CN102508535A - Embedded computer information reinforcement method and system - Google Patents
Embedded computer information reinforcement method and system Download PDFInfo
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- CN102508535A CN102508535A CN2011103500829A CN201110350082A CN102508535A CN 102508535 A CN102508535 A CN 102508535A CN 2011103500829 A CN2011103500829 A CN 2011103500829A CN 201110350082 A CN201110350082 A CN 201110350082A CN 102508535 A CN102508535 A CN 102508535A
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Abstract
The invention relates to an embedded computer information reinforcement method and system. The embedded computer information reinforcement system comprises a fault detect and abnormality alarm circuit, a time server, an essential information protection circuit, a transient fault recovery module and an output control circuit. According to the scheme, essential information can be effectively protected; and due to the utilization of the transient fault recovery module, automatic recovery can be realized to ensure the success of flight when transient fault of an aircraft occurs, so that higher military application value and social benefits are achieved.
Description
Technical field
The invention belongs to the core electron equipment of aerospace flight vehicle control system, be specifically related to soft means of defence and embedded computer system that a kind of anti-strong electromagnetic pulse disturbs.
Background technology
Number of patent application is 200510120638.X, denomination of invention " a kind of software-hardware synergism prevents the repositioning method of system in case of system halt interrupting service ", the invention people be the Wang Jing whirlpool, build together, Lu Jianxin.This disclosure of the Invention a kind of software-hardware synergism prevent the repositioning method of system in case of system halt interrupting service.This invention is just analyzed the system exception situation, confirms to carry out software or hardware reset, comes down to avoid transient fault to take place, if crash real generation then can not in time implement recovery measure.
Number of patent application is 03119146.0, denomination of invention " the self-healing device and method of a kind of computer circuit breaking ", and the invention people is Guo's totalling.This disclosure of the Invention a kind of computer circuit breaking self-resetting devices.This invention is the computer circuit breaking self-recovery method to the mains-supplied system, is only applicable to electric system, and can only be used in ground system, and real-time is lower.And this invention is just stored field data, does not carry out necessary protection, and the reliability of restore data is low.
Article: Li Lu; " system in case of system halt analysis and solution ", modern defense technology, 1991 the 6th phases; The 64th～71 page; The microcomputer of air-fired missile armament systems crashed carried out deadlock mechanism and analysis of Protective Measures, provided prevent two kinds of safeguard procedures and indicators of overall performances that microcomputer crashes and the recovery automatically of taking to crash after key points in design, do not provide concrete inventive process.
Article: Chai Wende, " " deadlock " of computing machine and recovery automatically ", radar and antagonism, the 36th～39 page, have proposed a kind of method that combines with software, hardware at 1996 the 4th phases.This article does not carry out necessary differentiation to the external reset and the resetting of producing of crashing; And adopt common RAM that field data is stored; Storer is not protected yet; If receive stronger electromagnetic pulse interference, these information may be destroyed, to such an extent as to can't return to normal operating conditions.
Do not collect at present relevant public technology data and patent as yet about information reinforcement means and system.Under rugged surroundings such as strong electromagnetic pulse interference, still can realize taking off on time, resist flight, accurately arrive the ability of target in order to satisfy aerospace flight vehicle, the embedded computer information hardened system of electromagnetic pulse-resisting EMP and transient fault has very high application value in army and social benefit.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of prior art, a kind of embedded computer information reinforcement means and system are provided.
The technical solution of the inventive method is: a kind of embedded computer information reinforcement means comprises the following steps:
When (1) embedded computer is in proper working order, in each work tempo, in real time the key message in the embedded computer is upgraded, stores and protects; Key message comprises three the directional acceleration pulse values of X, Y, Z in current sampling period and the positional value of three directions, the pitching in current sampling period
The attitude value of driftage Ψ, rolling Y three deflection speed pulse value and three directions, the relative time counter T in current sampling period
c, absolute time counter T
aValue;
(2) according to predefined judgment mode, when the abnormal conditions of working routine entering nonclient area and endless loop occurring, controlling aircraft keeps the athletic posture before the fault also to restart normal work tempo and sampling period;
(3) according to given mode the key message of storage is moved the internal memory of embedded computer, according to store before the fault normal time node relatively with the numerical value of absolute time counter, carry out the time shaft recovery;
Gather new inertia information,, carry out navigation information and compensate and resolve together with normal crucial navigation information before the fault of storage in the step (1); And obtain the correct positioning directed information according to the navigation information of new Algorithm;
(4) utilize the positioning and directing information of resolving in the step (3); Making aircraft under the time shaft that recovers, adopt given aiming means to carry out new guidance resolves; Provide correct controlled quentity controlled variable, the attitude motion of controlling aircraft is realized closed-loop control; Satisfy to provisioning request until navigation and guidance precision, accomplish the information of abnormal conditions and reinforce.
