CN101726319B - Star sensor simulation method with function of injecting parameters - Google Patents
Star sensor simulation method with function of injecting parameters Download PDFInfo
- Publication number
- CN101726319B CN101726319B CN2009103116403A CN200910311640A CN101726319B CN 101726319 B CN101726319 B CN 101726319B CN 2009103116403 A CN2009103116403 A CN 2009103116403A CN 200910311640 A CN200910311640 A CN 200910311640A CN 101726319 B CN101726319 B CN 101726319B
- Authority
- CN
- China
- Prior art keywords
- data
- state
- attitude quaternion
- attitude
- fault
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Navigation (AREA)
Abstract
The invention provides a star sensor simulation method with a function of injecting parameters and relates to a star sensor simulation method. The star sensor simulation method with the function of injecting parameters solves the problem that the star sensor in the prior art fails to carry out the fault injection and the fault simulation when simulating the outputting of the navigational measuring data of the start sensor. The data input/output end of a DSP of the star sensor is connected with the data input/output end of an FPGA; a first RS485 transceiver and a second RS485 transceiver are connected with the data input/output end of the FPGA respectively; a first RS422 transceiver and a second RS422 transceiver are connected with the data input/output end of the FPGA respectively; and the FPGA comprises 7 state machines, a normal locating data memory area, a fault data memory area, an attitude quaternion request sending counter and an acknowledged information request sending counter. The star sensor simulation method of the invention is applicable to semi-physical simulation and test in the process of designing a navigation system.
Description
Technical field
The present invention relates to a kind of star sensor simulation method.
Background technology
The aerospace flight vehicle navigational system mainly is made up of navigation measuring equipment, navigation center's computing machine and flight control topworks, as shown in Figure 1.The navigation measuring equipment mainly comprises star sensor, GPS receiver, gyro etc., is used to obtain the dimensional orientation and the attitude information of aircraft; Navigation center's computing machine is according to the dimensional orientation and the attitude information control flight control topworks of aircraft, thus the heading and the attitude of correct controlling aircraft.Wherein, star sensor is to be reference system with the fixed star, with starry sky is the high-precision spatial attitude measurement mechanism of target, it carries out importance in star map recognition, star chart coupling and Attitude Calculation by the fixed star of surveying diverse location on the celestial sphere, and the attitude quaternion data that will reflect attitude angle are exported as final measurement, for aerospace flight vehicles such as satellite, intercontinental strategic missile, aerospace craft provide dimensional orientation and attitude information accurately, have important use and be worth.
In the design of aerospace flight vehicle navigational system, performance history,, need carry out a large amount of hardware-in-the-loop simulation and test job usually for, hardware soft to tested navigational system carry out comprehensive assessment.Because true star sensor costs an arm and a leg and is not easy to the simulation of failure condition, therefore in reliability testing examination, need to replace true star sensor to test with the star sensor simulator to soft, the hardware of navigation center's computing machine and flight control topworks.At present, market has numerous star sensor products, both can simulate true star sensor output navigation measurement data but be difficult to find, can carry out the star sensor simulator product of fault injection and fault simulation again, and the development difficulty voluntarily of this analoglike device be bigger.
Summary of the invention
The present invention provides a kind of star sensor simulation method with function of injecting parameters for the star sensor simulator that solves prior art can not carry out the problem of fault injection and fault simulation in the true star sensor output of simulation navigation measurement data.
Star sensor simulation method with function of injecting parameters, it is based on the realization of star sensor simulator, described star sensor simulator is by DSP1, FPGA2, the one RS485 transceiver 3-1, the 2nd RS485 transceiver 3-2, the one RS422 transceiver 4-1 and the 2nd RS422 transceiver 4-2 form, the data I/O end of described DSP1 links to each other with the data I/O end of described FPGA2, the serial communication interface of a described RS485 transceiver 3-1 links to each other with the RS485 serial communication interface of FPGA2, the serial communication interface of described the 2nd RS485 transceiver 3-2 links to each other with the 2nd RS485 serial communication interface of FPGA2, the serial communication interface of the one RS422 transceiver 4-1 links to each other with the RS422 serial communication interface of FPGA2, and the serial communication interface of the 2nd RS422 transceiver 4-2 links to each other with the 2nd RS422 serial communication interface of FPGA2;
Star sensor simulation method with function of injecting parameters is specific as follows: described FPGA2 inside solidification has normal locator data memory block a, fault data memory block b, attitude quaternion sends request counter c, response message sends request counter d and seven logic state machine, described seven logic state machine are respectively: normal attitude hypercomplex number accepting state machine 2-1, fault data accepting state machine 2-2, simulator working state administration state machine 2-3, order receives and response message sends request state machine 2-4, attitude quaternion synchronized transmission request state machine 2-5, attitude quaternion freely sends request state machine 2-6 and response message and attitude quaternion transmit status machine 2-7, described seven logic state machine working clock frequencies are 57.6MHz, DSP1 is used for reading normal attitude hypercomplex number and fault attitude quaternion and carrying out the hypercomplex number multiplication from FPGA2, also be used for described hypercomplex number multiplication result is sent to FPGA2, normal locator data memory block a is used to store normal locator data, fault data memory block b is used for the storage failure data, the one RS485 transceiver 3-1 is used to receive normal attitude hypercomplex number parameter and sends to FPGA2, and the 2nd RS485 transceiver 3-2 is used to receive fault attitude quaternion parameter, fault type parameter and trouble duration parameter also send to FPGA2.
