CN105373084A - Multiplatform cooperative communication control station and multiplatform cooperative communication control method - Google Patents
Multiplatform cooperative communication control station and multiplatform cooperative communication control method Download PDFInfo
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- CN105373084A CN105373084A CN201410395345.1A CN201410395345A CN105373084A CN 105373084 A CN105373084 A CN 105373084A CN 201410395345 A CN201410395345 A CN 201410395345A CN 105373084 A CN105373084 A CN 105373084A
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Abstract
The invention provides a multiplatform cooperative communication control station and a multiplatform cooperative communication control method. The multiplatform cooperative communication control station comprises the components of a mode selecting module, a master-slave operation mode management module, a master operation mode module and a slave operation mode module. The master-slave operation mode management module is connected with the master operation mode module and the slave operation mode module. The master operation mode module comprises the components of a first upper computer communication interface, a first detecting platform communication interface, a first cascading communication interface, a detecting task programming sub-module, a detecting platform base layer controlling sub-module, a detecting task gesture display sub-module and a detecting platform control interface. The slave operation mode module comprises the components of a second detecting platform communication interface and a second cascading communication interface. Cooperative communication control of the whole detecting system is integrated, thereby effectively reducing system complexity caused by decentralised control of detecting platforms, simplifying architecture of the whole communication control system, and improving operation efficiency, reliability and safety of the whole detecting system.
Description
Technical field
The invention belongs to Communication Control Technology field, be specifically related to a kind of multi-platform cooperative Control on Communication and accuse station and multi-platform cooperative communication control method.
Background technology
Test platform is made up of the movable carrier platform and several detection load be carried on this carrier platform with certain maneuverability, and detection load can be various kinds of sensors, carries out target detection by detection load to search coverage.Because the detectivity of single detective platform is limited, be difficult to the target detection under complex environment, therefore, in prior art, occurred multi-platform cooperative detection, the complex task that can not be completed by the single test platform that acted synergistically.Such as, by working in coordination with between unmanned plane, collaborative perception, concerted attack and co-interfere etc. are realized.
For multi-platform cooperative detection system, the communication for coordination between multi-platform controls to belong to core, directly determines work efficiency and the task success or failure of whole detection system.In prior art, it is that distributed communication controls framework that conventional communication for coordination controls framework, be made up of master control system and each platform point control system, namely divide control system by each platform of master control system unified management, each platform point control system independently controls respective platform and platform load.This kind controls framework and makes a distinction between the important and the lesser one, definite functions, but the complicated network structure, particularly when test platform One's name is legion, the mission planning of system is more complicated, and the information interaction amount between test platform and master control system increases greatly, thus reduces system effectiveness, also be easy to the problem occurring communication disruption He lose data, cause whole communication control system to lose efficacy.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of multi-platform cooperative Control on Communication and accuse station and multi-platform cooperative communication control method, in order to solve the problem.
The technical solution used in the present invention is as follows:
The invention provides a kind of multi-platform cooperative Control on Communication and accuse station, comprising: mode selection module, master-slave mode administration module, main operating mode module and from operating mode module; Described master-slave mode administration module is respectively with described main operating mode module with to be describedly connected from operating mode module;
Described mode selection module is for configuring this charge station for single-stage mode of operation or two-stage mode of operation;
Described master-slave mode administration module is used for: according to the configuration result of described mode selection module, judges that this master station is operated in main mode of operation or from mode of operation; If under being operated in main mode of operation, then start described main operating mode module; If be operated in from mode of operation, then start described from operating mode module;
Described main operating mode module comprises: the planning of the first host computer communication interface, the first test platform communication interface, the first cascaded communication interface, detection mission submodule, test platform bottom control submodule, detection mission battle state display submodule and test platform control inerface; Wherein, test platform comprises carrier platform and detection load;
Described first host computer communication interface is used for described charge station and communicates with host computer;
Described first test platform communication interface is used for described communication of accusing station and each test platform;
Described first cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade;
Described detection mission planning submodule is used for: according to overall test mission requirements, in conjunction with the composition of acquisition station and the performance characteristics of each test platform, generate the maneuver detecting task of each test platform;
Described test platform bottom control submodule is used for: according to composition and the communication control processor of each test platform, in conjunction with its maneuver detecting mission requirements, generates the steering order of test platform, realizes the bottom control to each test platform;
Described test platform control inerface comprises state and shows sub-interface and test platform bottom control instruction input interface;
Described state shows the steering order to each test platform that sub-interface generates for showing described test platform bottom control submodule;
Described test platform bottom control instruction input interface is used for: the bottom control instruction to each test platform receiving client input, realizes carrying out manual intervention control to test platform;
Described detection mission battle state display submodule is used for: the oneself state information and the movement locus that show each carrier platform, shows the detection information that each detection load obtains, realizes the visual display to whole detection mission situation;
Describedly to comprise from operating mode module: the second test platform communication interface and the second cascaded communication interface;
Described second test platform communication interface is used for described communication of accusing station and each test platform;
Described second cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade.