The technical solution of system of the present invention is: a kind of embedded computer information hardened system comprises fault detect and abnormality alarming circuit, time server, key message holding circuit, transient fault recovery module and output control circuit;
The key message holding circuit is moved out and is upgraded, stores and protect from the embedded computer internal memory key message in real time in each normal work tempo;
Fault detect and abnormality alarming circuit were surveyed and are located the ruined computation process cycle, when working routine occurring and get into the abnormal conditions of nonclient area and endless loop, produced the abnormality alarming signal, excited transient fault recovery module;
Transient fault is recovered module; According to exciting of fault detect and abnormality alarming circuit; Produce the blockade output code and issue output control circuit; Stop the work of key message holding circuit simultaneously, and utilize the numerical value of the relative and absolute time counter of the timing node of storing in the key message holding circuit, carry out time shaft and recover; Generation time beat instruction of restarting is sent to time server; Gather new inertia information, and from the key message holding circuit, obtain normal key message before the fault, carry out the navigation information compensation and resolve; And obtain the correct positioning directed information according to the navigation information of new Algorithm; The correct positioning and directing information that utilization is resolved and the time shaft of recovery; Adopting predetermined aiming means to carry out new guidance resolves; Provide the control corresponding amount to output control circuit,, realize the closed-loop control in recovery stage by the attitude motion of output control circuit controlling aircraft; When navigation and guidance precision satisfy to provisioning request, send control signal and control the key message holding circuit and get into normal work tempo;
Time server restarts normal work tempo and sampling period according to the time beat instruction of restarting that receives;
Output control circuit based on the blockade output code that receives, keeps the athletic posture before the aircraft fault, recovers that module is navigated and after guidance resolves in transient fault, output control corresponding amount, the attitude motion of control aircraft.
Described key message holding circuit adopts the master/slave data district of ferroelectric memory to add soft switch to the protection of key message, is designated as S1 and S2 and realizes; Idiographic flow is: at first, soft switch S 1 is set to " opening " state, the key message with the current sampling period is stored in the main data area again, and storage is re-set as " pass " state with soft switch S 1 after accomplishing; Secondly, soft switch S 2 is set to " opening " state, the key message in current sampling period is stored in the Backup Data district, be set to " pass " state again after storage is accomplished and with soft switch S 2.
The present invention compared with prior art beneficial effect is:
(1) the inventive method and system provide a kind of embedded computer information reinforcement means and system; This scheme is through effectively protecting key message; Utilizing transient fault to recover module makes aircraft when transient fault takes place; Can realize independently recovering to guarantee to fly successfully, have very high application value in army and social benefit.
(2) the present invention guarantees that through two soft switches key message can or not cover the security that has improved the key message holding circuit by random change in to the protection process of key message.
(3) the present invention utilizes the preceding temporal information of fault of storage to combine experience in time shaft rejuvenation, and restoration methods is simple, reliable.
(4) carrier of key message storage of the present invention adopts ferroelectric memory, can guarantee under various abominable situation, to keep the integrity of key message, can improve the reliability of key message protection and information hardened system.
Description of drawings
Fig. 1 is the inventive method process flow diagram;
Fig. 2 is the block diagram of system of the present invention;
Fig. 3 is a transient fault module composition frame chart of the present invention;
Fig. 4 is axle unified time of embedded computer normal flight control of the present invention;
Fig. 5 is the workflow diagram of key message protection of the present invention.
Embodiment
As shown in Figure 1, the embedded computer information reinforcement means of a kind of anti-EMP and transient fault comprises the following steps:
When (1) embedded computer is in proper working order, in each work tempo, in real time the key message in the embedded computer is stored and protected; Key message comprises 3 types, i.e. the positional value of the X in current sampling period, Y, three directional acceleration pulse values of Z and three directions; The pitching in current sampling period, driftage, rolling
The attitude value of Ψ, Y three deflection speed pulse value and three directions; The relative time counter T in current sampling period
c, absolute time counter T
aValue;
(2) according to predefined judgment mode, when the abnormal conditions of working routine entering nonclient area and endless loop occurring, controlling aircraft keeps the athletic posture before the fault also to restart normal work tempo and execution cycle;
(3) according to given mode the key message of storage is moved the internal memory of embedded computer, according to store before the fault normal time node relatively with the numerical value of absolute time counter, carry out the time shaft recovery;
Gather new inertia information,, carry out navigation information and compensate and resolve together with normal crucial navigation information before the fault of storage in the step (1); And obtain the correct positioning directed information according to the navigation information of new Algorithm;
(4) utilize the positioning and directing information of resolving in the step (3); Making aircraft under the time shaft that recovers, adopt given aiming means to carry out new guidance resolves; Provide correct controlled quentity controlled variable, the attitude motion of controlling aircraft is realized closed-loop control; Satisfy to provisioning request until navigation and guidance precision, accomplish the information of abnormal conditions and reinforce.
