in the Existing Data Flow Small modification to REC application to rename output file in the REC directory Instrument Interfaces Instrument HK, Science IM Spacecraft Interfaces (PDU, PSE, XCVR) Spacecraft HK SI Other Apps HK New ZIP application operates on files in the REC directory ZIP places its outputs in the output Priority (P0-P3) directories There was also a small impact on TO, REC and Autonomy (AUT) applications to subscribe to new ZIP housekeeping packet Downlink Protocol Data Units (PDU) Buffer CFDP Output Stream REC ZIP PB TO Packets File Opened For Write.rec file Deflated back to original filename File Moved To DNL for Playback File Opened for Read /ssr/rec/ /ram/rec/ /ssr/rec/ /ram/rec/ /ssr/px/ /ram/px/ /ssr/dnl/ /ssr/trash/ Renamed to.rec file by REC when closed Moved by ZIP when closed File Deleted or Moved by PB when closed If Auto-delete OFF CCSDS Downlink Telemetry Frames 7
8 High Level Design ZIP Application Package Diagrams 8
9 ZIP Configuration Table Parameters Device Input Path Output Path Input Key Output Replace Action FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_A.rec 1_A DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_B.rec 1_B RENAME FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_C.rec 1_C RENAME FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_D.rec 1_D DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_E.rec 1_E DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_F.rec 1_F DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_G.rec 1_G DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_H.rec 1_H DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P1 1_I.rec 1_I DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P2 2_D.rec 2_D DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P2 2_E.rec 2_E DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P2 2_F.rec 2_F RENAME FS_SSR ZIP_DIR_REC ZIP_DIR_P2 2_G.rec 2_G DEFLATE FS_SSR ZIP_DIR_REC ZIP_DIR_P2 2_H.rec 2_H RENAME FS_SSR ZIP_DIR_REC ZIP_DIR_P3 3_H.rec 3_H RENAME FS_RAM ZIP_DIR_REC ZIP_DIR_P0 0_A.rec 0_A RENAME FS_RAM ZIP_DIR_REC ZIP_DIR_P0 0_B.rec 0_B RENAME ZIP_NO_FS ZIP_DIR_REC ZIP_DIR_P0 RENAME ZIP_NO_FS ZIP_DIR_REC ZIP_DIR_P0 "" "" RENAME 9
10 Considerations for Flight Compression Packet Wrapping Telemetry Packets are zipped into the body of a new packet with a Message ID (CCSDS APID) specific to Zipped data. 12 Byte Zipped Packet Header Primary Header ZIP_APID CNT LEN Sec Hdr MET_SEC, SUB_SEC DATA 0x???????? Original Non-Zipped Packet(s) Original Original Non-Zipped Non-Zipped Packet(s) Packet(s) Primary Header Sec Hdr (MET) APID CNT LEN ZIP MET_SEC, SUB_SEC DATA 0x???????? Note: If the output of ZIP is larger than the original Non-Zipped packets, the original packets are written to the output file. Otherwise the smaller ZIPPED packet is written to the output file. Output files can contain all ZIPPED, all Non-Zipped, or a mix of ZIPPED and Non-Zipped packets. The ground software Unzipper keys on the APID to unzip the ZIPPED packet s data in order to retrieve the Non-Zipped packet prior to inserting into the Archive. Zipped Packet Non-Zipped Packet Zipped Packet Zipped Packet Non-Zipped Packet Zipped Packet Non-Zipped Packet 10
11 Considerations for Flight Compression Configuration of zlib Packages zlib deflate package works at a block/buffer level Replaced dynamic memory allocations with statically allocated buffers Chose compression level and buffer sizes to best fit CPU and memory usage Compression Level = 6 ( Good compression vs. CPU usage) Max Memory Level = 5 (16 Kbytes) Max Window Bits = 12 (16 Kbytes) Maximum input/output buffers (~4 Kbytes each) Maximum CCSDS packet length used on Van Allen Probes is 4 Kbytes. Final Application used: ~ 14 Kbytes of EEPROM (compressed) ~ 100 Kbytes of RAM ~ 5% of CPU resources 11
12 Compression Performance Instrument Data Compression Enabled Here 12
13 CPU Usage (before and after compression) When compression is active CPU utilization is between 70% and 90% Raw Telemetry Averaged Value 13
14 Examples of Compression Performance on Various Data Types 14
15 Compression Performance (Spacecraft HK Data) * Compression Ratio = (output file size) / (input file size) 15
16 Compression Performance (ECT Science Data) * Compression Ratio = (output file size) / (input file size) 16
17 Compression Performance (EFW Science Data) * Compression Ratio = (output file size) / (input file size) 17
18 Compression Performance (RBSPICE Science Data) * Compression Ratio = (output file size) / (input file size) 18
19 Compression Performance (EMFISIS Mag Data) * Compression Ratio = (output file size) / (input file size) 19
20 Conclusions Review of on-orbit data led the Van Allen Probes team to consider the benefits of onboard data compression Readily available compression software easily transferred into the Van Allen Probes FSW architecture This small effort has provided a greatly increased science data return This reusable application can provide benefits to future APL projects 20
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