Preferably, described master-slave mode administration module specifically for: if this charge station is for single-stage mode of operation, then start described main operating mode module, under the state making this charge station be operated in main mode of operation; If this charge station is two-stage mode of operation, then judges that stand as one-level charge in this charge station or secondary accuses station further, stand if accused for one-level, then start described main operating mode module, under the state making this charge station be operated in main mode of operation; If for secondary accuses station, then start described from operating mode module, this charge station is operated in from the state of mode of operation.
Preferably, described first host computer communication interface specifically for: receive host computer send to carrier platform and/or detection load control signal; To host computer passback carrier platform and/or the feedback signal detecting load;
Described first test platform communication interface specifically for: by described first test platform communication interface, make charge station and each carrier platform and/or detect load to communicate; For detection load, the control signal form produced according to detection load and detectable signal form, be sent to the steering order of detection load to needs and carry out protocol conversion and form encapsulation to the detectable signal from detection load received;
Described detection mission planning submodule specifically for: the motor-driven scheme generating each carrier platform, also generates the concrete detection mission of detection load;
Described test platform bottom control submodule specifically for: generate and meet the bottom instruction of each carrier platform communication control processor, directly act on each carrier platform, generate the load steering order directly controlling detection load execution corresponding actions simultaneously;
The pattern that also comprises described test platform control inerface comes into force select button, described pattern come into force select button for: when described pattern come into force select button be triggered time, the steering order to test platform that described test platform bottom control submodule generates is effective, and the steering order inputted by described test platform bottom control instruction input interface is invalid; Otherwise, when described pattern come into force select button be not triggered time, the steering order inputted by described test platform bottom control instruction input interface is effective, and it is invalid to the steering order of test platform that described test platform bottom control submodule generates;
Described detection mission battle state display submodule specifically for: with accuse that the movement locus of all carrier platforms be connected of standing shows in the same window; Accuse that the detection information of all detection load be connected of standing shows in the same window with described; The oneself state information of each carrier platform can show in pop-up window.
Preferably, ethernet communication is passed through by described first host computer communication interface and host computer in described charge station; Described charge station by described first cascaded communication interface and the second cascaded communication interface and other accuse stand between realize accusing the communication of standing between cascade by Ethernet; Described charge station adopts serial communication mode by described first test platform communication interface or the second test platform communication interface and each carrier platform.
The present invention also provides a kind of multi-platform cooperative communication control method, comprises the following steps:
S1, accuses that by multi-platform cooperative Control on Communication station is referred to as charge station;
Configured the current operation mode at this charge station by mode selection module, if be single-stage mode of operation, then start main operating mode module, and perform S2, S3, S4 and S5; If be two-stage mode of operation, then judge that this charge station is accused as one-level charge station or secondary further and stand, stand if accused for one-level, then start main operating mode module, and perform S2, S3, S4 and S6; If for secondary accuses station, then start from operating mode module, and perform S7;
S2, described charge is stood by the overall test mission bit stream of the first host computer communication interface reception from host computer, and go out overall test task data according to the data protocol format analysis of setting, then the overall test task data parsed is sent to detection mission planning submodule;
S3, described detection mission planning submodule receives described overall test task data, according to overall test mission requirements, in conjunction with the detection system composition of reality and the functional characteristics of each test platform, carry out overall tasks planning, carry out task matching by optimal distribution strategy, determine maneuvring route and the load operation mode of each test platform; Then the maneuvring route of determined each test platform and load operation mode are sent to the test platform bottom control submodule corresponding with test platform respectively;
S4, described test platform bottom control submodule receives maneuvring route and load operation mode to specifying test platform, according to the maneuver autopilot instruction of communication control processor generating platform and the load operation steering order of specifying test platform;
S5, if this charge station is single-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to corresponding test platform by the first test platform communication interface;
Also comprise: the platform status returned by the first test platform communication interface reception test platform and detection information; On the one hand, described platform status and detection information are sent to detection mission battle state display submodule; On the other hand, described platform status and detection information are sent to the first host computer communication interface;
S6, if this charge station is two-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to secondary by the first cascaded communication interface and accuse station;
Also comprise: the platform status returned by the first cascaded communication interface test platform and detection information; Then described platform status and detection information are sent to the first host computer communication interface;
S7, is accused the motor-driven steering order of platform and the load operation steering order at station, and motor-driven for described platform steering order and load operation steering order is sent to described second test platform communication interface from upper level by the second cascaded communication interface;
Motor-driven for described platform steering order and load operation steering order are sent to corresponding test platform by described second test platform communication interface;
Also comprise:
The platform status returned by described second test platform communication interface reception test platform and detection information, and by described second cascaded communication interface, described platform status and detection information are transmitted to upper level charge station.
