CN105955299A - Reconfigurable integrated measurement-control, navigation, flight control system and reconstruction method thereof - Google Patents
Reconfigurable integrated measurement-control, navigation, flight control system and reconstruction method thereof Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a reconfigurable integrated measurement-control, navigation, flight control system and a reconstruction method thereof. The system comprises a radio frequency front end and an information processing platform. The information processing platform consists of a flight control unit, a function reconstruction unit, a measurement and control receiving-transmitting management unit, and a configuration management unit. When the carrier height is in an acting range of a satellite navigation system, the system works in a stand-alone working mode; the function reconstruction unit loads a navigation processing program; and the system completes measurement and control, navigation and flight control functions. When the carrier height exceeds the acting range of the satellite navigation system, the configuration management unit reconstructs the function reconstruction unit and loads a flight control back-up program, and a dual-redundancy state of measurement and control, navigation, flight control functions is formed, and the system works in a dual working mode. With the reconstruction method, the system functions are optimized; the utilization efficiency of the system hardware resources is improved; and demands of multiple functions, high reliability and low cost are satisfied simultaneously.
Description
Technical field
The present invention relates to a kind of observing and controlling, navigate, fly control integral system and reconstructing method, belongs to space
Aircraft computer and data processing field.
Background technology
Along with developing rapidly of semiconductor technology, on-site programmable device FPGA due to great motility and
Preferably reconfigurable ability, is being applied to increasing field.In order to preferably play Programmable
The motility of part, the combination of processor+programming device is just by everybody institute's extensive concern and acceptance, in space flight work
Cheng Zhong, the combination of processor+programming device has been applied to flight control data and has resolved and Interface Controller, nothing
The fields such as the line signal of telecommunication and data process.
At present observing and controlling, navigate, control of flying is spacecraft three class key function, traditional design uses
Observing and controlling transceiver, navigation signal receiving apparatus, the realization of flight control calculating equipment three class autonomous device,
Simple function often uses the computer body system structure of processor+programming device, the frame that prior art is used
Structure is primarily present two aspect limitations, on the one hand, calculating and data-handling capacity that standalone hardware is powerful often surpass
Going out unit and realize the demand of concrete function, some unit function is not even that flight whole process uses, necessarily
Cause aircraft in degree and process the waste of resource；On the other hand, the redundancy of system is often through independent merit
Can (concrete unit realization) redundancy realize, it is complicated that this design often results in the design within unit, for
This generic structure that combines of processor+programming device lacks the redundancy Configuration design across function, improves system
Reliability realizes often through the simple redundancy increasing equipment, and efficiency-cost ratio is higher.
Summary of the invention
The technology of the present invention solves problem: overcome the deficiencies in the prior art, it is provided that a kind of restructural observing and controlling,
Navigation, flight control integral system, utilize multiprocessor+programming device generic structure realize telemetry communication,
The functions such as navigation process, flight control, and two kinds of different patterns can be configured to according to practical flight process,
To realize making full use of calculating resource, under system unit mode of operation, function remodeling unit navigates
Resolving, under system two-shipper mode of operation, function remodeling Cell Reconstruction becomes flight control units Status of Backups,
Realize flight and control the duplication redundancy of function, improve the reliability of system.
The present invention other problem solved is that: provide a kind of restructural observing and controlling, navigate, control one of flying
The reconstructing method of change system, this reconstructing method, and provides systemic-function dynamic adaptation according to practical situation
A kind of method for synchronizing time realizes the flight time of two redundancy backup modules and synchronizes.
The technical scheme is that a kind of restructural observing and controlling, navigate, fly control integral system, should
System includes radio-frequency front-end and the information processing platform, and radio-frequency front-end includes that S frequency range transceiver channel and L frequency range connect
Receiving passage two parts, S frequency range transceiver channel receives remote signal, is filtered, amplifies and AGC control,
It is sent to the information processing platform, the telemetered signal that the information processing platform exports is believed by downlink radio simultaneously
Pass under number, L UHF band reception channel reception navigation satellite signal, filtered, amplify and AGC control, send out
Delivering to the information processing platform, the information processing platform includes that flight control units, function remodeling unit, observing and controlling are received
Send out administrative unit and configuration management element, wherein:
Configuration management element storage measurement and control program, navigation processing routine, flight control main part program, flight control
Stand-by program processed, during system initialization, it is single that measurement and control program is loaded into observing and controlling transmitting-receiving management by configuration management element
Unit, by flight control main part program be loaded into flight control units, navigation processing routine be loaded into function weight
Structure unit, system is set to unit mode of operation；
Whether the height of flight control units real-time judge carrier exceedes satellite navigation system sphere of action；
When the height of carrier is within satellite navigation system sphere of action, system always works at unit work
Under pattern, the navigation satellite signal that function remodeling unit receiving radio frequency front end sends, carry out navigation calculation,
To carrier navigation information, flight control units, according to carrier navigation information and inertial navigation information, is combined navigation
Computing, obtains flight and controls parameter, control parameter according to this flight, perform orbits controlling computing, flown
Row control instruction, this flight control instruction is sent to exterior operator by observing and controlling transmitting-receiving administrative unit；With
This simultaneously, remote control that observing and controlling transmitting-receiving administrative unit receiving radio frequency front end sends, telemetered signal, carry out signal solution
Adjusting, obtain remote-control data and telemetry parameter, flight control units resolves remote-control data and performs telecommand, right
Telemetry parameter framing again sends back to observing and controlling transmitting-receiving administrative unit, then is sent to penetrate by observing and controlling transmitting-receiving administrative unit
Frequently front end；
When the height of carrier is beyond satellite navigation system sphere of action, flight is controlled standby by configuration management element
Part program is loaded onto function remodeling unit and is reconstructed, and after completing reconstruct, function remodeling unit is to flight control
The synchronization request instruction that unit processed sends, when jointly being completed flight by flight control units and function remodeling unit
Between synchronization process, afterwards, flight control units sends and synchronizes good instruction to configuration management element and function remodeling
Unit, system is switched to two-shipper mode of operation, flight control units and function remodeling unit and resolves remote control simultaneously
Data, execution telecommand, the framing that takes remote measurement processes and carries out flight control according to inertial navigation information and calculates
To flight control instruction, send telemetry frame and flight control instruction and receive and dispatch administrative unit to observing and controlling, and same
Time send health status signal to configuration management element, configuration management element is according to flight control units or function
Reconfiguration unit whether " healthy ", controls observing and controlling transmitting-receiving management cell data gating switch, and observing and controlling transmitting-receiving management is single
Unit selects flight control units or the flight control instruction of function remodeling unit and remote measurement according to data strobe switch
Data export.
