CN105068417A - SpaceWire network time service and calibration method - Google Patents
SpaceWire network time service and calibration method Download PDFInfo
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Abstract
The invention provides a SpaceWire network time service and calibration method comprises a step 1 of enabling a satellite data processor to perform reception via multiple SpaceWire channels after a ground end gives time service; and a step 2 of performing multiple verification on time service and calibration time codes of the multiple SpaceWire channels in order to guarantee that a time code acquired at a satellite is consistent with a code word sent from the ground end. The step 2 specifically includes modifying satellite time after the time service and calibration time codes of at least two SpaceWire channels are consistent and cancelling satellite time modification if the time service and calibration time codes of at least two SpaceWire channels are inconsistent. The method performs multiple verification on the time service and calibration time codes of the multiple SpaceWire channels so as to guarantee that the time code acquired at satellite is consistent with the code word sent from the ground end.
Description
Technical field
The present invention relates to aerospace system technology, particularly, relate to a kind of method when SpaceWire time calibration in network and school.Be concretely utilize SpaceWire link carry out star ground time service, school time and utilize SpaceWire signal transmission characteristics distribute the time on star and safeguard.
Background technology
It is two independences that the observing and controlling of artificial satellite and Star Service manage, complexity but contact subject closely.The common research direction of these two subjects improves precision of uniting during the time between star ground and on star.Along with the development of satellite technology, the intensive development of satellite model, more and more higher to the requirement of this index.
In order to accurately control satellite borne equipment (equipment component needs computing machine time delay to send indirect instruction), the synchronous requirement of each equipment to timing code is higher.Introduce more complicated timing system, adopt more advanced technological means to improve time system precision also being extremely the necessary property of each equipment.
Utilize multiple different bussing technique can realize amendment to the time on star and management, as the broadcast of 1553B bus time, the hard synchronous and heavy simultaneous techniques of CAN, these technology are that the time management of satellite provides necessary means.
SpaceWire bus be by European Space Agency, European Space company and academia based on IEEE-1355-1995 and LVDS two commercial criterions, draw the advantage of 1394 buses, ATM and ethernet technology, the bus standard formulated under the condition taking into account space application characteristic, its characteristic to meet on star bus preferably to high-throughput, high reliability and scalable, prolongable requirement.
Since SpaceWire bus is come out, a lot of after deliberation to the communication means of its node and route.But along with the level of route and node increases, bus is understood the expense of progressively generation time.In view of this, the bus distribution how handling the time on star well is a research direction of satellited system design.So far, using SpaceWire bus as information media, carry out the management of time on star and not yet find achievement in research at home.
Utilize the TimeCode of SpaceWire can as a kind of means of accurate timing, and the highest 400Mbps that also can reach of the transfer rate of SpaceWire bus, however, because data skew and changes in amplitude exert a certain influence to data transmission procedure, precision of uniting during SpaceWire network in practical application only can reach about 10us.Compared with the existing application level of satellite, this is still a very large breakthrough.This also shows, as carried out complete planning from top layer to Time Transmission process, the time management of whole star will be promoted to a new height.
The reliability of ARINC659 bus obtains the accreditation of a large amount of aviation and astro-engineer.Use for reference the method for designing of ARINC659 bus each road signal herein.Three get two decision methods as a kind of majority vote method, among the design being now widely used in On-board software, make use of this method herein to improve the reliability of design.
Method during school based on SpaceWire and when time service method has used for reference time service and school on satellite engineering widely, although the medium of information transmission is different, information flow is standardized.Existing house keeping computer receives the note number on ground, and under the condition ensureing reliability, timing code is distributed to slave computer.
Instantly, the U.S., Europe, the developed countries such as Japan are all in major issue development SpaceWire technology, and SpaceWire application like a raging fire is a background of this paper.Construct the uniqueness topology of network on star herein, and the signal processing method applying part raising reliability solves integrity problem ground being noted time parameter, and propose management and the distribution thinking of time on star.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of method when SpaceWire time calibration in network and school, system precision when being suitable for adopting the satellite of SpaceWire bus to adopt to improve.
According to SpaceWire time calibration in network provided by the invention and calibration method, comprise the steps:
Step S1: after time service is carried out on ground, on star, data processor is received by multichannel SpaceWire passage;
Step S2: carry out multiple check by timing code during time service school to multichannel SpaceWire passage, consistent with the code word that ground sends to ensure the timing code that star obtains.