Beneficial effect of the present invention is as follows:
Multi-platform cooperative Control on Communication provided by the invention accuses station and multi-platform cooperative communication control method, the communication for coordination of whole detection system control is melted as a whole, host computer only needs to send overall test task just can carry out Collaborative Control to whole detection system, effectively reduce the system complexity that each test platform decentralised control brings, simplify whole communication control system framework, the setting up of its Two level control module efficiently solves accuses that between station and test platform, serial communication is apart from a limited difficult problem, by the remote-control of real-time performance to detection system, improve the work efficiency of whole detection system, reliability and security.
Accompanying drawing explanation
Fig. 1 is the integrated stand composition that multi-platform cooperative Control on Communication provided by the invention accuses station;
Fig. 2 is the process flow diagram of multi-platform cooperative communication control method provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
As shown in Figure 1, the invention provides a kind of multi-platform cooperative Control on Communication and accuse station, can be applicable in earth station system, overall tasks planning is carried out according to mission requirements, realize the maneuver detecting platform Collaborative Control to polymorphic type, most amount, can require to carry out the corresponding interface and communication protocol design according to test platform and host computer communication task simultaneously, meet the requirement that the multiple test platform communication for coordination of maneuver detecting system controls.Concrete, comprising: mode selection module, master-slave mode administration module, main operating mode module and from operating mode module; Master-slave mode administration module is respectively with main operating mode module be connected from operating mode module.Below each module is described in detail respectively:
(1) mode selection module
Mode selection module is for configuring this charge station for single-stage mode of operation or two-stage mode of operation.
(2) master-slave mode administration module
Master-slave mode administration module is used for: according to the configuration result of mode selection module, judges that this master station is operated in main mode of operation or from mode of operation; If under being operated in main mode of operation, then start main operating mode module; If be operated in from mode of operation, then start from operating mode module.
Concrete, if this charge station is single-stage mode of operation, then start main operating mode module, under the state making this charge station be operated in main mode of operation; If this charge station is two-stage mode of operation, then judges that stand as one-level charge in this charge station or secondary accuses station further, stand if accused for one-level, then start main operating mode module, under the state making this charge station be operated in main mode of operation; If for secondary accuses station, then start from operating mode module, make this charge station be operated in from the state of mode of operation.
Master-slave mode administration module can be arranged on different charge stations simultaneously, accuses by all information of network interaction between station, can need to carry out principal and subordinate and accuse that station is arranged, realize single-stage or Two level control module according to system.Concrete, when for single-stage control model, accuse that station is set to main mode of operation, realize all communication control functions; When for Two level control module, arrange by priority and realize one-level and accuse that station-secondary accuses station Two level control module, one-level is accused that station and secondary charge are stood and is connected by Ethernet, is provided with mode selecting button, and is furnished with IP and arranges function in Software tool hurdle.Preferred version is: one-level accuses that station is set to main mode of operation, and when secondary accuses that station is set to from mode of operation, two-stage accuses that station connects, and one-level accuses that station realizes all controlling functions, and secondary accuses that station is only as signal terminal.
(3) main operating mode module
Main operating mode module comprises: the planning of the first host computer communication interface, the first test platform communication interface, the first cascaded communication interface, detection mission submodule, test platform bottom control submodule, detection mission battle state display submodule and test platform control inerface; Wherein, test platform comprises carrier platform and detection load.
