CN100489451C - Closed loop automatic testing method adapted to oscillatory scanning infrared earth sensor - Google Patents
Closed loop automatic testing method adapted to oscillatory scanning infrared earth sensor Download PDFInfo
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- CN100489451C CN100489451C CNB2006101655129A CN200610165512A CN100489451C CN 100489451 C CN100489451 C CN 100489451C CN B2006101655129 A CNB2006101655129 A CN B2006101655129A CN 200610165512 A CN200610165512 A CN 200610165512A CN 100489451 C CN100489451 C CN 100489451C
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Abstract
This invention disclosed a closed loop automatic testing method applied to logic manage module in earth sensing device. The module was connected with electric signal source device, electric detection case and control machine to form a closed loop testing. It works by detecting output parameter and random testing. Conclusion was obtained by comparing detection information and testing case. It can lower the developing cost and shorten the developing cycle.
Description
Technical field
The present invention relates to a kind of method of testing, more particularly say, be meant a kind of closed loop automatic testing method that is applicable to that the swing type infrared earth sensor adopts the attitude angle logic processing module in production and development process.
Background technology
Oscillatory scanning infrared earth sensor is that main in a kind of Satellite Attitude Determination System decided appearance equipment, and it determines flight attitude by the attitude of the relative earth of instrumented satellite.Oscillatory scanning infrared earth sensor can directly calculate the roll angle and the angle of pitch of satellite.
Oscillatory scanning infrared earth sensor (referring to shown in Figure 1) mainly includes the treatment circuit and the attitude angle logic processing module composition of complex visual field earth probe that mechanical oscillatory scanning system (comprising scanning mirror), four infrared eyes form, synchronous base clock generating circuit, oscillatory scanning driving circuit, infrared earth ripple.During oscillatory scanning infrared earth sensor work, swing along with scanning mirror, four infrared eyes (being equivalent to four bundle pencil-type beams) scan Horizon along the scanning pattern (scanning pattern comprises the disconnected and Horizon section in space) that is equivalent to 45 ° in south, north latitude, produce four road earth signals (output of infrared eye).Four road earth signals are handled through four tunnel analog channels (comprise preposition amplification, differential and pass through processing etc.), produce four road skies/ground, ground/sky passes through signal, carries out logical process such as bit comparison mutually then with the inner scanning benchmark, tests out pitching roll attitude information (pitching angle theta, roll angle
).
According to the oscillatory scanning infrared earth sensor development and the process of producing, the test of oscillatory scanning infrared earth sensor can be divided into that single-board testing and veneer are seasoned, the test of attitude angle logic processing module, dynamo-electric joint-trial, system test and seasoned, complete machine environmental experiment.Single-board testing and the seasoned closed loop test system of can't forming are tested and are demarcated; The complete machine environmental experiment adopts traditional closed loop test method to finish.
Traditional closed loop test method is formed closed loop by three-axle table, industrial computer and oscillatory scanning infrared earth sensor, the three-axle table analog satellite infrared scan earth, infrared scan information is sent into oscillatory scanning infrared earth sensor, and oscillatory scanning infrared earth sensor calculates attitude information; This closed loop test method can only can be tested after sensor installs, can not form closed-loop system to the attitude angle logic processing module and the dynamo-electric joint-trial of oscillatory scanning infrared earth sensor, oscillatory scanning infrared earth sensor must be dismantled if need to adjust parameter in the development, the measuring accuracy of oscillatory scanning infrared earth sensor and the development speed of product will be had a strong impact on like this.For before finishing oscillatory scanning infrared earth sensor, can be effectively to its carry out parameter setting, measuring accuracy is estimated, the inventor has proposed the closed loop test of a kind of logic testing of carrying out and dynamo-electric joint-trial when not finishing oscillatory scanning infrared earth sensor significant.
Summary of the invention
The objective of the invention is to propose a kind of closed loop automatic testing method that is applicable to oscillatory scanning infrared earth sensor, this closed loop automatic testing method mainly is to carry out closed loop test at the attitude angle logic processing module in the oscillatory scanning infrared earth sensor, be parameter and the attitude angle information of output and the random test use-case that industrial computer produces by test output, compare by compare test use-case and detection information, draw test result.