When system is operated under unit mode of operation, described flight control units, function remodeling unit, survey
Control transmitting-receiving administrative unit also sends health status signal to configuration management element, and configuration management element is according to flight
The health status signal of control unit, function remodeling unit and observing and controlling transmitting-receiving administrative unit judges flight control respectively
Unit processed, function remodeling unit and observing and controlling transmitting-receiving administrative unit whether " healthy ", the unit to " unhealthy "
Carry out program to reload.
Described health status signal is square-wave signal, according to health status signal judge observing and controlling transmitting-receiving administrative unit,
Flight control units or function remodeling unit whether " healthy " method particularly includes: to section T second designated time
The positive pulse of interior health status signal counts, and then thinks this unit " healthy " when positive pulse number exceedes threshold value,
Otherwise it is assumed that this unit " unhealthy ".
When the frequency of described square-wave signal is f, threshold value is T × f × 0.9.
Whether described configuration management element, according to flight control units or function remodeling unit " healthy ", controls to survey
Control transmitting-receiving management cell data gating switch method particularly includes: when flight control units " unhealthy ", function
During reconfiguration unit " healthy ", select the flight control instruction of function remodeling unit transmission and telemetry external
Output, otherwise, before the flight control instruction of selection flight control units transmission and telemetry export to radio frequency
End.
Described configuration management element uses Flouride-resistani acid phesphatase chip to realize.
A kind of restructural observing and controlling, navigate, fly control integral system reconstructing method, the method include as
Lower step:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and initially
Changing, navigation processing routine is loaded onto function remodeling unit, function remodeling unit receives navigation satellite signal,
Carry out navigation calculation, obtain carrier navigation information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight
Control unit jointly complete observing and controlling, navigate, control function of flying；
(2) when aircraft altitude exceedes satellite navigation system sphere of action, flight control units is to configuration pipe
Reason unit sends restructuring directive；
(3), after configuration management element receives the restructuring directive that flight control units sends, flight control is extracted
Unit backup program processed, is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that make flight time and the flight control units of function remodeling unit
Flight time synchronize；
(5), after completing flight time synchronization, function remodeling unit backups each other with flight control units, with
Time be remotely controlled instruction resolve, flight control calculate and remote measurement framing process, perform telecommand, output flies
Row control instruction, telemetry frame；
(6) according to " healthy " status strobe flight control units of flight control units and function remodeling unit
Or the flight control instruction of function remodeling unit and telemetry frame export.
Described step (4) flight time synchronization process process is:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
(4b), after flight control units receives synchronization request instruction, the current flight moment is sent to function
Reconfiguration unit；
(4c) the local flight time is adjusted to the flight moment of flight control units by function remodeling unit；
(4d) function remodeling unit performs orbits controlling computing according to inertial navigation information and obtains a frame flight control and refer to
Order, is designated as synchronizing flight control instruction, this synchronization flight control instruction is sent back to flight control units, institute
State synchronization flight control instruction and comprise the flight time；
(4e) the synchronization flight control instruction that flight control units receive capabilities reconfiguration unit returns, to same
The flight control units in flight moment is compared, unanimously with Tong Bu flight control instruction, then it is assumed that function weight
Structure unit and flight control units synchronize, send to function remodeling unit and configuration management element and synchronize
Instruction；Inconsistent, then it is assumed that function remodeling unit and flight control units are asynchronous, do not send synchronization and refer to well
Order.
The another kind of implementation method of step (4e) is: arrange two enumerators in flight control units, one
For synchronization failure enumerator, another is for having synchronized enumerator, and described function remodeling unit is by its flight time
After the flight moment being adjusted to flight control units, in each guidance cycle, perform rail according to inertial navigation information
Road controls computing and obtains a frame flight control instruction, is designated as synchronizing flight control instruction, by this synchronization flight control
Instruction processed is sent back to flight control units, when flight control units sends restructuring directive, is counted by synchronization failure
Device and synchronized counter O reset, afterwards, each guidance cycle to current flight control instruction with receive
Synchronization flight control instruction compare, time inconsistent, synchronization failure enumerator adds 1, and by synchronization well
Counter O reset, when synchronization failure count value reaches M, M >=2, it is believed that function remodeling unit and flight control
Unit is asynchronous, does not send the good instruction of synchronization；Time consistent, add 1 by having synchronized enumerator, when synchronizing good meter
When number device reaches N, N >=2 and synchronization failure Counter Value less than M, it is believed that function remodeling unit and flight control
The flight time of unit processed synchronizes, and sends and synchronizes good instruction.