Introduce a kind of realization system for carrying out said process below, as shown in Figure 2, comprise fault detect and abnormality alarming circuit, time server, key message holding circuit, transient fault recovery module and output control circuit; The concrete realization of each ingredient is following:
(1) key message holding circuit
The key message holding circuit is moved out and is upgraded, stores and protect at ferroelectric memory FRAM from the embedded computer internal memory key message in real time in each normal work tempo;
Self-recovering function when transient fault occurring in order to be supported in; Need in each normal work tempo, in real time key message be moved the key message holding circuit from the embedded computer internal memory; Close the key message holding circuit then; When transient fault occurring, again the key message of protection is moved the embedded computer internal memory from the key message holding circuit, to realize protection, for fault recovery provides pacing items to key message.
The present invention adopts the carrier of ferroelectric memory FRAM as the key message protection.In order to realize the ON/OFF process of key message storer, be provided with soft switch, it can forbid or allow this data block of processor access.
Specifically can adopt the master (b1) of ferroelectric memory to be equipped with the technical scheme that (b2) data field adds soft switch (S1 and S2).The flow process of key message protection is in the operate as normal beat: at first, soft switch S 1 is set to " opening " state, the key message with the current sampling period is stored in the main data area again, and storage is re-set as " pass " state with soft switch S 1 after accomplishing; Secondly, through software delay, be generally 10 μ s; Soft switch S 2 is set to " opening " state; Key message with the current sampling period is stored in data field fully again, is set to " pass " state again after storage is accomplished and with soft switch S 2, finishes once normal key message protection process.
The protection workflow of key message holding circuit is shown in accompanying drawing 5.In the recovery stage; Transient fault is recovered the numerical value that module is utilized the relative and absolute time counter of the timing node of storing in the key message holding circuit; When carrying out the time shaft recovery; Need the switch identity code in inspection main data area and Backup Data district, S1 and S2 should be in " pass " state under the normal condition.For example: S1 or S2 are " 0 " expression " pass " state, and S1 or S2 " open " state for " 1 " expression.
The flow process that key message is moved is: at first will judge the on off state of S1, if S1 is in " opening " state, explain that then the write-protect of main data area (b1) or the process of reading to recover are interfered, then launch Backup Data district (b2) and recover.
(2) fault detect and abnormality alarming circuit
Fault detect and abnormality alarming circuit were surveyed and are located the ruined computation process cycle, when working routine occurring and get into the abnormal conditions of nonclient area and endless loop, produced the abnormality alarming signal, excited transient fault recovery module;
Concrete scheme is: take transient fault to detect in real time and warning technology.A warning counter timer is set on hardware, when the embedded computer operate as normal, after each work tempo is accomplished whole computational algorithms, will sends instruction to warning counter timer automatic clear, the embedded computer program will be accomplished repeated priming.When embedded computer occurred getting into the abnormal conditions of nonclient area and endless loop, embedded computer can't send warning counter timer clear command, then guards against counter timer and will produce the abnormality warnings signal automatically.
(3) transient fault is recovered module
Transient fault is recovered module; According to exciting of fault detect and abnormality alarming circuit; Produce the blockade output code and issue output control circuit; Stop the work of key message holding circuit simultaneously, and utilize the numerical value of the relative and absolute time counter of the timing node of storing in the key message holding circuit, carry out time shaft and recover; Generation time beat instruction of restarting is sent to time server; Gather new inertia information, and from the key message holding circuit, obtain normal key message before the fault, carry out the navigation information compensation and resolve; And obtain the correct positioning directed information according to the navigation information of new Algorithm; The correct positioning and directing information that utilization is resolved and the time shaft of recovery; Adopt predetermined aiming means to carry out new guidance and resolve (for example adopting closed circuit aiming means); Provide the control corresponding amount to output control circuit; By the attitude motion of output control circuit controlling aircraft, realize the closed-loop control in recovery stage; When navigation and guidance precision satisfy to provisioning request, send control signal and control the key message holding circuit and get into normal work tempo;
Above-mentioned time shaft rejuvenation: the numerical value T that at first reads the relative and absolute time counter of the timing node of storing in the key message holding circuit
c, T
a, then with the temporal summation of the numerical value that reads with the stage of recovery, the time shaft that is restored.The time in above-mentioned recovery stage is generally rule of thumb confirmed, generally gets 2-4 sampling period.