The present invention is applicable to the closed loop automatic testing method that the attitude angle logic processing module adopts in the oscillatory scanning infrared earth sensor, the test that the attitude angle logic processing module development stage is carried out, it test that comprises has industrial computer, electric signal source device and electric-examination measuring tank with equipment, and industrial computer links to each other with the electric-examination measuring tank with electric signal source device respectively and constitutes a closed signal detection.In the present invention, closed loop test signal Processing step is:
The A step: industrial computer sends the logic testing use-case of setting by the COM1 serial ports to electric signal source device; Described test case includes orbit altitude h, pitching angle theta, roll angle
With scan mode NS/WS;
The B step: the described logic testing use-case according to electric signal source device in the A step receives produces No. three synchronous simulator information and exports to the electric-examination measuring tank; Described No. three simulator information are electric earth ripple signal E_Wave_M, clock pulse signal CLK_M and reference signal REF_M;
The C step: output three tunnel electrical measurement information were given the attitude angle logic processing module after the described No. three simulator information that receive according to electric-examination measuring tank in the B step were isolated shaping; Described three tunnel electrical measurement information are electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E and electrical measurement reference signal REF_E;
The D step: industrial computer output guidance command TC_DATA give the electric-examination measuring tank, and output electrical measurement guidance command TC_DATA_E gives the attitude angle logic processing module after the electric-examination measuring tank is isolated the shaping level conversion;
The E step: the electric-examination measuring tank provides linear power supply Power to the attitude angle logic processing module; Described linear power supply is ± 15V ,+5V;
The F step: the attitude angle logic processing module is carried out the attitude information dissection process to electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E, electrical measurement reference signal REF_E and the electrical measurement guidance command TC_DATA_E that receives, and attitude angle information package formation electrical measurement telemetry TM_DATA_E is exported to the electric-examination measuring tank;
The G step: output telemetry TM_DATA gives industrial computer after isolating the shaping level conversion according to the described electrical measurement telemetry TC_DATA_E that in the F step electric-examination measuring tank is received;
The H step: industrial computer adopts the continuous acquisition mode to receive described telemetry TM_DATA, and the described telemetry TM_DATA that receives is carried out N many times, and the angle of pitch is asked in (50～100 times) actual measurement, roll angle mean value is handled, and obtains angle of pitch actual measurement average θ, roll angle actual measurement average
And the described telemetry TM_DATA that receives is carried out 3 times of standard variances calculate, obtain angle of pitch standard variance 3 σ
θ, the roll angle standard variance
Then the angle of pitch is surveyed average θ, roll angle actual measurement average
Carry out difference relatively with the logic testing use-case of setting, obtain the absolute error ε of attitude angle logic processing module.In the present invention, described absolute error ε, angle of pitch standard variance 3 σ
θWith the roll angle standard variance
Form the detecting information bag.
The development personnel of oscillatory scanning infrared earth sensor can carry out parameter adjustment to the attitude angle logic processing module according to the detecting information bag that obtains in the H step, thereby form closed loop automatic testing.
The advantage of closed loop automatic testing method of the present invention is: (1) is a kind of at oscillatory scanning infrared earth sensor development with produce the closed loop test method in each stage, helps reducing development cost, shortens the lead time; (2) adopt stage that device is carried out closed loop test, reduced the failure rate of finished product, improved the precision of product; (3) in host computer (industrial computer), design software control targetedly, help in real time to automatic data collection and processing; (4) generate automatically by test case, simulated the various attitude informations of the required processing of attitude angle logic processing module under the actual working state; (5) test process is finished automatically, test result analyzes automatically, and generates visual detection packets of information and use for outside, for the oscillatory scanning infrared earth sensor development provides convenience.
Description of drawings
Fig. 1 is an oscillatory scanning infrared earth sensor structural drawing of the present invention.
Fig. 2 is an attitude angle logic processing module closed loop test system composition frame chart of the present invention.
Fig. 3 is the test flow chart of testing data processing module of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
In the present invention, see also shown in Figure 2, for attitude angle logic processing module in the oscillatory scanning infrared earth sensor is adopted closed loop test, attitude angle logic processing module and industrial computer are (as host computer, realization is to sending instruction, receiving data information is handled), electric signal source device (produces signal according to test case, corresponding structure is referring to application number 200610165373.X), the electric-examination measuring tank (provides power supply, and input/output signal isolated, corresponding structure is referring to application number 200610165439.5) linking to each other constitutes a closed signal and detects.
In the present invention, industrial computer (grinds magnificent industrial computer, testing data communication interface (being used to realize the transmitting-receiving of industrial computer to remote control, telemetry) and testing data processing module (be used to finish data acquisition and test pattern and choose processing) based on FPGA is installed in IPC-610).