The present invention having the beneficial effect that relative to prior art
(1) present invention carries out dividing elements according to three kinds of key functions of spacecraft, by observing and controlling, navigation,
Flight control has carried out integrated design, increases configuration management element simultaneously and completes the configuration of above-mentioned three kinds of functions
With management, time-multiplexed design philosophy is used to achieve navigation, flight controls across the Configuration design of function,
Avoid the hardware device that simple function redundancy brings to complicate, this observing and controlling, navigate, control one of flying
Change designed system and reconstructing method optimizes system allomeric function, improve the utilization of system hardware resources
Efficiency, it is possible to take into account multi-functional, high-performance, highly reliable and low cost demand.
(2) system application faces harsh space radiation environment, for taking into account economy and reliability, the present invention
Configuration management element uses the design of Flouride-resistani acid phesphatase chip, and under unit mode of operation, each module passes through Flouride-resistani acid phesphatase chip
Carry out periodic health status monitoring, trouble unit is carried out fault refreshing, can tolerate that partial fault is sent out
Raw, use this scheme, remaining device can suitably reduce components and parts class requirement, thus reduces product cost.
(3) health status signal of the present invention uses square-wave signal, arranges rational judgment threshold number of pulses and enters
Row counting judges, data strobe signal uses low and high level, controls the selection of the externally passage of output, above-mentioned
Function is example, in hardware signal and realizes, it can be ensured that the reliability of judgement and real-time.
(4) present invention take synchronization policy guarantee system reconfiguration be after Dual OMU Servers Mode active and standby unit time reference and
Export the concordance flying control instruction, synchronize to use double-counting judgment mode, it is to avoid because a certain subsynchronous judgement is lost
Losing and cause system synchronization failure, improve the probability of success of system synchronization, the threshold value of double-counting can be in conjunction with reality
Fault mode design modify, there is certain motility.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention block diagram of system；
Fig. 2 is embodiment of the present invention information processing platform circuit composition frame chart；
Fig. 3 is embodiment of the present invention system clock unit annexation figure；
Fig. 4 is embodiment of the present invention reconstructing method flow chart；
Fig. 5 is embodiment of the present invention function remodeling unit and flight control units flight time synchronous method.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings:
As a example by certain rocket Upper Stage, the scheme that guidance system is typically selected is: near-earth section utilizes star sensor
Metrical information calibration inertial reference, used group is combined navigation with satellite navigation information, after a certain height by
Unavailable in satellite navigation information, therefore, its speed, position as initial value, are assigned to track and calculate use,
Hereafter GPS navigation processing equipment is i.e. in idle state, and Upper Stage follow-up employing pure-inertial guidance is until star
Arrow separates.But, now the powered phase task of Upper Stage the most just starts, and flight controls needs and carries out repeatedly
Ignition operation, its reliability is particularly important, needs to carry out multimachine Configuration design and ensures its reliability service, Fig. 1
For the embodiment of the present invention a kind of observing and controlling, navigate, fly control integral system composition frame chart, as it can be seen,
System mainly includes radio-frequency front-end and information processing platform composition.
1, radio-frequency front-end
Radio-frequency front-end S frequency range transceiver channel and L UHF band reception passage two parts.Wherein: the transmitting-receiving of S frequency range is logical
Road receiving portion receives two-way S frequency band signals, wherein a road through the phase shifter carry out phase offset be allowed to separately
One road signal phase synchronizes, and two paths of signals closes road, filters and carry out low noise amplification and AGC controls
After signal is exported to the information processing platform；The remote measurement letter that the information processing platform is exported by S frequency range emitting portion
Number power amplification, filtering, and be divided into two-way, launched by two antennas respectively, it is also possible to sending out
Penetrate link power amplifier front end and add one-level wave filter, be filtered input signal selecting.L UHF band reception passage
Receiving two-way GPS navigation signal, wherein a road carries out phase offset through the phase shifter and is allowed to and another simultaneously
Road signal phase synchronizes, and two paths of signals carries out low noise amplification after closing road, filtering and AGC controls finally to
Signal exports to the information processing platform.
Above-mentioned functions realizes in one piece of circuit board, and the design of integration avoids what simple function redundancy was brought
Hardware device complicates, and optimizes system allomeric function, improves the utilization ratio of system hardware resources, energy
Enough take into account multi-functional, high-performance, highly reliable and low cost demand.
2, the information processing platform
The information processing platform is restructural observing and controlling, navigation, flight control system core, can be in system
Running realizes navigation feature and the reconstruct of flight control function.The information processing platform is processed single by clock
Unit, power conversion unit, flight control units, function remodeling unit, observing and controlling transmitting-receiving administrative unit and configuration
Administrative unit forms.
Fig. 2 is information processing platform circuit composition frame chart.Information processing platform main circuit will be by two CSTR
Reason device (DSP1 and DSP2), FPGA1, FPGA2, FPGA3, EPROM, SRAM1, SRAM2,
AD (S), AD (L), DA and external interface circuit realiration, described external interface include CAN,
422 serial line interfaces etc..Wherein, flight control units is mainly realized by DSP2 and SRAM2, also has few
Partial function realizes in FPGA1；Function remodeling unit is mainly by AD (L), DSP1, SRAM1
Realize with FPGA2；Observing and controlling transmitting-receiving administrative unit is mainly by AD (S), FPGA1, DA (S) with connect
Mouth circuit realiration；Configuration management element is mainly realized by FPGA3 and EPROM.