(3.1) first host computer communication interfaces
First host computer communication interface is for accusing that station communicates with host computer, and communication network is preferably Ethernet; Concrete, the first host computer communication interface by respective communication agreement and interface parameters design, the control signal to carrier platform and/or detection load that can receive that host computer sends; And the first host computer communication interface is to host computer passback carrier platform and/or the feedback signal detecting load.
(3.2) first test platform communication interfaces
First test platform communication interface is for accusing the communication at station and each test platform; Concrete, by the first test platform communication interface, make charge station and each carrier platform and/or detect load to communicate; Test platform divides into carrier platform and detection load; Accuse that station and carrier platform communication mode are preferably serial communication mode; Accuse that the control signal form that station and the communication of detection load then produce according to different loads and detectable signal form are determined, that is: according to control signal form and the detectable signal form of the generation of detection load, steering order needs being sent to detection load and the detectable signal from detection load received carry out protocol conversion and form encapsulates.
(3.3) first cascaded communication interfaces
When for two-stage mode of operation, the first cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade, and communication mode can be Ethernet.
(3.4) detection mission planning submodule
Detection mission planning submodule is used for: according to overall test mission requirements, in conjunction with the composition of acquisition station and the performance characteristics of each test platform, generate the maneuver detecting task of each test platform.
Concrete, detection mission planning submodule generates the motor-driven scheme of each carrier platform, also generates the concrete detection mission of detection load;
(3.5) test platform bottom control submodule
Test platform bottom control submodule is used for: according to composition and the communication control processor of each test platform, in conjunction with its maneuver detecting mission requirements, generates the steering order of test platform, realizes the bottom control to each test platform;
Concrete, test platform bottom control submodule generates the bottom instruction meeting each carrier platform communication control processor, directly acts on each carrier platform, generates simultaneously and directly controls the load steering order that detection load performs corresponding actions.
(3.6) test platform control inerface
Test platform control inerface comprises state and shows sub-interface and test platform bottom control instruction input interface;
State shows the steering order to each test platform that sub-interface generates for showing test platform bottom control submodule; In addition, according to actual needs, the steering order that the steering order of interface display inputs with test platform bottom control submodule changes and real-time change renewal.
Test platform bottom control instruction input interface is used for: the bottom control instruction to each test platform receiving client input, and the steering order replacing bottom control submodule to generate carries out manual intervention control to test platform, facilitates system debug;
Also comprise pattern to come into force select button, pattern come into force select button for: when pattern come into force select button be triggered time, the steering order to test platform that test platform bottom control submodule generates is effective, and the steering order inputted by test platform bottom control instruction input interface is invalid; Otherwise, when pattern come into force select button be not triggered time, the steering order inputted by test platform bottom control instruction input interface is effective, and it is invalid to the steering order of test platform that test platform bottom control submodule generates.
(3.7) detection mission battle state display submodule
Detection mission battle state display submodule is used for: the oneself state information and the movement locus that show each carrier platform, shows the detection information that each detection load obtains, realizes the visual display to whole detection mission situation;
Concrete, and accuse that the movement locus of all carrier platforms be connected of standing shows in the same window, the detection information of all detection load shows in the same window, is convenient to integrated management and assessment; The oneself state information of each carrier platform can show in pop-up window as required.
(4) from operating mode module
Comprise from operating mode module: the second test platform communication interface and the second cascaded communication interface;
Second test platform communication interface is for accusing the communication at station and each test platform;
Second cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade.