Navigation information compensates and resolves; At first read three the directional acceleration pulse values of X, Y, Z stored in the key message holding circuit and the positional value of three directions, the attitude value of pitching, driftage, rolling
Ψ, Y three deflection speed pulse value and three directions; Utilize the above-mentioned value that reads and the inertia information of new sampling to carry out interpolation calculation (as: newton quickens the interpolation method of extrapolating) then, obtain new positioning and directing information.
As shown in Figure 3, transient fault is recovered module and can be adopted production domesticization central processing element SOC to realize.Receive excitation signal and hand-reset (RESET3), the electrification reset (RESET1) of fault detect and abnormality alarming circuit through logic OR; The reset signal (RESET) of output central processing element SOC; Produce the blockade output code by central processing element SOC, stop the work of key message holding circuit simultaneously; Software in the program storage is realized recovery, the navigation information compensation of time shaft based on above-mentioned introduction and resolves and guide resolving etc.
(4) time server
Time server restarts normal work tempo and sampling period according to the time beat instruction of restarting that receives;
This device is mainly by system's beat controller, relative time counter T
C, absolute time counter Ta and the compositions such as internal storage location of time.System's beat controller is guaranteed in the control system flight course, whole control command information streams is linked together, shown in accompanying drawing 4 with the unified time axle.The relative time counter, by counter with unified time axle be divided into the section (period Tn) that n equates.This relative time counter is used for the time of measurement period T n.Except that the cycle length counter, in embedded computer, also have relevant auxiliary counter, be used to measure the time interval in the period Tn.Set up the absolute time counter, can be used for writing down and keeping section continuous time of the normal computation process of embedded computer.
The output signal Tn of system's beat controller and relative time counter is as a look-at-me, and in the sampling period that is used to produce embedded computer, the selected sampling period value of current control task is 5～20ms.Remove T
COutside the relative time counter, in embedded computer, also have an absolute time counter, it can measure the time interval in n sampling period, i.e. the duration of system's operate as normal.When nonclient area and endless loop unusual not occurring getting into if embedded computer is in proper working order, then absolute time Ta be m sampling period adding up with.
The embedded computer program forms corresponding time mark Ta after calculating the periodicity Tn that accomplishes.This time mark Ta is kept in the internal storage location.
When embedded computer occur to get into nonclient area and endless loop unusual; The internal storage location and the information in the register of embedded computer possibly destroyed; Must manage the guard time server for this reason, above-mentioned temporal information is protected, leave in the key message protective device; The mark that comprises current Tn order and absolute time Ta, and recover the required temporal information of computation process.
When the time server receives the time during beat instruction of restarting, restarting systems beat controller, relative time counter T
CAnd absolute time counter Ta restarts counting.
(5) output control circuit
Output control circuit based on the blockade output code that receives, keeps the athletic posture before the aircraft fault, recovers that module is navigated and after guidance resolves in transient fault, output control corresponding amount, the attitude motion of control aircraft.
The present invention can be used for equipping various aerospace flight vehicles, is implemented in and implements launch and flight control under the strong electromagnetic pulse effect, the electromagnetic pulse-resisting interference performance of raising aircraft and emission, flight reliability.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (3)
1. an embedded computer information reinforcement means is characterized in that comprising the following steps:
When (1) embedded computer is in proper working order, in each work tempo, in real time the key message in the embedded computer is upgraded, stores and protects; Key message comprises three the directional acceleration pulse values of X, Y, Z in current sampling period and the positional value of three directions, the pitching in current sampling period
The attitude value of driftage Ψ, rolling Y three deflection speed pulse value and three directions, the relative time counter T in current sampling period
c, absolute time counter T
aValue;
(2) according to predefined judgment mode, when the abnormal conditions of working routine entering nonclient area and endless loop occurring, controlling aircraft keeps the athletic posture before the fault also to restart normal work tempo and sampling period;
(3) according to given mode the key message of storage is moved the internal memory of embedded computer, according to store before the fault normal time node relatively with the numerical value of absolute time counter, carry out the time shaft recovery;
Gather new inertia information,, carry out navigation information and compensate and resolve together with normal crucial navigation information before the fault of storage in the step (1); And obtain the correct positioning directed information according to the navigation information of new Algorithm;
(4) utilize the positioning and directing information of resolving in the step (3); Making aircraft under the time shaft that recovers, adopt given aiming means to carry out new guidance resolves; Provide correct controlled quentity controlled variable, the attitude motion of controlling aircraft is realized closed-loop control; Satisfy to provisioning request until navigation and guidance precision, accomplish the information of abnormal conditions and reinforce.