Hereinafter signal processing platform each unit is described in detail:
2.1 power conversion unit
+ 28V the DC source that outside is inputted by power conversion unit is converted to what system needed
+ 5V1/9.5W ,+5V2/3W ,+3.3V/1W and+5V/0.4W power supply, first ,+28V successively passes through
Short-circuit protection circuit and surge restraint circuit.Short-circuit protection circuit is to prevent equipment short circuit from causing on machine one
Secondary source is protected, the impact to primary power source of surge current when surge restraint circuit is to prevent equipment from starting.
Power conversion unit uses DVHF2805S, DVSA2805S and DVSA283R3S changer, has
Wider operating temperature range, the continuous operating temperature under full rated power is-55 DEG C～125 DEG C, storage
Temperature-65 DEG C～150 DEG C.
2.2 clock unit
Clock unit is for the clock signal producing accurately, synchronizing, and for system, Fig. 3 is system clock
Unit connection relation figure, in order to avoid the temperature impact on crystal oscillator, clock unit employing temperature-compensating crystal oscillator is
System provides time reference, and crystal oscillator carries out branch by clock buffer to clock, respectively to FPGA1 with
FPGA2 exports system work clock, after the internal PLL of FPGA1, the clock of generation, output give with
Its AD (S) connected, DA (S), DSP2, CAN chip use, in FPGA2
After portion PLL, export and use to connected AD (L) and DSP1.FPGA1 and FPGA2 divides
Not to master clock and the guidance clock of DSP1 and DSP2 output same frequency homophase, DSP1 and DSP2 passes through
Master clock produces identical dominant frequency, DSP1 and DSP2 responds and guide clock synchronization guidance computing, so,
May insure that the synchronicity of DSP1 and DSP2 clock, be also to ensure that the hardware base that two-shipper mode of operation synchronizes
Plinth, the flight control cycle determined according to the clock cycle of certain multiple, typically in the choosing of 20ms～200ms scope
Take.
2.3 flight control units
The calculation function of flight control units realizes in DSP2, and the function sending health status signal exists
Realizing in FPGA1, the function implemented has:
A) DSP2 receives the remote-control data of FPGA1, resolves it, obtains telecommand, performs phase
The command operating answered, telecommand includes up navigational parameter correction, the power-off restarting of crucial unit and journey
The fault intervention etc. of control instruction.
B) the telemetry parameter group that each remote-measuring equipment forwarded via FPGA1 is gathered by DSP2 by the agreement of agreement
FPGA1 is beamed back after frame；Controlling FPGA1 and send health status signal to FPGA3, this health signal is
Frequency is the square-wave signal of 100Hz.
C) whether the height of flight control units real-time judge carrier exceedes satellite navigation system sphere of action；
D) when the height of carrier is within satellite navigation system sphere of action, with GPS satellite navigation system it is
Example, when carrier flight is more than 3000km, GPS navigation information is unsatisfactory for carrier guidance precision requirement, recognizes
For beyond GPS satellite navigation systemic effect scope.DSP2 controls FPGA1 reception DSP1 and passes through
Carrier navigation information that FPGA2 sends and the inertial navigation inputted by external interface by outside IMU
Information, described inertial navigation information includes the attitude of carrier, position and velocity information, carries out in each guidance cycle
Integrated navigation computing, it may be assumed that use the inertial navigation information of navigation information correction IMU output, flown
Row controls parameter, such as attitude of carrier, position and velocity information, controls parameter according to flight, performs track control
Computing processed obtains flight control instruction, and flight control instruction includes current flight moment, exterior operator such as
The switching control instruction etc. of electromotor, is sent to FPGA1 by flight control instruction；
E) when the height of carrier is beyond satellite navigation system sphere of action, DSP2 controls FPGA1 and receives used
Information of leading controls parameter as flight；Control parameter according to flight, perform orbits controlling computing and obtain flight control
System instruction, is sent to FPGA1 by flight control instruction；
F) when carrier height beyond satellite navigation system sphere of action time, DSP2 control FPGA1 to
FPGA3 sends restructuring directive, restructuring directive be width be the pulse signal of 100ms；DSP2 controls
FPGA1 receives the synchronization request instruction that FPGA2 sends, and afterwards, controls FPGA1 and is sent out in the flight moment
Giving FPGA2, this flight moment is the cumulative flight time with departure time as zero point.Receive FPGA2
The synchronization flight control instruction returned, carries out consistent by synchronization flight control instruction with current flight control instruction
Property judge, time consistent, send to FPGA2 and FPGA3 and synchronize good instruction.
2.4 function remodeling unit
Function remodeling unit has two kinds of reconstituted state: navigation processes state and flight controls Status of Backups,
AD (L), DSP1, SRAM1 and FPGA2 realize, FPGA2 is compatible function remodeling unit
Function under two kinds of reconstituted state, so reloading just for DSP1 during reconstruct.
During system initialization, navigation processing routine is moved to SRAM1 by FPGA3 from EPROM, then
It is loaded into DSP1 through FPGA2, navigation signal process and control backup interface function of flying will be realized
Program is loaded in FPGA2, when the height of carrier is within satellite navigation system sphere of action,
FPGA2 receives the reference clock signal that clock unit sends, and receives the sampling letter that radio frequency AD (L) exports
Number, it is achieved the capture of multiple channel signals, tracking and data demodulation, produce navigation satellite data and send extremely
DSP1, DSP1 carry out the single or navigation calculation of integrated positioning information according to the navigation satellite data received
Obtaining the navigation informations such as the position of carrier, speed, this navigation information is sent to DSP2 by FPGA1；
DSP1 also control FPGA2 send health status signal, described health signal be frequency be the side of 100Hz
Ripple signal.