As shown in Figure 2, the present invention also provides a kind of multi-platform cooperative communication control method, for realizing mission planning to each test platform of detection system and control, comprises the following steps:
S1, accuses that by multi-platform cooperative Control on Communication station is referred to as charge station;
Configured the current operation mode at this charge station by mode selection module, if be single-stage mode of operation, then start main operating mode module, and perform S2, S3, S4 and S5; If be two-stage mode of operation, then judge that this charge station is accused as one-level charge station or secondary further and stand, stand if accused for one-level, then start main operating mode module, and perform S2, S3, S4 and S6; If for secondary accuses station, then start from operating mode module, and perform S7;
S2, accuse that station receives the overall test mission bit stream from host computer by the first host computer communication interface, and go out overall test task data according to the data protocol format analysis of setting, then the overall test task data parsed is sent to detection mission planning submodule;
S3, detection mission planning submodule receives overall test task data, according to overall test mission requirements, in conjunction with the detection system composition of reality and the functional characteristics of each test platform, carry out overall tasks planning, carry out task matching by optimal distribution strategy, determine maneuvring route and the load operation mode of each test platform; Then the maneuvring route of determined each test platform and load operation mode are sent to the test platform bottom control submodule corresponding with test platform respectively;
S4, test platform bottom control submodule receives maneuvring route and load operation mode to specifying test platform, according to the maneuver autopilot instruction of communication control processor generating platform and the load operation steering order of specifying test platform;
S5, if this charge station is single-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to corresponding test platform by the first test platform communication interface;
Also comprise: the platform status returned by the first test platform communication interface reception test platform and detection information; On the one hand, platform status and detection information are sent to detection mission battle state display submodule; On the other hand, platform status and detection information are sent to the first host computer communication interface;
S6, if this charge station is two-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to secondary by the first cascaded communication interface and accuse station;
Also comprise: the platform status returned by the first cascaded communication interface test platform and detection information; Then platform status and detection information are sent to the first host computer communication interface;
S7, is accused the motor-driven steering order of platform and the load operation steering order at station, and motor-driven for platform steering order and load operation steering order is sent to the second test platform communication interface from upper level by the second cascaded communication interface;
Motor-driven for platform steering order and load operation steering order are sent to corresponding test platform by the second test platform communication interface;
Also comprise:
The platform status returned by the second test platform communication interface reception test platform and detection information, and by the second cascaded communication interface, platform status and detection information are transmitted to upper level charge station.
The above-mentioned signal flow for carrying out detection mission planning and test platform control according to mission requirements, when carrying out system debug, test platform control inerface generates the bottom control instruction of test platform by steering order input interface, realize the direct control to test platform, facilitate system debug.
As can be seen here, multi-platform cooperative communication control method provided by the invention can be summarized as:
Accuse that station receives the overall test mission bit stream of host computer transmission, carry out the planning of detection system overall tasks, generate maneuvring route and the load operation mode of each test platform, and be sent to each test platform, realize the Collaborative Control of each test platform.Receive platform status and detection information that each test platform returns simultaneously, with visual pattern display detection mission situation, and above-mentioned information is sent to host computer.
Master-slave mode administration module arranges can switch in main mode of operation with between mode of operation according to user: (1) is under main mode of operation, accuse that station realizes the repertoire of communication for coordination control, comprise: the first host computer communication interface communicates with host computer, first test platform communication interface communicates with test platform, first cascaded communication interface and secondary accuse that station communicates, detection mission planning submodule carries out overall test mission planning and distribution, test platform bottom control submodule generates the bottom control instruction of single detective platform, control inerface artificially can participate in the bottom control of test platform and show the controlled quentity controlled variable size of each instruction, detection mission battle state display submodule shows the duty of whole detection system and the detection information of detection load acquisition.(2) under mode of operation, the second cascaded communication interface and upper level accuse that station communicates, and the second test platform communication interface communicates with each test platform.
Workflow can be summarized as follows.
Under single-stage control model, accuse that station is defaulted as main mode of operation; First host computer communication interface receives the overall test mission bit stream of host computer transmission by Ethernet, and communication protocol module goes out overall test task data according to the data protocol format analysis of setting, as the input of detection mission planning submodule; Detection mission planning submodule is according to detection mission requirement, in conjunction with the detection system composition of reality and the functional characteristics of each test platform, carry out overall tasks planning, carry out task matching by optimal distribution strategy, determine maneuvring route and the load operation mode of each test platform; Test platform bottom control submodule then according to the bottom control instruction of communication control processor generating platform and the load operation steering order of each test platform, is sent to each test platform by corresponding communication interface.Meanwhile, oneself state information and the detection load detection information of test platform input to this charge station by the corresponding interface, on the one hand as the feed back input information of test platform bottom control submodule, carry out visual display as the input information of detection mission battle state display submodule on the one hand, also export host computer to simultaneously.