Analogy method of the present invention not only can be simulated star sensor and export the attitude quaternion data in normal operation, can also inject fault parameter to this simulator by the RS485 bus, thereby the realization star sensor is exported simulation under the fail operation state.Analogy method of the present invention can replace true star sensor to be applied to hardware-in-the-loop simulation and test in the Navigation System Design process, is convenient to, hardware soft to tested navigational system and carries out comprehensive assessment.
Description of drawings
Fig. 1 is existing aerospace flight vehicle navigational system synoptic diagram.Fig. 2 is the electrical principle structural representation of star sensor simulator.Fig. 3 is the principle of work synoptic diagram of normal attitude hypercomplex number accepting state machine 2-1.Fig. 4 is the principle of work synoptic diagram of fault data accepting state machine 2-2.Fig. 5 is the principle of work synoptic diagram of simulator working state administration state machine 2-3.Fig. 6 sends the principle of work synoptic diagram of request state machine 2-4 for order reception and response message.Fig. 7 is the principle of work synoptic diagram of attitude quaternion synchronized transmission request state machine 2-5.Fig. 8 is the principle of work synoptic diagram that attitude quaternion freely sends request state machine 2-6.Fig. 9 is the principle of work synoptic diagram of response message and attitude quaternion transmit status machine 2-7.Figure 10 is applied to the structural representation of aerospace flight vehicle navigational system for the star sensor simulator.
Embodiment
Embodiment one,In conjunction with Fig. 1 and Fig. 2 present embodiment is described, star sensor simulation method with function of injecting parameters, it is based on the realization of star sensor simulator, described star sensor simulator is by DSP1, FPGA2, the one RS485 transceiver 3-1, the 2nd RS485 transceiver 3-2, the one RS422 transceiver 4-1 and the 2nd RS422 transceiver 4-2 form, the data I/O end of described DSP1 links to each other with the data I/O end of described FPGA2, the serial communication interface of a described RS485 transceiver 3-1 links to each other with the RS485 serial communication interface of FPGA2, the serial communication interface of described the 2nd RS485 transceiver 3-2 links to each other with the 2nd RS485 serial communication interface of FPGA2, the serial communication interface of the one RS422 transceiver 4-1 links to each other with the RS422 serial communication interface of FPGA2, and the serial communication interface of the 2nd RS422 transceiver 4-2 links to each other with the 2nd RS422 serial communication interface of FPGA2;
Star sensor simulation method with function of injecting parameters is specific as follows: described FPGA2 inside solidification has normal locator data memory block a, fault data memory block b, attitude quaternion sends request counter c, response message sends request counter d and seven logic state machine, described seven logic state machine are respectively: normal attitude hypercomplex number accepting state machine 2-1, fault data accepting state machine 2-2, simulator working state administration state machine 2-3, order receives and response message sends request state machine 2-4, attitude quaternion synchronized transmission request state machine 2-5, attitude quaternion freely sends request state machine 2-6 and response message and attitude quaternion transmit status machine 2-7, described seven logic state machine working clock frequencies are 57.6MHz, DSP1 is used for reading normal attitude hypercomplex number and fault attitude quaternion and carrying out the hypercomplex number multiplication from FPGA2, also be used for described hypercomplex number multiplication result is sent to FPGA2, normal locator data memory block a is used to store normal locator data, fault data memory block b is used for the storage failure data, the one RS485 transceiver 3-1 is used to receive normal attitude hypercomplex number parameter and sends to FPGA2, and the 2nd RS485 transceiver 3-2 is used to receive fault attitude quaternion parameter, fault type parameter and trouble duration parameter also send to FPGA2.
RS485 transceiver 3-1 in the present embodiment, the 2nd RS485 transceiver 3-2, a RS422 transceiver 4-1 and the 2nd RS422 transceiver 4-2 can select the IL422 chip that adopts NVE company for use, FPGA2 can adopt the Cyclone EP1C6Q240C8 chip of ALTERA company, and DSP1 can adopt the TMS320LF2407 chip of TI company.
Embodiment two,In conjunction with Fig. 3 present embodiment is described, present embodiment is further specifying the duty of normal attitude quaternion accepting state machine 2-1: normal attitude hypercomplex number accepting state machine 2-1 comprises three states: waiting status, reception normal attitude hypercomplex number state and state data memory;
In waiting status, wait for that a RS485 receiver 3-1 sends data, send data if detect a RS485 receiver 3-1, then described normal attitude hypercomplex number accepting state machine 2-1 will be transformed into the normal attitude hypercomplex number state that receives;
Receiving normal attitude hypercomplex number state, receive the data that a RS485 receiver 3-1 sends, after Data Receiving finished, normal attitude hypercomplex number accepting state machine 2-1 was transformed into state data memory;
At state data memory, deposit the data that receive in normal locator data memory block a; If data storage finishes, normal attitude hypercomplex number accepting state machine 2-1 will be transformed into waiting status.