When the height of carrier is beyond satellite navigation system sphere of action, FPGA3 is through FPGA2 pair
The program of DSP1 is reloaded, and through FPGA2, flight control stand-by program is loaded into DSP1
In, make DSP1 when being in flight control Status of Backups, complete load after DSP1 control FPGA2 to
FPGA1 sends synchronization request instruction, and synchronization request instruction is the pulse signal of 50ms for width, and synchronizing please
Seek the rising edge synch of pulse and guidance clock, when controlling the system flight that FPGA2 receives FPGA1 transmission
Carve, flight time variable is changed to the flight moment of flight control units, receive and forward via FPGA1
Inertial navigation information, perform orbits controlling computing according to this inertial navigation information and obtain synchronizing flight control instruction, will be with
Step flight control instruction is sent back to FPGA1；The synchronization that detection FPGA1 sends in real time instructs well, receives same
After step instructs well, backup each other with DSP2, be remotely controlled instruction parsing, flight control calculating and remote measurement
Framing processes, and exports flight control instruction, telemetry frame, controls FPGA2 and sends health to FPGA3
Status signal, described health signal be frequency be the square-wave signal of 100Hz.
The flight of flight control units and function remodeling unit controls cycle synchronisation, and a guidance cycle is
20ms.Flight control units and function remodeling unit complete to be approximately equal to a flight control cycle lock in time
In for performing flight control computing time t1+ instruct passing time t2, in design t1+t2 much smaller than flight
In the control cycle, in the present embodiment, the flight control cycle is set to 20ms, the t1+t2 time and surveys maximum and be
5.6ms, it can be ensured that complete flight control units and function remodeling unit within a flight control cycle
Synchronize.
2.5 observing and controlling transmitting-receiving administrative units
Observing and controlling transmitting-receiving administrative unit is mainly realized by AD (S), FPGA1, DA (S) and interface circuit,
Receive radio remote-controlled signal, carry out signal demodulation, obtain remote-control data, send to flight control units and
Function remodeling unit.In the present embodiment, up-link is: S frequency range remote signal passes through AD (S) chip
Sampling obtains digital remote control signal, and this digital remote control signal FPGA1 is demodulated, and obtains remote-control data and sends out
Deliver to DSP2；Downlink is: FPGA1 receives the remote measurement Framed Data that DSP2 sends, and carries out
PCM-PSK modulates, and same descending carrier is modulated by downlink telemetry, and the signal after modulation is that intermediate frequency leads to
Cross DA chip to send to radio-frequency front-end.In FPGA1, produce health status signal, be sent to FPGA3,
Described health signal be frequency be the square-wave signal of 100Hz.
Peripheral high-speed AD and DA chip, it is achieved the collection of intermediate-freuqncy signal and output.AD is radio frequency AD core
Sheet, for sampling and amount to the S frequency range remote signal of radio-frequency front-end input and L frequency range gps signal AD
Changing, in order to realize the design of integration, ADC chip wants S frequency range and the GPS of compatible observing and controlling process work
Frequency range, therefore the full power bandwidth that its bandwidth enough, must select chip is 2.3GHz, being internally integrated can
The DEMUX reduction of speed module of choosing, ratio 1:1, two kinds of optional speed of 1:2, it is ensured that in higher sampling
Data stabilization transmitting under rate.Due to this chip sample rate highest order 1.5Gsps, for the S of input
With GPS frequency range, all it is unsatisfactory for low pass sampling thheorem, but owing to its bandwidth is relatively low, uses bandpass sampling mould
Formula.
DAC chip is radio frequency chip, and telemetered signal carries out DA conversion, and DAC output 2-3GHz penetrates
Frequently signal, selects DAC full power bandwidth 6GHz, has been internally integrated optional MUX speed-raising module, ratio
Two kinds of optional speed of 2:1 and 4:1, it is ensured that the data stabilization transmitting under relatively high sampling rate.
FPGA1 is also responsible for all data interface management of observing and controlling transmitting-receiving administrative unit, it is achieved flight controls single
The communication function that unit is external, such as: by the telemetry parameter of CAN interface external equipment input (e.g.,
Temperature, pressure etc.) and inertial navigation information, it is sent simultaneously between the data of DSP2 and FPGA2, FPGA2
Switch through and be dealt in DSP1；Receive the flight control instruction that DSP1 and DSP2 sends, according to data strobe
Switch selects the flight control instruction of DSP2 or DSP1 output to export to exterior operator, receives
The telemetry frame that DSP2 or DSP1 sends, selects a road telemetry frame to enter according to data strobe switch
Row modulation also exports radio-frequency front-end.
Data strobe switch has two states, during for high level, selects the flight control instruction that DSP2 sends
Externally export with telemetry, during for low level, select flight control instruction and the remote measurement number of DSP1 transmission
According to externally output, original state is high level.
2.6 configuration management element
Configuration management element is mainly realized by Flouride-resistani acid phesphatase FPGA3 and EPROM, and FPGA3 is Flouride-resistani acid phesphatase core
Sheet, can bear severe spatial environments, and EPROM is used for storing user program and data, user program
Including measurement and control program, navigation processing routine, flight controls main part program, flight controls stand-by program, SRAM1
With SRMA2 for storing the random data reading and using.