Under Two level control module, one-level accuses that station and secondary accuse that station connects and composes Combat Command System by Ethernet, when one-level accuses station and secondary accuses that the IP at station arranges coupling, one-level accuses that station and secondary accuse that station connects, one-level accuses that station is set to main mode of operation, and secondary accuses that station is set to from mode of operation.One-level charge station completes the whole communication control functions under single-stage control model, onlyly to be distinguished as: under single-stage control model, platform courses instruction is communicated with test platform by the first test platform communication interface with load detection information, and under Two level control module, then accuse that station communicates by the first cascaded communication interface with secondary.Secondary accuses the controlling functions Module Fail at station, only as communication terminal, accuse that station communicates by cascaded communication interface and one-level, communicated with test platform by test platform communication interface, one-level is accused the bottom control instruction transformation of station network packet form becomes serial ports instruction needed for test platform and other interface data, also the states such as the serial ports of test platform and other interface data and load detection information are converted to network packet form and be back to one-level and accuse station.
In sum, multi-platform cooperative Control on Communication provided by the invention accuses station and multi-platform cooperative communication control method, the communication for coordination of whole detection system control is melted as a whole, host computer only needs to send overall test task just can carry out Collaborative Control to whole detection system, effectively reduce the system complexity that each test platform decentralised control brings, simplify whole communication control system framework, the setting up of its Two level control module efficiently solves accuses that between station and test platform, serial communication is apart from a limited difficult problem, by the remote-control of real-time performance to detection system, improve the work efficiency of whole detection system, reliability and security.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (5)
1. a multi-platform cooperative Control on Communication accuses station, it is characterized in that, comprising: mode selection module, master-slave mode administration module, main operating mode module and from operating mode module; Described master-slave mode administration module is respectively with described main operating mode module with to be describedly connected from operating mode module;
Described mode selection module is for configuring this charge station for single-stage mode of operation or two-stage mode of operation;
Described master-slave mode administration module is used for: according to the configuration result of described mode selection module, judges that this master station is operated in main mode of operation or from mode of operation; If under being operated in main mode of operation, then start described main operating mode module; If be operated in from mode of operation, then start described from operating mode module;
Described main operating mode module comprises: the planning of the first host computer communication interface, the first test platform communication interface, the first cascaded communication interface, detection mission submodule, test platform bottom control submodule, detection mission battle state display submodule and test platform control inerface; Wherein, test platform comprises carrier platform and detection load;
Described first host computer communication interface is used for described charge station and communicates with host computer;
Described first test platform communication interface is used for described communication of accusing station and each test platform;
Described first cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade;
Described detection mission planning submodule is used for: according to overall test mission requirements, in conjunction with the composition of acquisition station and the performance characteristics of each test platform, generate the maneuver detecting task of each test platform;
Described test platform bottom control submodule is used for: according to composition and the communication control processor of each test platform, in conjunction with its maneuver detecting mission requirements, generates the steering order of test platform, realizes the bottom control to each test platform;
Described test platform control inerface comprises state and shows sub-interface and test platform bottom control instruction input interface;
Described state shows the steering order to each test platform that sub-interface generates for showing described test platform bottom control submodule;
Described test platform bottom control instruction input interface is used for: the bottom control instruction to each test platform receiving client input, realizes carrying out manual intervention control to test platform;
Described detection mission battle state display submodule is used for: the oneself state information and the movement locus that show each carrier platform, shows the detection information that each detection load obtains, realizes the visual display to whole detection mission situation;
Describedly to comprise from operating mode module: the second test platform communication interface and the second cascaded communication interface;
Described second test platform communication interface is used for described communication of accusing station and each test platform;
Described second cascaded communication interface is used for the communication between this charge station and the charge station of institute's cascade.
2. multi-platform cooperative Control on Communication according to claim 1 accuses station, it is characterized in that, described master-slave mode administration module specifically for: if this charge station is for single-stage mode of operation, then start described main operating mode module, under the state making this charge station be operated in main mode of operation; If this charge station is two-stage mode of operation, then judges that stand as one-level charge in this charge station or secondary accuses station further, stand if accused for one-level, then start described main operating mode module, under the state making this charge station be operated in main mode of operation; If for secondary accuses station, then start described from operating mode module, this charge station is operated in from the state of mode of operation.