2. an embedded computer information hardened system is characterized in that: comprise fault detect and abnormality alarming circuit, time server, key message holding circuit, transient fault recovery module and output control circuit;
The key message holding circuit is moved out and is upgraded, stores and protect from the embedded computer internal memory key message in real time in each normal work tempo;
Fault detect and abnormality alarming circuit were surveyed and are located the ruined computation process cycle, when working routine occurring and get into the abnormal conditions of nonclient area and endless loop, produced the abnormality alarming signal, excited transient fault recovery module;
Transient fault is recovered module; According to exciting of fault detect and abnormality alarming circuit; Produce the blockade output code and issue output control circuit; Stop the work of key message holding circuit simultaneously, and utilize the numerical value of the relative and absolute time counter of the timing node of storing in the key message holding circuit, carry out time shaft and recover; Generation time beat instruction of restarting is sent to time server; Gather new inertia information, and from the key message holding circuit, obtain normal key message before the fault, carry out the navigation information compensation and resolve; And obtain the correct positioning directed information according to the navigation information of new Algorithm; The correct positioning and directing information that utilization is resolved and the time shaft of recovery; Adopting predetermined aiming means to carry out new guidance resolves; Provide the control corresponding amount to output control circuit,, realize the closed-loop control in recovery stage by the attitude motion of output control circuit controlling aircraft; When navigation and guidance precision satisfy to provisioning request, send control signal and control the key message holding circuit and get into normal work tempo;
Time server restarts normal work tempo and sampling period according to the time beat instruction of restarting that receives;
Output control circuit based on the blockade output code that receives, keeps the athletic posture before the aircraft fault, recovers that module is navigated and after guidance resolves in transient fault, output control corresponding amount, the attitude motion of control aircraft.
3. a kind of embedded computer information hardened system according to claim 2 is characterized in that: described key message holding circuit adopts the master/slave data district of ferroelectric memory to add soft switch to the protection of key message, is designated as S1 and S2 and realizes; Idiographic flow is: at first, soft switch S 1 is set to " opening " state, the key message with the current sampling period is stored in the main data area again, and storage is re-set as " pass " state with soft switch S 1 after accomplishing; Secondly, soft switch S 2 is set to " opening " state, the key message in current sampling period is stored in the Backup Data district, storage is set to " pass " state with soft switch S 2 after accomplishing again.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105956267A (en) * | 2016-04-29 | 2016-09-21 | 北京航天自动控制研究所 | Equipment modeling language based embedded type emulated serial port and modeling method thereof |
| CN111427327A (en) * | 2019-12-27 | 2020-07-17 | 湖北航天飞行器研究所 | Protection method for abnormal restart of aircraft control software |
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| US5697810A (en) * | 1995-04-13 | 1997-12-16 | Kaiser Aerospace & Electronics Corp. | Method and apparatus for emergency aircraft start system |
| CN101554926A (en) * | 2009-05-20 | 2009-10-14 | 上海微小卫星工程中心 | Attitude control system for space vehicle and method thereof |
| CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | Airborne laser radar pitch angle deviation real-time compensation method and device |
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| US5697810A (en) * | 1995-04-13 | 1997-12-16 | Kaiser Aerospace & Electronics Corp. | Method and apparatus for emergency aircraft start system |
| CN101554926A (en) * | 2009-05-20 | 2009-10-14 | 上海微小卫星工程中心 | Attitude control system for space vehicle and method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105956267A (en) * | 2016-04-29 | 2016-09-21 | 北京航天自动控制研究所 | Equipment modeling language based embedded type emulated serial port and modeling method thereof |
| CN105956267B (en) * | 2016-04-29 | 2019-04-09 | 北京航天自动控制研究所 | A kind of embedded emulation serial ports and modeling method based on equipment modeling language |
| CN111427327A (en) * | 2019-12-27 | 2020-07-17 | 湖北航天飞行器研究所 | Protection method for abnormal restart of aircraft control software |
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