When system initialization, measurement and control program is loaded into FPGA1 by FPGA3 from EPROM, will fly
The main part program of row control is loaded into SRAM2 corresponding to DSP2 from EPROM, processing routine of navigating
Being loaded into the SRAM1 that function remodeling unit is corresponding from EPROM, system is set to unit mode of operation.
In order to prevent space single-particle from memory block is produced Single event upset effecf, device logic state is made to overturn, i.e.
Originally " 0 " of storage becomes " l ", or " l " becomes " 0 ", and the storage of data and reading have employed two kinds of single-particles and prevent
Protect design means, first, critical data be stored concurrently on physical address on the EPROM of triple redundance,
The mode that two from three is decided by vote should be taked during reading, and use the result after two from three to carry out subsequent operation；Secondly,
Owing to general DSP does not possess EDAC (Error Detection And Correction) function, therefore
Select the SRAM device carrying EDAC circuit, for storing program and the data of quick calling, writing
Enter data time automatically generate the check code of certain figure place, together preserve with corresponding data, read data
Time also check code is made decisions, the most automatically correct if there is a bit-errors, just data sent, with
Time will the later data cover inherited error data of amendment.
When the height of carrier exceedes satellite navigation system sphere of action, FPGA3 receives FPGA1 and sends
Restructuring directive, from EPROM extract flight control units stand-by program, be loaded into DSP1 pair
In the SRAM1 answered, function remodeling unit becomes flight control units backup machine state.Monitor flight in real time
Control unit sends the good instruction of synchronization, and after receiving the good instruction of synchronization, system is set to two-shipper mode of operation.
Observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units all send health to FPGA3
Status signal, health status signal be frequency be the square-wave signal of f, be used for characterize measurement and control unit, function weight
Structure unit, flight control units duty, FPGA3 is to health status signal in section T second designated time
Positive pulse counts, and then thinks this unit " healthy " when positive pulse number exceedes threshold value, otherwise it is assumed that this unit
" unhealthy ", health status signal be designed as configurable frequency, as arrange heart beating be frequency be 100Hz
Square-wave signal, now one second produce 100 square waves, it is judged that the cycle is 1s, and threshold value is set to 90, then
Think and receive the unit " healthy " that 90 square-wave signals think corresponding in the 1s cycle, it is also possible to judge continuously
Ts, adds up the square-wave signal of Ts and judges.
When system is unit mode of operation, FPGA3 is according to flight control units, function remodeling unit and survey
The health status signal of control transmitting-receiving administrative unit judges flight control units, function remodeling unit and observing and controlling respectively
Transmitting-receiving administrative unit whether " healthy ", during any one unit appearance " unhealthy ", FPGA3 is to accordingly
Unit correspondence SRAM carry out program updating operation.This design main purpose is in system unit mode of operation
Under, health status is as the foundation performing refresh operation, it is achieved the recovery of the system failure.
When system is two-shipper mode of operation, function remodeling cell operation in flight control units state,
FPGA3 judges flight control according to the health status signal of the flight control units received with function remodeling unit
Unit processed or function remodeling unit whether " healthy ", " the most strong according to flight control units or function remodeling unit
Health ", control observing and controlling transmitting-receiving management cell data gating switch.It controls observing and controlling transmitting-receiving management cell data gating
Switch method particularly includes: when flight control units " unhealthy ", during function remodeling unit " healthy ", control
Data strobe signal processed is low level, and otherwise, control data strobe signal is high level.The main mesh of this design
Be under system two-shipper mode of operation, the foundation that health status controls as gating signal, it is achieved system is double
Owner from handoff functionality.As can be seen here, health status signal before reconstitution after function use difference, right
The troubleshooting measure answering refresh operation and cut machine two kinds of different effects of operation, belonging to of its middle filling machine operation
Fault handling method under dual redundant pattern, its reliability is higher.
The present embodiment application faces harsh space radiation environment, for taking into account economy and reliability, the present invention
Using Flouride-resistani acid phesphatase chip FPGA design, under unit mode of operation, each module carries out week by Flouride-resistani acid phesphatase chip
The health status monitoring of phase property, carries out fault refreshing to trouble unit, can tolerate that partial fault occurs, and adopts
Using this scheme, remaining device can suitably reduce components and parts class requirement, thus reduces product cost.
Fig. 5 is a kind of restructural observing and controlling, navigate, the flow chart of the reconstructing method controlling integral system that flies,
The detailed process of the method is:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and initially
Changing, navigation processing routine is loaded onto function remodeling unit, function remodeling unit receives navigation satellite signal,
Carry out navigation calculation, obtain carrier navigation information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight
Control unit jointly complete observing and controlling, navigate, control function of flying；
(2) when aircraft altitude exceedes satellite navigation system sphere of action, flight control units is to configuration pipe
Reason unit sends restructuring directive；
(3), after configuration management element receives the restructuring directive that flight control units sends, flight control is extracted
Unit backup program processed, is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that make flight time and the flight control units of function remodeling unit
Flight time synchronize；
Flight time synchronization process process is:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
(4b), after flight control units receives synchronization request instruction, the current flight moment is sent to function
Reconfiguration unit；
(4c) the local flight time is adjusted to the flight moment of flight control units by function remodeling unit；
(4d) function remodeling unit performs orbits controlling computing according to inertial navigation information and obtains a frame flight control and refer to
Order, is designated as synchronizing flight control instruction, this synchronization flight control instruction is sent back to flight control units, institute
State synchronization flight control instruction and comprise the flight time；
(4e) the synchronization flight control instruction that flight control units receive capabilities reconfiguration unit returns, to same
The flight control units in flight moment is compared, unanimously with Tong Bu flight control instruction, then it is assumed that function weight
Structure unit and flight control units synchronize, send to function remodeling unit and configuration management element and synchronize
Instruction；Inconsistent, then it is assumed that function remodeling unit and flight control units are asynchronous, do not send synchronization and refer to well
Order.