Embodiment three,In conjunction with Fig. 4 present embodiment is described, present embodiment is further specifying the duty of fault data accepting state machine 2-2: fault data accepting state machine 2-2 comprises one of four states: waiting status, reception fault data state, state data memory and fault data arriving signal transmit status;
In waiting status, wait for that the 2nd RS485 transceiver 3-2 sends data, send data if detect the 2nd RS485 transceiver 3-2, then fault data accepting state machine 2-2 will be transformed into the fault data state that receives;
Receiving the fault data state, receiving the data that the 2nd RS485 transceiver 3-2 sends, if Data Receiving finishes, fault data accepting state machine 2-2 will be transformed into state data memory,
At state data memory, deposit the data that receive in fault data memory block b, described fault data comprises fault type, trouble duration and fault attitude quaternion data; If data storage finishes, fault data accepting state machine 2-2 will be transformed into fault data arriving signal transmit status;
In fault data arriving signal transmit status, send the fault data arriving signal, if sending, the fault data arriving signal finishes, fault data accepting state machine 2-2 will be transformed into waiting status.
Embodiment four,In conjunction with Fig. 5 present embodiment is described, present embodiment is further specifying the duty of simulator working state administration state machine 2-3: simulator working state administration state machine 2-3 comprises two states: wait for that fault data arrives state and read failure data mode;
Waiting for that fault data arrives state, detection failure data arriving signal, when detecting described fault data arriving signal, simulator working state administration state machine 2-3 is transformed into the read failure data mode;
In the read failure data mode, read failure categorical data and trouble duration data from the b of fault data memory block, and duty and the state duration of simulator working state administration state machine 2-3 are set according to described fault type data and trouble duration; After having read data, simulator working state administration state machine 2-3 is transformed into and waits for that fault data arrives state;
When simulator working state administration state machine 2-3 is in the read failure data mode, if the fault type data equal 0 or the trouble duration data equal 0, then simulator working state administration state machine 2-3 is provided with the simulator duty for " normally ", and simulator working state administration state machine 2-3 will be in the fault data arrival state of waiting for once more after setting completed; If the fault type data be not equal to 0 and the trouble duration data be not equal to 0, then simulator working state administration state machine 2-3 is provided with the simulator duty for " fault ", delay time according to the trouble duration data after setting completed, the time-delay back simulator working state administration state machine 2-3 that finishes is provided with the simulator duty and is " normally ", and simulator working state administration state machine 2-3 is in the fault data arrival state of waiting for once more subsequently.
The fault simulating function of different faults type parameter correspondence is as shown in table 1:
Table 1
| The fault type parameter | Fault simulating function |
| 0 | Star sensor is working properly, output star sensor normal attitude hypercomplex number parameter |
| 1 | Star sensor job failure, fault show as the no-output of star sensor to navigation center's computing machine |
| 2 | Star sensor job failure, fault show as not normalizing of star sensor output attitude quaternion norm, star sensor output attitude quaternion=normal attitude hypercomplex number+fault attitude quaternion |
| 3 | It is discontinuous that star sensor job failure, fault show as star sensor output attitude quaternion data, star sensor output attitude quaternion=normal attitude hypercomplex number * fault attitude quaternion (* represents the hypercomplex number multiplication) |
| 4 | Star sensor job failure, fault show as star sensor output attitude quaternion data and remain unchanged, and star sensor output attitude quaternion is a last output data before the fault |
| 5 | Star sensor job failure, fault show as star sensor output attitude quaternion data and remain unchanged, and star sensor output attitude quaternion is the fault attitude quaternion |
Embodiment five,In conjunction with Fig. 6 present embodiment is described, present embodiment is that order is received and response message sends the further specifying of duty of request state machine 2-4: order receives and response message sends request state machine 2-4 and comprises three states: state and the attitude quaternion output state is set when order and the order of attitude quaternion way of output arrival state, school when waiting for the school;
Order and the order of the attitude quaternion way of output arrive state when waiting for the school, order and the order of the attitude quaternion way of output when detecting the school, if order arrives when detecting the school, state when then order reception and response message transmission request state machine 2-4 are transformed into the school, arrive if detect the order of the attitude quaternion way of output, then order reception and response message transmission request state machine 2-4 are transformed into the attitude quaternion output state are set;
State when the school, order receive and response message when sending the school that request state machine 2-4 receives according to the pulse per second (PPS) synchronizing signal rising edge due in that is write down and the 2nd RS422 receiver 4-2 the time parameter in the order proofread and correct the simulator time; After correction finished, order reception and response message transmission request state machine 2-4 sent request counter d with response message and add 1, and order and the order of the attitude quaternion way of output arrive state when being transformed into the wait school then;
The attitude quaternion output state is being set, and order is provided with the attitude quaternion way of output according to the attitude quaternion way of output for order reception and response message transmission request state machine 2-4; After setting was finished, order reception and response message transmission request state machine 2-4 sent request counter d with response message and add 1, and order and the order of the attitude quaternion way of output arrive state when being transformed into the wait school then.