3. multi-platform cooperative Control on Communication according to claim 1 accuses station, it is characterized in that, described first host computer communication interface is specifically for the control signal to carrier platform and/or detection load that receives that host computer sends; To host computer passback carrier platform and/or the feedback signal detecting load;
Described first test platform communication interface specifically for: by described first test platform communication interface, make charge station and each carrier platform and/or detect load to communicate; For detection load, the control signal form produced according to detection load and detectable signal form, be sent to the steering order of detection load to needs and carry out protocol conversion and form encapsulation to the detectable signal from detection load received;
Described detection mission planning submodule specifically for: the motor-driven scheme generating each carrier platform, also generates the concrete detection mission of detection load;
Described test platform bottom control submodule specifically for: generate and meet the bottom instruction of each carrier platform communication control processor, directly act on each carrier platform, generate the load steering order directly controlling detection load execution corresponding actions simultaneously;
The pattern that also comprises described test platform control inerface comes into force select button, described pattern come into force select button for: when described pattern come into force select button be triggered time, the steering order to test platform that described test platform bottom control submodule generates is effective, and the steering order inputted by described test platform bottom control instruction input interface is invalid; Otherwise, when described pattern come into force select button be not triggered time, the steering order inputted by described test platform bottom control instruction input interface is effective, and it is invalid to the steering order of test platform that described test platform bottom control submodule generates;
Described detection mission battle state display submodule specifically for: with accuse that the movement locus of all carrier platforms be connected of standing shows in the same window; Accuse that the detection information of all detection load be connected of standing shows in the same window with described; The oneself state information of each carrier platform can show in pop-up window.
4. multi-platform cooperative Control on Communication according to claim 1 accuses station, it is characterized in that, ethernet communication is passed through by described first host computer communication interface and host computer in described charge station; Described charge station by described first cascaded communication interface and the second cascaded communication interface and other accuse stand between realize accusing the communication of standing between cascade by Ethernet; Described charge station adopts serial communication mode by described first test platform communication interface or the second test platform communication interface and each carrier platform.
5. a multi-platform cooperative communication control method, is characterized in that, comprises the following steps:
S1, accuses that by multi-platform cooperative Control on Communication station is referred to as charge station;
Configured the current operation mode at this charge station by mode selection module, if be single-stage mode of operation, then start main operating mode module, and perform S2, S3, S4 and S5; If be two-stage mode of operation, then judge that this charge station is accused as one-level charge station or secondary further and stand, stand if accused for one-level, then start main operating mode module, and perform S2, S3, S4 and S6; If for secondary accuses station, then start from operating mode module, and perform S7;
S2, described charge is stood by the overall test mission bit stream of the first host computer communication interface reception from host computer, and go out overall test task data according to the data protocol format analysis of setting, then the overall test task data parsed is sent to detection mission planning submodule;
S3, described detection mission planning submodule receives described overall test task data, according to overall test mission requirements, in conjunction with the detection system composition of reality and the functional characteristics of each test platform, carry out overall tasks planning, carry out task matching by optimal distribution strategy, determine maneuvring route and the load operation mode of each test platform; Then the maneuvring route of determined each test platform and load operation mode are sent to the test platform bottom control submodule corresponding with test platform respectively;
S4, described test platform bottom control submodule receives maneuvring route and load operation mode to specifying test platform, according to the maneuver autopilot instruction of communication control processor generating platform and the load operation steering order of specifying test platform;
S5, if this charge station is single-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to corresponding test platform by the first test platform communication interface;
Also comprise: the platform status returned by the first test platform communication interface reception test platform and detection information; On the one hand, described platform status and detection information are sent to detection mission battle state display submodule; On the other hand, described platform status and detection information are sent to the first host computer communication interface;
S6, if this charge station is two-stage mode of operation, then the motor-driven steering order of platform generated by S4 and load operation steering order are sent to secondary by the first cascaded communication interface and accuse station;
Also comprise: the platform status returned by the first cascaded communication interface test platform and detection information; Then described platform status and detection information are sent to the first host computer communication interface;
S7, is accused the motor-driven steering order of platform and the load operation steering order at station, and motor-driven for described platform steering order and load operation steering order is sent to described second test platform communication interface from upper level by the second cascaded communication interface;
Motor-driven for described platform steering order and load operation steering order are sent to corresponding test platform by serial ports by described second test platform communication interface;
Also comprise:
The platform status returned by described second test platform communication interface reception test platform and detection information, and by described second cascaded communication interface, described platform status and detection information are transmitted to upper level charge station.
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