See also shown in Figure 3ly, testing data processing module is after industrial computer start, opens operation automatically, under the testing data processing module system initialization, enters the test buffering, waits for; By whether carrying out test pattern after operator's input instruction parameter select,, then select signal source communication test pattern if to path testing; If to the test of attitude angle logic processing module, then selection function test pattern; Under signal source communication test pattern, directly test result is exported to display screen; Satellite orbital altitude h is set under function testing mode, then narrow the sweeping of oscillatory scanning infrared earth sensor/wide swept the electric axis test, widely swept the transfer characteristics test and the single-point performance test is selected, and according to test condition combination (satellite orbital altitude h+ is narrow to be swept/wide sweep electric axis test, satellite orbital altitude h+ are wide sweeps transfer characteristics test, the performance test of satellite orbital altitude h+ single-point) formation logic test case automatically, and export electric signal source device to through the COM1 serial ports; Issue guidance command, wait for receiving telemetry, and the telemetry that receives is preserved; Whether then testing time is judged finish to be provided with and gather N number, "Yes" then finishes to gather, and sends the detection packets of information; "No" then continues to gather.In the present invention, the test to oscillatory scanning infrared earth sensor attitude angle logic processing module can be divided into according to its test function: narrow sweeping/wide swept the electric axis test, widely swept transfer characteristics test, single-point performance test.
In the present invention, electric signal source device is made up of CPU, analog output module, signal source generation module, power supply and LCD (LCD); Industrial computer and CPU carry out communication by the RS232 serial ports; Oscillograph links to each other by the DB-15 interface with signal source generation module, is used for the waveform of display source signal generation module output; Electrical property detection case and signal source generation module are by the IDC-16 interface communication, and electrical property detection case and infrared earth sensor are by electrically connecting; CPU links to each other by the standard industry STD bus with signal source generation module with analog output module, realizes data communication; LCD (LCD) adopts the VGA interface to link to each other with CPU, is used to realize that the real-time demonstration of signal source and the demonstration of enumeration data and the parameter of industrial computer configuration show.The advantage of this kind signal source device is: (1) CPU adopts STC Client DX model, and output signal source signal in interrupt response can satisfy the real-time requirement that signal source takes place; (2) signal source generation module adopts the programmable Timer counter to produce the clock signal of changeable frequency, and signal takes place to control simple and the signal source sequential is accurate; Adopt the programmable Timer counter to carry out step-by-step counting, counting control is convenient and precision is high, and counting error guarantees within a positive and negative pulse; (3) analog output module adopts four tunnel simulating signals, 12 D/A chip DAC7625 of output synchronously, and conversion accuracy can reach 0.1%; Adopt DC-DC, signal photoelectric isolation module, realize the power supply and the Signal Spacing of D/A change-over circuit, good reliability, strong anti-interference performance; (4) through the precision collection demonstration of industrial computer to signal, obtaining the wide measuring accuracy of sweeping is 12 ° ± 2%, and the narrow measuring accuracy of sweeping is 5 ° ± 1%, has improved the measuring accuracy of oscillatory scanning infrared earth sensor; (5) disturbing factors such as earth curvature variation, atmosphere radiation variation, life interference, the variation of infrared earth sensor self sweep frequency have been considered in the design of signal source generating means of the present invention, can simulate the working environment of oscillatory scanning infrared earth sensor truly, accurately finish test the oscillatory scanning infrared earth sensor complete machine; This signal source device can provide the needed test signal of each module testing before the oscillatory scanning infrared earth sensor whole machine installation in the development process, realization has been shortened the lead time of oscillatory scanning infrared earth sensor greatly to the test of each module before the oscillatory scanning infrared earth sensor whole machine installation.