Embodiment six,In conjunction with Fig. 7 present embodiment is described, present embodiment is further specifying the duty of attitude quaternion synchronized transmission request state machine 2-5: attitude quaternion synchronized transmission request state machine 2-5 comprises three states: time-delay state A, time-delay state B and time-delay waiting status;
In the time-delay waiting status, if the rising edge no show of pulse per second (PPS) synchronizing signal or the current attitude quaternion way of output of simulator are the free way of output, attitude quaternion synchronized transmission request state machine 2-5 is in the time-delay waiting status all the time; If pulse per second (PPS) synchronizing signal rising edge arrives and the current attitude quaternion way of output of simulator is the synchronous way of output, then attitude quaternion synchronized transmission request state machine 2-5 is transformed into time-delay state A;
In time-delay state A, 200 milliseconds of attitude quaternion synchronized transmission request state machine 2-5 time-delays; After time-delay finished, attitude quaternion synchronized transmission request state machine 2-5 sent request counter c with attitude quaternion and adds 1, and attitude quaternion synchronized transmission request state machine 2-5 is transformed into time-delay state B then;
In time-delay state B, 500 milliseconds of attitude quaternion synchronized transmission request state machine 2-5 time-delays; Time-delay finishes, and attitude quaternion synchronized transmission request state machine 2-5 sends request counter c with attitude quaternion and adds 1; Attitude quaternion synchronized transmission request state machine 2-5 is transformed into the time-delay waiting status then.
The way of output is the mode that star sensor passes through RS422 transceiver 4-1 output attitude quaternion, the free way of output is the star sensor simulator according to the own per 500 milliseconds of outputs of time counting once, the synchronous way of output be the star sensor simulator according to the per 500 milliseconds of outputs of pulse per second (PPS) synchronizing signal once.
Embodiment seven,In conjunction with Fig. 8 present embodiment is described, present embodiment is the further specifying of duty that attitude quaternion is freely sent request state machine 2-6: attitude quaternion freely sends request state machine 2-6 and comprises a state: time-delay state B;
At time-delay state B, attitude quaternion freely sends 500 milliseconds of request state machine 2-6 time-delays; Time-delay finishes and the current attitude quaternion way of output is the free way of output, and then attitude quaternion freely sends request state machine 2-6 and attitude quaternion is sent request counter c adds 1, and continuation is delayed time then;
If time-delay finishes and the current attitude quaternion way of output is the synchronous way of output, then attitude quaternion freely sends request state machine 2-6 and is in time-delay state B all the time.
Embodiment eight,In conjunction with Fig. 9 present embodiment is described, present embodiment is further specifying the duty of response message and attitude quaternion transmit status machine 2-7: response message and attitude quaternion transmit status machine 2-7 comprise three states: query State, transmission response message state and transmission attitude quaternion data mode;
If attitude quaternion sends request counter c and response message transmission request counter d equals 0, then response message and attitude quaternion transmit status machine 2-7 are in query State all the time;
At query State, the inquiry attitude quaternion sends the content of request counter and response message transmission request counter d, if sending request counter d, response message is not equal to 0, then response message and attitude quaternion transmit status machine 2-7 send request counter d with response message and subtract 1, and response message and attitude quaternion transmit status machine 2-7 are transformed into the response message state that sends then;
Send the response message state, sending attitude quaternion to a RS422 transceiver of aircraft, be transformed into query State then;
Be not equal to 0 if attitude quaternion sends request counter, then carry out following step:
Steps A 1, attitude quaternion send request counter c and subtract 1;
Steps A 2, the current simulator duty of judgement, if current simulator duty is normal, then execution in step A3 is a fault as if current simulator duty, then execution in step A5;
Steps A 3, simulator read the normal attitude hypercomplex number from normal locator data memory block a;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine 2-7 are transformed into and send the attitude quaternion data mode then with last normal attitude hypercomplex number for steps A 4, simulator; This thread finishes;
Steps A 5, simulator read the normal attitude hypercomplex number from normal locator data memory block a;
Steps A 6, simulator read failure attitude quaternion and fault type from the b of fault data memory block;
Steps A 7, failure judgement type are 2 as if fault type, then execution in step A8; As if fault type is 3, then execution in step A9; As if fault type is 4, then execution in step A10; As if fault type is 5, then execution in step A11; If fault type is other values, then response message and attitude quaternion transmit status machine 2-7 are transformed into query State, and this thread finishes;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine 2-7 are transformed into and send the attitude quaternion data mode then with the result of normal attitude hypercomplex number and the addition of fault attitude quaternion for steps A 8, simulator;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine 2-7 are transformed into and send the attitude quaternion data mode then with the hypercomplex number multiplication result of normal attitude hypercomplex number and fault attitude quaternion for steps A 9, simulator;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine 2-7 are transformed into and send the attitude quaternion data mode then with last normal attitude hypercomplex number output data for steps A 10, simulator;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine 2-7 are transformed into and send the attitude quaternion data mode then with the fault attitude quaternion for steps A 11, simulator;
Sending the attitude quaternion data mode, sending attitude quaternion to a RS422 transceiver of aircraft, response message and attitude quaternion transmit status machine 2-7 are transformed into query State then.