Preferably, described step S2 is specially: when having the time service school of two-way SpaceWire passage at least after timing code comparison unanimously, then modify to the time on star; Otherwise, abandon time modification on star.
Preferably, described multichannel SpaceWire passage comprises three road SpaceWire passages; Described three road SpaceWire passages comprise six road differential signals, are specially Data1 and Strobe1 corresponding with first via SpaceWire passage; Data2 and Strobe2 corresponding with the second road SpaceWire passage; Data3 and Strobe3 corresponding with the 3rd road SpaceWire passage;
Described multiple check is specially: as Data1=Data2, Strobe1=Strobe2, when in Data1=Data3, Strobe1=Strobe3 or Data2=Data3, Strobe2=Strobe3, arbitrary condition meets, then modifies to the time on star; Otherwise, abandon time modification on star;
Preferably, described multichannel SpaceWire passage comprises SpaceWire host node and multiple SpaceWire from node; By TICKIN signal and TimeCode signal, time synchronized is carried out and by passing on star the time downlink telemetry from node to SpaceWire, time service state remote measurement display time service mistake when abandoning on star after time modification SpaceWire host node.
Preferably, wherein, differential signal Data is Data1, Data2 or Data3; Differential signal Strobe is Strobe1, Strobe2 or Strobe3;
When the data that differential signal Data main track is propagated are time service school, the relation of timing code, differential signal Strobe and differential signal Data signal meets Data-Strobe coded system, and being namely high level when differential signal Data data are 1, is low level when being 0; When Strobe signal is then the level upset when front and back data are constant.
Preferably, described multichannel SpaceWire passage also comprises emergent SpaceWire passage; When there is mistake in the power state remote measurement of three road SpaceWire passages, the reception of timing code when carrying out time service school by emergent SpaceWire passage.
Preferably, during described time service school, timing code is sky counting and millisecond counting.
Preferably, when concentrating school, evenly school time, time broadcast capability all realizes by means of only multichannel SpaceWire passage.
Preferably, when concentrated school is carried out constantly in ground, On board computer is identical with ground time service mode to time complexity curve value DeltaT, represents in the following ways:
Data1 is time complexity curve value true form, Strobe1 be time complexity curve value with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of time complexity curve value, Strobe2 be time complexity curve value true form with " 101010 ... " the code word of gained after XOR;
When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then timing unit performs the operation adding Data1, and will carry out mould 24 hours after operating when timing unit performs school and day counting adjustment.
Preferably, identical with ground time service mode, when even school is carried out constantly in ground, system clock average error represents in the following ways: Data1 is system clock average error true form, Strobe1 be system clock average error with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of system clock average error, Strobe2 be system clock average error true form with " 101010 ... " the code word of gained after XOR;
When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then by On board computer according to injecting data determination auto modification interval, then carry out timing and to add deduct time error operation.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention carries out multiple check by timing code during time service school to multichannel SpaceWire passage, can ensure that the timing code that star obtains is consistent with the code word that ground sends;
2, on culminant star of the present invention, data processor is received by multichannel SpaceWire passage, system precision when being suitable for adopting the satellite of SpaceWire bus to adopt to improve;
3, applied widely in the present invention, be easy to promote.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is principle schematic of the present invention;
Fig. 2 is the principle schematic of time processing unit in the present invention;
Fig. 3 is the principle schematic of emergency processing unit in the present invention;
Fig. 4 is host node in the present invention, communication mode schematic diagram from node and crash time unit.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
In the present embodiment, SpaceWire time calibration in network provided by the invention and calibration method, comprise the steps:
Step S1: after time service is carried out on ground, on star, data processor is received by multichannel SpaceWire passage;
Step S2: carry out multiple check by timing code during time service school to multichannel SpaceWire passage, consistent with the code word that ground sends to ensure the timing code that star obtains.
Described step S2 is specially: when having the time service school of two-way SpaceWire passage at least after timing code comparison unanimously, then modify to the time on star; Otherwise, abandon time modification on star.