(5), after completing flight time synchronization, function remodeling unit backups each other with flight control units, with
Time be remotely controlled instruction resolve, flight control calculate and remote measurement framing process, perform telecommand, output flies
Row control instruction, telemetry frame；
(6) according to " healthy " status strobe flight control units of flight control units and function remodeling unit
Or the flight control instruction of function remodeling unit and telemetry frame export.
Flight control units judges that the method whether flight control units and function remodeling unit synchronize can also be adopted
By the following scheme repeatedly adjudicated: arranging two enumerators in flight control units, one is synchronization failure meter
Number device, another is for having synchronized enumerator；Its flight time is adjusted to flight and controls single by function remodeling unit
After the flight moment of unit, in each guidance cycle, perform orbits controlling computing according to inertial navigation information and obtain one
Frame flight control instruction, is designated as synchronizing flight control instruction, this synchronization flight control instruction is sent back to flight
Control unit, when flight control units sends restructuring directive, by synchronization failure enumerator and synchronized enumerator
Reset, afterwards, in each guidance cycle, current flight control instruction is referred to the synchronization flight control received
Order is compared, and time inconsistent, synchronization failure enumerator adds 1, and will synchronize counter O reset, synchronizes
When fail count value reaches M, M >=2 (in the present embodiment, M takes 3), it is believed that function remodeling unit and flight control
Unit processed is asynchronous, does not send the good instruction of synchronization；Time consistent, add 1 by having synchronized enumerator, when synchronizing
When enumerator reaches N, N >=2 (in the present embodiment, N takes 5) and synchronization failure Counter Value less than M, it is believed that
The flight time of function remodeling unit and flight control units synchronizes, and sends and synchronizes good instruction.
The present invention takes synchronization policy to guarantee, and system reconfiguration is active and standby unit time reference and output after Dual OMU Servers Mode
Fly the concordance of control instruction, synchronize to use double-counting judgment mode, it is to avoid because a certain subsynchronous judgement is unsuccessfully led
The failure of cause system synchronization, improves the probability of success of system synchronization, and the threshold value of double-counting can be in conjunction with actual event
Barrier Model Design is modified, and has motility.
The content not being described in detail in description of the invention belongs to professional and technical personnel in the field's known technology.
Claims (9)
1. a restructural observing and controlling, navigate, fly control integral system, it is characterised in that before including radio frequency
End and the information processing platform, radio-frequency front-end includes S frequency range transceiver channel and L UHF band reception passage two parts,
S frequency range transceiver channel receives remote signal, is filtered, amplifies and AGC control, is sent to information processing
Platform, passes the telemetered signal that the information processing platform exports by under downlink radio signal, L frequency range simultaneously
Receive channel reception navigation satellite signal, filtered, amplify and AGC control, be sent to information processing
Platform, the information processing platform include flight control units, function remodeling unit, observing and controlling transmitting-receiving administrative unit and
Configuration management element, wherein:
Configuration management element storage measurement and control program, navigation processing routine, flight control main part program, flight control
Stand-by program processed, during system initialization, it is single that measurement and control program is loaded into observing and controlling transmitting-receiving management by configuration management element
Unit, by flight control main part program be loaded into flight control units, navigation processing routine be loaded into function weight
Structure unit, system is set to unit mode of operation；
Whether the height of flight control units real-time judge carrier exceedes satellite navigation system working range；
When the height of carrier is within satellite navigation system sphere of action, system always works at unit work
Under pattern, the navigation satellite signal that function remodeling unit receiving radio frequency front end sends, carry out navigation calculation,
To carrier navigation information, flight control units, according to carrier navigation information and inertial navigation information, is combined navigation
Computing, obtains flight and controls parameter, control parameter according to this flight, perform orbits controlling computing, flown
Row control instruction, this flight control instruction is sent to exterior operator by observing and controlling transmitting-receiving administrative unit；With
This simultaneously, remote control that observing and controlling transmitting-receiving administrative unit receiving radio frequency front end sends, telemetered signal, carry out signal solution
Adjusting, obtain remote-control data and telemetry parameter, flight control units resolves remote-control data and performs telecommand, right
Telemetry parameter framing again sends back to observing and controlling transmitting-receiving administrative unit, then is sent to penetrate by observing and controlling transmitting-receiving administrative unit
Frequently front end；
When the height of carrier is beyond satellite navigation system sphere of action, flight is controlled standby by configuration management element
Part program is loaded onto function remodeling unit and is reconstructed, and after completing reconstruct, function remodeling unit is to flight control
The synchronization request instruction that unit processed sends, when jointly being completed flight by flight control units and function remodeling unit
Between synchronization process, afterwards, flight control units sends and synchronizes good instruction to configuration management element and function remodeling
Unit, system is switched to two-shipper mode of operation, flight control units and function remodeling unit and resolves remote control simultaneously
Data, execution telecommand, the framing that takes remote measurement processes and carries out flight control according to inertial navigation information and calculates
To flight control instruction, send telemetry frame and flight control instruction and receive and dispatch administrative unit to observing and controlling, and same
Time send health status signal to configuration management element, configuration management element is according to flight control units or function
Reconfiguration unit whether " healthy ", controls observing and controlling transmitting-receiving management cell data gating switch, and observing and controlling transmitting-receiving management is single
Unit selects flight control units or the flight control instruction of function remodeling unit and remote measurement according to data strobe switch
Data export.