Embodiment nine,In conjunction with Figure 10 present embodiment is described, present embodiment is that the inventive method is applied in the aerospace flight vehicle navigational system, the hardware annexation is: the test emulation computing machine is connected with a RS485 transceiver 3-1 of star sensor simulator of the present invention by first connector, realize the injection of star sensor normal attitude hypercomplex number parameter, the test emulation computing machine is connected with the 2nd RS485 transceiver of star sensor simulator of the present invention by second connector, realize star sensor fault attitude quaternion parameter, the injection of fault type parameter and trouble duration parameter, first connector and second connector all use RS485 bus communication mode, adopt the DB9 connector, the differential signal line that comprises the RS485 bus to and ground wire; Navigation center's computing machine is connected with a RS422 transceiver 4-1 of star sensor simulator of the present invention by the 3rd connector, adopt the RS422 communication mode, the attitude quaternion that is used for simulating the aircraft that obtains sends to navigation center's computing machine, described the 3rd connector adopts 2 pairs of multiple twin shielding differential lines and ground wire, is used for the communication of RS422 asynchronous, full duplex; Navigation center's computing machine is connected with the 2nd RS422 transceiver 4-2 of star sensor simulator of the present invention by the 4th connector, be used to receive the pulse per second (PPS) synchronizing signal that navigation center's computing machine sends, the signal I/O port of navigation center's computing machine links to each other with the signal I/O port of aircraft topworks.
Claims (9)
1. the star sensor simulation method that has function of injecting parameters, it is characterized in that it is based on that the star sensor simulator realizes, described star sensor simulator is by DSP (1), FPGA (2), the one RS485 transceiver (3-1), the 2nd RS485 transceiver (3-2), the one RS422 transceiver (4-1) and the 2nd RS422 transceiver (4-2) are formed, the data I/O end of described DSP (1) links to each other with the data I/O end of described FPGA (2), the serial communication interface of a described RS485 transceiver (3-1) links to each other with the RS485 serial communication interface of FPGA (2), the serial communication interface of described the 2nd RS485 transceiver (3-2) links to each other with the 2nd RS485 serial communication interface of FPGA (2), the serial communication interface of the one RS422 transceiver (4-1) links to each other with the RS422 serial communication interface of FPGA (2), and the serial communication interface of the 2nd RS422 transceiver (4-2) links to each other with the 2nd RS422 serial communication interface of FPGA (2);
Star sensor simulation method with function of injecting parameters is specific as follows: described FPGA (2) inside solidification has normal locator data memory block (a), fault data memory block (b), attitude quaternion sends request counter (c), response message sends request counter (d) and seven logic state machine, described seven logic state machine are respectively: normal attitude hypercomplex number accepting state machine (2-1), fault data accepting state machine (2-2), simulator working state administration state machine (2-3), order receives and response message sends request state machine (2-4), attitude quaternion synchronized transmission request state machine (2-5), attitude quaternion freely sends request state machine (2-6) and response message and attitude quaternion transmit status machine (2-7), described seven logic state machine working clock frequencies are 57.6MHz, DSP (1) is used for reading normal attitude hypercomplex number and fault attitude quaternion and carrying out the hypercomplex number multiplication from FPGA (2), also be used for described hypercomplex number multiplication result is sent to FPGA (2), normal locator data memory block (a) is used to store normal locator data, (b) is used for the storage failure data in the fault data memory block, the one RS485 transceiver (3-1) is used to receive normal attitude hypercomplex number parameter and sends to FPGA (2), and the 2nd RS485 transceiver (3-2) is used to receive fault attitude quaternion parameter, fault type parameter and trouble duration parameter also send to FPGA (2).
2. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that normal attitude hypercomplex number accepting state machine (2-1) comprises three states: waiting status, reception normal attitude hypercomplex number state and state data memory;
In waiting status, wait for that a RS485 transceiver (3-1) sends data, send data if detect a RS485 transceiver (3-1), then described normal attitude hypercomplex number accepting state machine (2-1) will be transformed into the normal attitude hypercomplex number state that receives;
Receiving normal attitude hypercomplex number state, receive the data that a RS485 transceiver (3-1) sends, after Data Receiving finished, normal attitude hypercomplex number accepting state machine (2-1) was transformed into state data memory;
At state data memory, deposit the data that receive in normal locator data memory block (a); If data storage finishes, normal attitude hypercomplex number accepting state machine (2-1) will be transformed into waiting status.
3. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that fault data accepting state machine (2-2) comprises one of four states: waiting status, reception fault data state, state data memory and fault data arriving signal transmit status;
In waiting status, wait for that the 2nd RS485 transceiver (3-2) sends data, send data if detect the 2nd RS485 transceiver (3-2), then fault data accepting state machine (2-2) will be transformed into the fault data state that receives;
Receiving the fault data state, receiving the data that the 2nd RS485 transceiver (3-2) sends, if Data Receiving finishes, fault data accepting state machine (2-2) will be transformed into state data memory,
At state data memory, deposit the data that receive in fault data memory block (b), described fault data comprises fault type, trouble duration and fault attitude quaternion data; If data storage finishes, fault data accepting state machine (2-2) will be transformed into fault data arriving signal transmit status;
In fault data arriving signal transmit status, send the fault data arriving signal, if sending, the fault data arriving signal finishes, fault data accepting state machine (2-2) will be transformed into waiting status.
4. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that simulator working state administration state machine (2-3) comprises two states: wait for that fault data arrives state and read failure data mode;
Waiting for that fault data arrives state, detection failure data arriving signal, when detecting described fault data arriving signal, simulator working state administration state machine (2-3) is transformed into the read failure data mode;
In the read failure data mode, read failure categorical data and trouble duration data from fault data memory block (b), and the duty and the state duration of simulator working state administration state machine (2-3) are set according to described fault type data and trouble duration; After having read data, simulator working state administration state machine (2-3) is transformed into waits for that fault data arrives state.
5. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that order reception and response message send request state machine (2-4) and comprise three states: state and the attitude quaternion output state is set when order and the order of attitude quaternion way of output arrival state, school when waiting for the school;
Order and the order of the attitude quaternion way of output arrive state when waiting for the school, order and the order of the attitude quaternion way of output when detecting the school, if order arrives when detecting the school, reception and response message transmission request state machine (2-4) state when being transformed into the school, arrive if detect the order of the attitude quaternion way of output, reception and response message transmission request state machine (2-4) are transformed into the attitude quaternion output state are set;
State when the school, receive and response message when sending the school that request state machine (2-4) receives according to the pulse per second (PPS) synchronizing signal rising edge due in that is write down and the 2nd RS422 transceiver (4-2) time parameter in the order proofread and correct the star sensor simulator time; After correction finished, reception and response message transmission request state machine (2-4) sent request counter (d) with response message and add 1, were transformed into order and attitude quaternion way of output order arrival state when waiting for the school then;
The attitude quaternion output state is being set, and order is provided with the attitude quaternion way of output according to the attitude quaternion way of output for reception and response message transmission request state machine (2-4); After setting was finished, reception and response message transmission request state machine (2-4) sent request counter (d) with response message and add 1, were transformed into order and attitude quaternion way of output order arrival state when waiting for the school then.
6. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that attitude quaternion synchronized transmission request state machine (2-5) comprises three states: time-delay state A, time-delay state B and time-delay waiting status;
In the time-delay waiting status, if the rising edge no show of pulse per second (PPS) synchronizing signal or the current attitude quaternion way of output of simulator are the free way of output, attitude quaternion synchronized transmission request state machine (2-5) is in the time-delay waiting status all the time; If pulse per second (PPS) synchronizing signal rising edge arrives and the current attitude quaternion way of output of simulator is the synchronous way of output, then attitude quaternion synchronized transmission request state machine (2-5) is transformed into time-delay state A;
In time-delay state A, 200 milliseconds of attitude quaternion synchronized transmission request state machine (2-5) time-delays; After time-delay finished, attitude quaternion synchronized transmission request state machine (2-5) sent request counter (c) with attitude quaternion and adds 1, and attitude quaternion synchronized transmission request state machine (2-5) is transformed into time-delay state B then;
In time-delay state B, 500 milliseconds of attitude quaternion synchronized transmission request state machine (2-5) time-delays; Time-delay finishes, and attitude quaternion synchronized transmission request state machine (2-5) sends request counter (c) with attitude quaternion and adds 1; Attitude quaternion synchronized transmission request state machine (2-5) is transformed into the time-delay waiting status then.
7. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that attitude quaternion freely sends request state machine (2-6) and comprises a state: time-delay state B;
At time-delay state B, attitude quaternion freely sends 500 milliseconds of request state machine (2-6) time-delays;
1) if time-delay state B time-delay finishes, and the current attitude quaternion way of output is the free way of output, and then attitude quaternion freely sends request state machine (2-6) and attitude quaternion is sent request counter (c) adds 1, continues to get back to time-delay state B then;
2) if time-delay state B time-delay finishes, and the current attitude quaternion way of output is the synchronous way of output, and then attitude quaternion freely sends request state machine (2-6) and is in time-delay state B all the time.