Described multichannel SpaceWire passage comprises three road SpaceWire passages; Described three road SpaceWire passages comprise six road differential signals, are specially Data1 and Strobe1 corresponding with first via SpaceWire passage; Data2 and Strobe2 corresponding with the second road SpaceWire passage; Data3 and Strobe3 corresponding with the 3rd road SpaceWire passage; Described multiple check is specially: as Data1=Data2, Strobe1=Strobe2, when in Data1=Data3, Strobe1=Strobe3 or Data2=Data3, Strobe2=Strobe3, arbitrary condition meets, then modifies to the time on star; Otherwise, abandon time modification on star;
Described multichannel SpaceWire passage comprises SpaceWire host node and multiple SpaceWire from node; By TICKIN signal and TimeCode signal, time synchronized is carried out and by passing on star the time downlink telemetry from node to SpaceWire, time service state remote measurement display time service mistake when abandoning on star after time modification SpaceWire host node.If judge through ground, on star, the time there is mistake in telemetry, then send telecommand by ground and change SpaceWire host node.
Wherein, differential signal Data is Data1, Data2 or Data3; Differential signal Strobe is Strobe1, Strobe2 or Strobe3; When the data that differential signal Data main track is propagated are time service school, the relation of timing code, differential signal Strobe and differential signal Data signal meets Data-Strobe coded system, and being namely high level when differential signal Data data are 1, is low level when being 0; When Strobe signal is then the level upset when front and back data are constant.
Described multichannel SpaceWire passage also comprises emergent SpaceWire passage; When there is mistake in the power state remote measurement of three road SpaceWire passages, the reception of timing code when carrying out time service school by emergent SpaceWire passage.During described time service school, timing code is sky counting and millisecond counting.
In the present embodiment.When concentrating school, evenly school time, time broadcast capability all realizes by means of only multichannel SpaceWire passage.
When concentrated school is carried out constantly in ground, On board computer is identical with ground time service mode to time complexity curve value DeltaT, represents in the following ways: Data1 is time complexity curve value true form, Strobe1 be time complexity curve value with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of time complexity curve value, Strobe2 be time complexity curve value true form with " 101010 ... " the code word of gained after XOR; When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then timing unit performs the operation adding Data1, and will carry out mould 24 hours after operating when timing unit performs school and day counting adjustment.
Identical with ground time service mode, when even school is carried out constantly in ground, system clock average error represents in the following ways: Data1 is system clock average error true form, Strobe1 be system clock average error with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of system clock average error, Strobe2 be system clock average error true form with " 101010 ... " the code word of gained after XOR; When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then by On board computer according to injecting data determination auto modification interval, then carry out timing and to add deduct time error operation.
In the present embodiment, the time on the star of house keeping computer reception SpaceWire main controlled node distribution, during this period, house keeping computer also carries out independent timing, but the time that house keeping computer self calculates is only as backup use.Each load is communicated with data processor on star by SpaceWire passage, and its call duration time precision can reach 10us.
In the present embodiment, the time interface between spaceborne computer and data processor comprises three road SpaceWire links and a road and to meet an urgent need link, as shown in Figure 1, wherein, the generation of time with safeguard by module complete independently of uniting during data processor.When SpaceWire antenna efficiency, carry out the broadcast of time by the node of having the right by Time-Code or Tick-IN signal to having no right node, when SpaceWire link idle, having no right node and emergent link only receives Tick-IN signal from the node of having the right.Having no right node when receiving Time-Code signal, can judge time value, compared with the value namely receiving Time-Code signal with the last time, whether increase 1, if so, then state Tick-Out signal.As shown in Figure 2, the treatment scheme of emergency processing unit as shown in Figure 3 for the treatment scheme of time processing unit.
Tick-IN event counter is arranged to each SpaceWire node (comprising emergent link), Tick-IN signal is received if having no right node, then Tick-IN event counter increases 1, and the 5ns counter of self (is supposed that SpaceWire is operated in 200Mbps bit rate, 1/200 × 10
-6=5ns) reset.The cycle of Tick-IN signal is 1ms.When 5ns counter (20 bit length) meter of host node is to 0x30D3F (1 × 10
-3× 200 × 10
6-1), time, Tick-IN signal is sent by host node to two from node and emergent link.Tick-IN signal can adopt the TTL signal low level form of 200us.