A kind of restructural observing and controlling the most according to claim 1, navigate, fly control integral system,
It is characterized in that when system is operated under unit mode of operation, described flight control units, function remodeling list
Unit, observing and controlling transmitting-receiving administrative unit also send health status signal, configuration management element root to configuration management element
The health status signal receiving and dispatching administrative unit according to flight control units, function remodeling unit and observing and controlling judges respectively
Flight control units, function remodeling unit and observing and controlling transmitting-receiving administrative unit whether " healthy ", to " unhealthy "
Unit carry out program and reload.
A kind of restructural observing and controlling the most according to claim 1 and 2, navigate, control integration of flying
System, it is characterised in that described health status signal is square-wave signal, judges observing and controlling according to health status signal
Transmitting-receiving administrative unit, flight control units or function remodeling unit whether " healthy " method particularly includes: right
In section T second designated time, the positive pulse of health status signal counts, and then recognizes when positive pulse number exceedes threshold value
For this unit " healthy ", otherwise it is assumed that this unit " unhealthy ".
A kind of restructural observing and controlling the most according to claim 3, navigate, fly control integral system,
It is characterized in that when the frequency of described square-wave signal is f, threshold value is T × f × 0.9.
A kind of restructural observing and controlling the most according to claim 1, navigate, fly control integral system,
It is characterized in that described configuration management element according to flight control units or function remodeling unit whether " healthy ",
Control observing and controlling transmitting-receiving management cell data gating switch method particularly includes: when flight control units " unhealthy ",
During function remodeling unit " healthy ", select flight control instruction and the telemetry of function remodeling unit transmission
Externally output, otherwise, selects the flight control instruction of flight control units transmission and telemetry to export to penetrating
Frequently front end.
A kind of restructural observing and controlling the most according to claim 1, navigate, fly control integral system,
It is characterized in that described configuration management element uses Flouride-resistani acid phesphatase chip to realize.
7. a restructural observing and controlling, navigate, flying controls the reconstructing method of integral system, it is characterised in that
Comprise the steps:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and initially
Changing, navigation processing routine is loaded onto function remodeling unit, function remodeling unit receives navigation satellite signal,
Carry out navigation calculation, obtain carrier navigation information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight
Control unit jointly complete observing and controlling, navigate, control function of flying；
(2) when aircraft altitude exceedes satellite navigation system sphere of action, flight control units is to configuration pipe
Reason unit sends restructuring directive；
(3), after configuration management element receives the restructuring directive that flight control units sends, flight control is extracted
Unit backup program processed, is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that make flight time and the flight control units of function remodeling unit
Flight time synchronize；
(5), after completing flight time synchronization, function remodeling unit backups each other with flight control units, with
Time be remotely controlled instruction resolve, flight control calculate and remote measurement framing process, perform telecommand, output flies
Row control instruction, telemetry frame；
(6) according to " healthy " status strobe flight control units of flight control units and function remodeling unit
Or the flight control instruction of function remodeling unit and telemetry frame export.
A kind of restructural observing and controlling the most according to claim 7, navigate, fly control integral system
Reconstructing method, it is characterised in that step (4) flight time synchronization process process is:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
(4b), after flight control units receives synchronization request instruction, the current flight moment is sent to function
Reconfiguration unit；
(4c) the local flight time is adjusted to the flight moment of flight control units by function remodeling unit；
(4d) function remodeling unit performs orbits controlling computing according to inertial navigation information and obtains a frame flight control and refer to
Order, is designated as synchronizing flight control instruction, this synchronization flight control instruction is sent back to flight control units, institute
State synchronization flight control instruction and comprise the flight time；
(4e) the synchronization flight control instruction that flight control units receive capabilities reconfiguration unit returns, to same
The flight control units in flight moment is compared, unanimously with Tong Bu flight control instruction, then it is assumed that function weight
Structure unit and flight control units synchronize, send to function remodeling unit and configuration management element and synchronize
Instruction；Inconsistent, then it is assumed that function remodeling unit and flight control units are asynchronous, do not send synchronization and refer to well
Order.
A kind of restructural observing and controlling the most according to claim 8, navigate, fly control integral system
Reconstructing method, it is characterised in that the another kind of implementation method of step (4e) is: set in flight control units
Putting two enumerators, one is synchronization failure enumerator, and another is for having synchronized enumerator, described function weight
After the flight moment that its flight time is adjusted to flight control units by structure unit, in each guidance cycle,
Perform orbits controlling computing according to inertial navigation information and obtain a frame flight control instruction, be designated as synchronizing flight control and refer to
Order, is sent back to flight control units by this synchronization flight control instruction, and flight control units sends restructuring directive
Time, by synchronization failure enumerator and synchronized counter O reset, afterwards, in each guidance cycle to currently flying
Row control instruction is compared with the synchronization flight control instruction received, and time inconsistent, synchronization failure counts
Device adds 1, and will synchronize counter O reset, when synchronization failure count value reaches M, and M >=2, it is believed that function
Reconfiguration unit and flight control units are asynchronous, do not send the good instruction of synchronization；Time consistent, by good for synchronization counting
Device adds 1, when synchronized enumerator reach N, N >=2 and synchronization failure Counter Value less than M time, it is believed that merit
The flight time of energy reconfiguration unit and flight control units synchronizes, and sends and synchronizes good instruction.
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