8. the star sensor simulation method with function of injecting parameters according to claim 1 is characterized in that response message and attitude quaternion transmit status machine (2-7) comprise three states: query State, transmission response message state and transmission attitude quaternion data mode;
If attitude quaternion sends request counter (c) and response message transmission request counter (d) all equals 0, then response message and attitude quaternion transmit status machine (2-7) are in query State all the time;
At query State, the inquiry attitude quaternion sends the content of request counter and response message transmission request counter (d), if sending request counter (d), response message is not equal to 0, then response message and attitude quaternion transmit status machine (2-7) send request counter (d) with response message and subtract 1, and response message and attitude quaternion transmit status machine (2-7) are transformed into the response message state that sends then;
Send the response message state, sending attitude quaternion to a RS422 transceiver of aircraft, be transformed into query State then;
Be not equal to 0 if attitude quaternion sends request counter, then carry out following step:
Steps A 1, attitude quaternion send request counter (c) and subtract 1;
Steps A 2, the current star sensor simulator duty of judgement, if current star sensor simulator duty is normal, then execution in step A3 is a fault as if current star sensor simulator duty, then execution in step A5;
Steps A 3, star sensor simulator read the normal attitude hypercomplex number from normal locator data memory block (a);
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine (2-7) are transformed into and send the attitude quaternion data mode then with last normal attitude hypercomplex number for steps A 4, star sensor simulator; Execution in step A12 then;
Steps A 5, star sensor simulator read the normal attitude hypercomplex number from normal locator data memory block (a);
Steps A 6, star sensor simulator read failure attitude quaternion and fault type from fault data memory block (b);
Steps A 7, failure judgement type are 2 as if fault type, then execution in step A8; As if fault type is 3, then execution in step A9; As if fault type is 4, then execution in step A10; As if fault type is 5, then execution in step A11; If fault type is other values, then response message and attitude quaternion transmit status machine (2-7) are transformed into query State;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine (2-7) are transformed into and send the attitude quaternion data mode then with the result of normal attitude hypercomplex number and the addition of fault attitude quaternion for steps A 8, star sensor simulator; Execution in step A12 then;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine (2-7) are transformed into and send the attitude quaternion data mode then with the hypercomplex number multiplication result of normal attitude hypercomplex number and fault attitude quaternion for steps A 9, star sensor simulator; Execution in step A12 then;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine (2-7) are transformed into and send the attitude quaternion data mode then with last normal attitude hypercomplex number output data for steps A 10, star sensor simulator; Execution in step A12 then;
As attitude quaternion data to be sent, response message and attitude quaternion transmit status machine (2-7) are transformed into and send the attitude quaternion data mode then with the fault attitude quaternion for steps A 11, star sensor simulator; Execution in step A12 then;
Steps A 12, sending the attitude quaternion data mode, sending attitude quaternion to a RS422 transceiver of aircraft, response message and attitude quaternion transmit status machine (2-7) are transformed into query State then.
9. the star sensor simulation method with function of injecting parameters according to claim 4, it is characterized in that simulator working state administration state machine (2-3) is after the read failure data mode, according to described fault type data with trouble duration is provided with the duty of simulator working state administration state machine (2-3) and the process of state duration is: if the fault type data equal 0 or the trouble duration data equal 0, then simulator working state administration state machine (2-3) is provided with star sensor simulator duty and is " normally "; If the fault type data be not equal to 0 and the trouble duration data be not equal to 0, then simulator working state administration state machine (2-3) is provided with star sensor simulator duty for " fault ", delay time according to the trouble duration data after setting completed, the time-delay back simulator working state administration state machine (2-3) that finishes is provided with star sensor simulator duty for " normally ".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103116403A CN101726319B (en) | 2009-12-17 | 2009-12-17 | Star sensor simulation method with function of injecting parameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103116403A CN101726319B (en) | 2009-12-17 | 2009-12-17 | Star sensor simulation method with function of injecting parameters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101726319A CN101726319A (en) | 2010-06-09 |
| CN101726319B true CN101726319B (en) | 2011-08-31 |
Family
ID=42447550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009103116403A Expired - Fee Related CN101726319B (en) | 2009-12-17 | 2009-12-17 | Star sensor simulation method with function of injecting parameters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101726319B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278990B (en) * | 2010-06-11 | 2016-03-30 | 上海航天控制工程研究所 | Based on the star sensor image processing method of FPGA |