On star, data processor must carry out parity checking to the power state of SpaceWire, if check errors, then enable by emergent link, by carrying out data transmission with the passage of load and spaceborne computer, issue error condition remote measurement earthward, instruction ground arranges the power state of SpaceWire link, composes weigh after to one of three passages when ground, emergent link carries out parity checking to power state again, to determine whether forbid emergent link.If do not receive Tick-IN signal in the emergent link 2ms time, directly will seize power, and set up the data communication with ground.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. SpaceWire time calibration in network and a calibration method, is characterized in that, comprises the steps:
Step S1: after time service is carried out on ground, on star, data processor is received by multichannel SpaceWire passage;
Step S2: carry out multiple check by timing code during time service school to multichannel SpaceWire passage, consistent with the code word that ground sends to ensure the timing code that star obtains.
2. SpaceWire time calibration in network according to claim 1 and calibration method, is characterized in that, described step S2 is specially: when having the time service school of two-way SpaceWire passage at least after timing code comparison unanimously, then modify to the time on star; Otherwise, abandon time modification on star.
3. SpaceWire time calibration in network according to claim 1 and calibration method, is characterized in that, described multichannel SpaceWire passage comprises three road SpaceWire passages; Described three road SpaceWire passages comprise six road differential signals, are specially Data1 and Strobe1 corresponding with first via SpaceWire passage; Data2 and Strobe2 corresponding with the second road SpaceWire passage; Data3 and Strobe3 corresponding with the 3rd road SpaceWire passage;
Described multiple check is specially: as Data1=Data2, Strobe1=Strobe2, when in Data1=Data3, Strobe1=Strobe3 or Data2=Data3, Strobe2=Strobe3, arbitrary condition meets, then modifies to the time on star; Otherwise, abandon time modification on star.
4. SpaceWire time calibration in network according to claim 3 and calibration method, is characterized in that, described multichannel SpaceWire passage comprises SpaceWire host node and multiple SpaceWire from node; By TICKIN signal and TimeCode signal, time synchronized is carried out and by passing on star the time downlink telemetry from node to SpaceWire, time service state remote measurement display time service mistake when abandoning on star after time modification SpaceWire host node.
5. SpaceWire time calibration in network according to claim 3 and calibration method, is characterized in that, wherein, differential signal Data is Data1, Data2 or Data3; Differential signal Strobe is Strobe1, Strobe2 or Strobe3;
When the data that differential signal Data main track is propagated are time service school, the relation of timing code, differential signal Strobe and differential signal Data signal meets Data-Strobe coded system, and being namely high level when differential signal Data data are 1, is low level when being 0; When Strobe signal is then the level upset when front and back data are constant.
6. SpaceWire time calibration in network according to claim 3 and calibration method, is characterized in that, described multichannel SpaceWire passage also comprises emergent SpaceWire passage; When there is mistake in the power state remote measurement of three road SpaceWire passages, the reception of timing code when carrying out time service school by emergent SpaceWire passage.
7. SpaceWire time calibration in network according to claim 3 and calibration method, is characterized in that, during described time service school, timing code is sky counting and millisecond counting.
8. SpaceWire time calibration in network according to claim 1 and calibration method, is characterized in that, when concentrating school, evenly school time, time broadcast capability all realizes by means of only multichannel SpaceWire passage.
9. SpaceWire time calibration in network according to claim 8 and calibration method, is characterized in that, when concentrated school is carried out constantly in ground, On board computer is identical with ground time service mode to time complexity curve value DeltaT, represents in the following ways:
Data1 is time complexity curve value true form, Strobe1 be time complexity curve value with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of time complexity curve value, Strobe2 be time complexity curve value true form with " 101010 ... " the code word of gained after XOR;
When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then timing unit performs the operation adding Data1, and will carry out mould 24 hours after operating when timing unit performs school and day counting adjustment.
10. SpaceWire time calibration in network according to claim 8 and calibration method, it is characterized in that, identical with ground time service mode, when even school is carried out constantly in ground, system clock average error represents in the following ways: Data1 is system clock average error true form, Strobe1 be system clock average error with " 010101 ... " the code word of gained after XOR; Data2 is the radix-minus-one complement of system clock average error, Strobe2 be system clock average error true form with " 101010 ... " the code word of gained after XOR;
When judging Data1 and Data2 radix-minus-one complement each other, Strobe1 and Strobe2 is radix-minus-one complement each other, Strobe1 be Data1 with " 010101 ... " after XOR during the code word of gained, then by On board computer according to injecting data determination auto modification interval, then carry out timing and to add deduct time error operation.
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| CN110824897A (en) * | 2019-11-22 | 2020-02-21 | 中国地震局地质研究所 | Synchronous time service system among various collectors |
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