摘要： 提出一套适用于空间机器人的高可信软件设计模型和算法，将空间机器人软件错误检测分为单元级和系统级2个层级，针对单元级检测设计程序基本块模型以及基于该模型的数据流和控制流错误检测算法；针对分布式软件系统级的错误检测，设计多节点自适应冗余模型，在此基础上设计基于微检查点的错误检测算法，对空间机器人软件系统的错误检测形成一个完整覆盖，该方法已得到成功应用。

关键词: 空间机器人, 高可信, 错误检测

Abstract: This paper presents high-dependable software design model and algorithm used in space-robot software. The software errors in the space-robots are divided into two categories: the program block model and algorithms build on it are designed for the element level, and the distributed adaptive redundancy model and related algorithms are used to detect the system level errors. The cooperation leads to a complete error detection coverage. The model and algorithm is applied effectively.

Key words: space robot, high-dependable, error detection

中图分类号: 

• TP311.52