| CN101937031B (en) * | 2010-07-01 | 2012-07-04 | 哈尔滨工业大学 | Electric simulator for star sensor |
| CN102270166A (en) * | 2011-02-22 | 2011-12-07 | 清华大学 | Simulator and method for injecting and tracking processor faults based on simulator |
| CN103148850B (en) * | 2013-01-24 | 2015-04-01 | 哈尔滨工业大学 | High-precision star sensor |
| CN103235516B (en) * | 2013-04-09 | 2015-07-08 | 北京控制工程研究所 | Multifunctional satellite-sensitive simulator |
| CN105446887B (en) * | 2016-01-11 | 2018-01-19 | 中国科学院光电研究院 | A kind of spaceborne embedded type data communication failure Dynamic injection system and method based on Digital Virtual Technique |
| CN106933740B (en) * | 2017-03-15 | 2020-06-05 | 上海航天控制技术研究所 | Star sensor software online fault monitoring system and monitoring method thereof |
| CN111176310B (en) * | 2019-12-31 | 2020-09-08 | 北京星际荣耀空间科技有限公司 | Test method, device and system for carrier rocket attitude control system |
| CN112363410B (en) * | 2020-11-13 | 2022-09-30 | 浙江大学 | Intelligent autonomous control research and verification system for spacecraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5396326A (en) * | 1989-04-03 | 1995-03-07 | Northrop Grumman Corporation | Two gimbal error averaging astro-inertial navigator |
| CN101226113A (en) * | 2008-01-30 | 2008-07-23 | 北京航空航天大学 | Method and apparatus for testing star sensor function based on electric injection star map |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN100476853C (en) * | 2006-03-29 | 2009-04-08 | 北京航空航天大学 | SINS/CNS/GPS Combined navigation semi-entity copying system |
| CN100520297C (en) * | 2006-03-21 | 2009-07-29 | 北京航空航天大学 | Zero deflection band based star sensor ground surface calibration method |
| CN101592490A (en) * | 2009-07-06 | 2009-12-02 | 北京航空航天大学 | A kind of self-adaptive controlled-array star sensor |
-
2009
- 2009-12-17 CN CN2009103116403A patent/CN101726319B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5396326A (en) * | 1989-04-03 | 1995-03-07 | Northrop Grumman Corporation | Two gimbal error averaging astro-inertial navigator |
| CN100520297C (en) * | 2006-03-21 | 2009-07-29 | 北京航空航天大学 | Zero deflection band based star sensor ground surface calibration method |
| CN100476853C (en) * | 2006-03-29 | 2009-04-08 | 北京航空航天大学 | SINS/CNS/GPS Combined navigation semi-entity copying system |
| CN101226113A (en) * | 2008-01-30 | 2008-07-23 | 北京航空航天大学 | Method and apparatus for testing star sensor function based on electric injection star map |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN101592490A (en) * | 2009-07-06 | 2009-12-02 | 北京航空航天大学 | A kind of self-adaptive controlled-array star sensor |
Non-Patent Citations (6)
| Title |
|---|
| 全伟等.高精度星图模拟及有效性验证新方法.《光电工程》.2005,第32卷(第7期),全文. * |
| 刘垒等.星敏感器技术研究现状及发展趋势.《红外与激光工程》.2007,第36卷全文. * |
| 张辉等.星敏感器参数标定及误差补偿.《光电工程》.2005,第32卷(第9期),全文. * |
| 李德明等.星敏感器图像模拟及目标背景运动特性分析.《光电工程》.2009,第36卷(第4期),全文. * |
| 杜和青.模式识别技术在卫星敏感器系统故障检测中的应用.《中国空间科学技术》.1987,(第1、2期),全文. * |
| 邵会兵等.基于星敏感器的陀螺仪误差参数实时修正.《现代防御技术》.2006,第34卷(第1期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101726319A (en) | 2010-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101726319B (en) | Star sensor simulation method with function of injecting parameters | |
| CN101738206B (en) | GPS receiver simulation method with fault simulating function | |
| CN103616037B (en) | A kind of self-test and self-calibration method of IMU calibration system | |
| CN105091927A (en) | All-liquid-crystal automobile instrument automatic test platform | |
| CN103529820A (en) | Fault injection testing system and testing method applied to embedded equipment | |
| CN108075826B (en) | Method and system for realizing satellite-ground time synchronization of satellite semi-physical simulation test | |
| CN101777085B (en) | Small satellite signal processing unit work process simulation method, device and work method of logic state machine in device | |
| CN103558513B (en) | A kind of aircraft cable network Fault Locating Method based on Graphic Pattern Matching algorithm | |
| CN106950858A (en) | A kind of Satellite Semi-physical l-G simulation test culminant star time synchronized method of testing | |
| CN103941579A (en) | Time recording and clock synchronizing method and device for oceanographic instruments | |
| CN102411312B (en) | Sensor simulator and satellite closed loop simulation system | |
| US10747259B2 (en) | Multichip reference logging synchronization | |
| CN112525136B (en) | High-precision synchronous position information calibration system and method based on servo mechanism | |
| CN109633700B (en) | Method for testing time service precision of multiple GPS receivers | |
| CN103678208B (en) | Spacecraft synchronous data transmission method | |
| CN107592176A (en) | The time of networking weather radar and frequency synchronization method and device | |
| CN101975966B (en) | Towrope simulator board for geophysical exploration | |
| CN102645217B (en) | GNSS (global navigation satellite system) intermediate-frequency data and inertia measurement data combined collector | |
| CN114879232B (en) | GNSS radio occultation detection simulation system | |
| CN107390506B (en) | Real-time measurement device and method for time comparison precision of time service system | |
| CN116388896A (en) | Device, system and method for testing BTM of transponder information receiving unit | |
| CN1456898A (en) | Automatic positioning system/global positioning system receiver comprehensive testing system | |
| CN109669192B (en) | Use method of multi-station distance and direction measuring instrument in underwater acoustic test | |
| CN110187631B (en) | Time alignment method and system for control system | |
| CN104635745B (en) | Method for synchronizing double aircraft of flight management system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110831 Termination date: 20111217 |