In the present invention, the electro-detection case includes and is arranged on a plurality of interfaces on the housing and is installed in the interior circuit board of housing; The housing of electric-examination measuring tank is provided with 220V AC power interface, direct supply interface, sensor power switch, electric-examination measuring tank master switch, test interface, sensor supply current display unit, sensor signaling interface, sensor power interface, electric signal source device interface and industrial computer interface.Oscillatory scanning infrared earth sensor is coupled by sensor signaling interface and sensor power interface, and electric signal source device is coupled by the electric signal source device interface, and industrial computer is coupled by the industrial computer interface.Described circuit board is made up of level signal processing unit, signal source signal processing unit, the power supply of sensor power supply and holding circuit and electric-examination measuring tank power module; The design of described test interface can be according to the needs of testing in the oscillatory scanning infrared earth sensor development process, are provided with as simulation earth ripple signal testing end, earth ripple differential signal test lead, and its information can be connected with it by oscillograph and obtains; The inner voltage output test lead that detects of oscillatory scanning infrared earth sensor, its information can be connected with it by multimeter and obtain; The information of oscillatory scanning infrared earth sensor supply current shows and can be shown by digital electronic ammeter.The advantage of this kind electric-examination measuring tank is: (1) is connected by design cable interface and external devices on housing, has solved the complicacy of line, has made things convenient for and being connected of external devices; (2) adopt the electric-examination measuring tank for oscillatory scanning infrared earth sensor provides the mode of power supply, solved the Electro Magnetic Compatibility between power supply and the electric-examination measuring tank; (3) be directed to oscillatory scanning infrared earth sensor test Demand Design independent power-supplying circuit and holding circuit of powering for its power supply, solved the protection of the power supply of power supply under the oscillatory scanning infrared earth sensor proper testing state effectively to it, and when seasoned to the requirement of power supply; (4) can carry out the detection signal of oscillatory scanning infrared earth sensor inside after isolation drive handles, detect for external test facility (oscillograph or multimeter) and use; (5) simulating signal to I/O adopts high precision linear optical coupling isolation processing, and the digital signal employing high-speed figure light-coupled isolation of I/O is handled, and has guaranteed signal transmission quality effectively.
See also shown in Figure 2ly, the present invention is a kind of closed loop automatic testing method that is applicable to oscillatory scanning infrared earth sensor, and the step of closed loop test has:
The A step: industrial computer sends the logic testing use-case of setting by the COM1 serial ports to electric signal source device; Described test case includes orbit altitude h, pitching angle theta, roll angle
With scan mode NS/WS;
The B step: the described logic testing use-case according to electric signal source device in the A step receives produces No. three synchronous simulator information and exports to the electric-examination measuring tank; Described No. three simulator information are electric earth ripple signal E_Wave_M, clock pulse signal CLK_M and reference signal REF_M;
The C step: output three tunnel electrical measurement information were given the attitude angle logic processing module after the described No. three simulator information that receive according to electric-examination measuring tank in the B step were isolated shaping; Described three tunnel electrical measurement information are electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E and electrical measurement reference signal REF_E;
The D step: industrial computer output guidance command TC_DATA give the electric-examination measuring tank, and output electrical measurement guidance command TC_DATA_E gives the attitude angle logic processing module after the electric-examination measuring tank is isolated the shaping level conversion;
The E step: the electric-examination measuring tank provides linear power supply Power to the attitude angle logic processing module; Described linear power supply is ± 15V ,+5V;
The F step: the attitude angle logic processing module is carried out the attitude information dissection process to electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E, electrical measurement reference signal REF_E and the electrical measurement guidance command TC_DATA_E that receives, and attitude angle information package formation electrical measurement telemetry TM_DATA_E is exported to the electric-examination measuring tank;
The G step: output telemetry TM_DATA gives industrial computer after isolating the shaping level conversion according to the described electrical measurement telemetry TC_DATA_E that in the F step electric-examination measuring tank is received;
The H step: industrial computer adopts the continuous acquisition mode to receive described telemetry TM_DATA, and the described telemetry TM_DATA that receives is carried out N many times, and the angle of pitch is asked in (50～100 times) actual measurement, roll angle mean value is handled, and obtains angle of pitch actual measurement average θ, roll angle actual measurement average
And the described telemetry TM_DATA that receives is carried out 3 times of standard variances calculate, obtain angle of pitch standard variance 3 σ
θ, the roll angle standard variance
Then the angle of pitch is surveyed average θ, roll angle actual measurement average
Carry out difference relatively with the logic testing use-case of setting, obtain the absolute error ε of attitude angle logic processing module.In the present invention, described absolute error ε, angle of pitch standard variance 3 σ
θWith the roll angle standard variance
Form the detecting information bag.
The development personnel of oscillatory scanning infrared earth sensor can carry out parameter adjustment to the attitude angle logic processing module according to the detecting information bag that obtains in the H step, thereby form closed loop automatic testing.
Closed loop automatic testing method of the present invention is to be used for swing type infrared earth sensor development and the closed loop test in each stage of production is used.
Among the present invention, by adopting pitching angle theta, the roll angle of traditional mathematical statistics mode to the industrial computer continuous acquisition
Carry out data parsing and handle, to gathering N (50～100 times) data with a test point, test data is handled each pitching of gathering, rolling data and is all calculated its angle of pitch actual measurement average θ, roll angle actual measurement average by following formula
Angle of pitch standard variance 3 σ
θWith the roll angle standard variance
θ represents angle of pitch mean value in the formula, 3 σ
θExpression angle of pitch standard variance,
Expression roll angle mean value,
Expression roll angle standard variance, i represents test point, N represents times of collection.
Claims (2)
1, a kind of closed loop automatic testing method that is applicable to oscillatory scanning infrared earth sensor is characterized in that the step of closed loop test has:
The A step: industrial computer sends the logic testing use-case of setting by the COM1 serial ports to electric signal source device; Described test case includes orbit altitude h, pitching angle theta, roll angle
With scan mode NS/WS;
The B step: the described logic testing use-case according to electric signal source device in the A step receives produces No. three synchronous simulator information and exports to the electric-examination measuring tank;
Described No. three simulator information are electric earth ripple signal E_Wave_M, clock pulse signal CLK_M and reference signal REF_M;
The C step: output three tunnel electrical measurement information were given the attitude angle logic processing module after the described No. three simulator information that receive according to electric-examination measuring tank in the B step were isolated shaping;
Described three tunnel electrical measurement information are electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E and electrical measurement reference signal REF_E;
The D step: industrial computer output guidance command TC_DATA give the electric-examination measuring tank, and output electrical measurement guidance command TC_DATA_E gives the attitude angle logic processing module after the electric-examination measuring tank is isolated the shaping level conversion;
The E step: the electric-examination measuring tank provides linear power supply Power to the attitude angle logic processing module; Described linear power supply is ± 15V ,+5V;
The F step: the attitude angle logic processing module is carried out the attitude information dissection process to electrical measurement electricity earth ripple signal E_Wave_E, electrical measurement clock pulse signal CLK_E, electrical measurement reference signal REF_E and the electrical measurement guidance command TC_DATA_E that receives, and attitude angle information package formation electrical measurement telemetry TM_DATA_E is exported to the electric-examination measuring tank;
The G step: output telemetry TM_DATA gives industrial computer after isolating the shaping level conversion according to the described electrical measurement telemetry TC_DATA_E that in the F step electric-examination measuring tank is received;
The H step: industrial computer adopts the continuous acquisition mode to receive described telemetry TM_DATA, and the described telemetry TM_DATA that receives is carried out N actual measurement ask for the angle of pitch, the processing of roll angle mean value, obtains angle of pitch actual measurement average θ, roll angle actual measurement average
And the described telemetry TM_DATA that receives is carried out 3 times of standard variances calculate, obtain angle of pitch standard variance 3 σ
θ, the roll angle standard variance
Then the angle of pitch is surveyed average θ, roll angle actual measurement average
Carry out difference relatively with the logic testing use-case of setting, obtain the absolute error ε of attitude angle logic processing module;
The pitching angle theta of described industrial computer continuous acquisition, roll angle
When carrying out the data parsing processing, to gathering the N secondary data with a test point, the each pitching of gathering of test data processing, rolling data all calculate its angle of pitch by following formula and survey average θ, roll angle actual measurement average
Angle of pitch standard variance 3 σ
θWith the roll angle standard variance
θ represents angle of pitch mean value in the formula,
3 σ
θExpression angle of pitch standard variance,
I represents test point,
N represents times of collection.
2, the closed loop automatic testing method that is applicable to oscillatory scanning infrared earth sensor according to claim 1 is characterized in that: described absolute error ε, angle of pitch standard variance 3 σ
θWith the roll angle standard variance
Form the detecting information bag.
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| CN103438889B (en) * | 2013-07-25 | 2015-11-04 | 北京控制工程研究所 | A kind of double cone scanned infrared earth sensor earth ripple signal processing system |
| CN104236587B (en) * | 2014-09-05 | 2017-03-15 | 北京控制工程研究所 | A kind of pattern of sensor signal source is arranged and error calibrating method |
| CN105136171B (en) * | 2015-09-22 | 2017-11-21 | 中国科学院上海技术物理研究所 | Analogy method based on linear array infrared earth sensor electric signal generation device |
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| 一种实时红外地球敏感器信号源的研制. 陆明宇.中国空间科学技术，第3期. 1996 |
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