CN105955299B - A kind of restructural observing and controlling, navigation, flight control integral system and reconstructing method - Google Patents
A kind of restructural observing and controlling, navigation, flight control integral system and reconstructing method Download PDFInfo
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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
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Abstract
It include radio-frequency front-end and the information processing platform the invention discloses a kind of restructural observing and controlling, navigation, flight control integral system and reconstructing method, the system.Wherein, the information processing platform includes flight control units, function remodeling unit, administrative unit is received and dispatched in observing and controlling, configuration management element, when the height of carrier is within satellite navigation system sphere of action, system works under single machine operating mode, function remodeling unit load navigation processing routine, system completes observing and controlling, navigation, flight control function, when the height of carrier exceeds satellite navigation system sphere of action, function remodeling unit is reconstructed by configuration management element, load flight control stand-by program, form observing and controlling, flight control function dual redundant state, system works in two-shipper operating mode.The reconstructing method of the system optimizes system allomeric function, improves the utilization efficiency of system hardware resources, can take into account multi-functional, highly reliable and inexpensive demand.
Description
Technical field
The present invention relates to a kind of observing and controlling, navigation, flight control integral system and reconstructing methods, belong to spacecraft meter
Calculation machine and data processing field.
Background technique
With the rapid development of semiconductor technology, on-site programmable device FPGA is due to great flexibility and preferably may be used
Re-configurability is being applied to more and more fields.In order to preferably play the flexibility of programming device, processor+
The combination of programming device is just by everybody institute's extensive concern and receiving, in aerospace engineering, the combination of processor+programming device
It has been applied to flight control data resolving and Interface Controller, the fields such as radio signal and data processing.
Observing and controlling at present, navigation, flight control are spacecraft three classes key functions, are received and dispatched in traditional design using observing and controlling
The realization of equipment, navigation signal receiving apparatus, flight control calculating equipment three classes autonomous device, simple function is often using processing
Device+programming device computer body system structure, framework used by the prior art are primarily present two aspect limitations, on the one hand,
The powerful calculating of standalone hardware and data-handling capacity often exceed the demand that single machine realizes concrete function, and certain single machine functions are very
To being not whole use of flying, the waste of aircraft process resource is caused to a certain extent；On the other hand, system is superfluous
Remaining to realize often through standalone feature (specific single machine realization) redundancy, this design often results in the complexity of the design inside single machine,
This generic structure is combined for processor+programming device and lacks the redundancy Configuration design across function, it is reliable to improve system
Property realized often through the simple redundancy for increasing equipment, efficiency-cost ratio is higher.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of restructural observing and controlling, navigation, flies
Row control integral system realizes that telemetry communication, navigation processing, flight are controlled using multiprocessor+programming device generic structure
The functions such as system, and can be two different modes according to practical flight process configuration, to realize the abundant benefit to computing resource
With under system single machine operating mode, function remodeling unit carries out navigation calculation, under system two-shipper operating mode, function remodeling list
Member reconstruct becomes flight control units Status of Backups, realizes the duplication redundancy of flight control function, improves the reliability of system.
The present invention other problem solved is that: a kind of restructural observing and controlling, navigation, flight control integral system are provided
Reconstructing method, the reconstructing method provide a kind of method for synchronizing time according to the actual situation to system function dynamic adaptation
Realize that the flight time of two redundancy backup modules is synchronous.
The technical scheme is that a kind of restructural observing and controlling, navigation, flight control integral system, the system include
Radio-frequency front-end and the information processing platform, radio-frequency front-end include S frequency range transceiver channel and L UHF band reception channel two parts, and S frequency range is received
Send out channel reception remote signal, filter, amplify and AGC control, be sent to the information processing platform, while information processing being put down
The telemetered signal of platform output by passing under downlink radio signal, filtered by L UHF band reception channel reception navigation satellite signal
Wave, amplification and AGC control, are sent to the information processing platform, the information processing platform includes flight control units, function remodeling list
Member, observing and controlling transmitting-receiving administrative unit and configuration management element, in which:
Configuration management element stores measurement and control program, navigation processing routine, the main part program of flight control, flight control backup journey
Sequence, when system initialization, measurement and control program is loaded into observing and controlling transmitting-receiving administrative unit, flight is controlled main part journey by configuration management element
Sequence is loaded into flight control units, navigation processing routine is loaded into function remodeling unit, and system is set as single machine operating mode；
Whether the height of flight control units real-time judge carrier is more than satellite navigation system sphere of action；
When the height of carrier is within satellite navigation system sphere of action, system always works at single machine operating mode
Under, the navigation satellite signal that function remodeling unit receiving radio frequency front end is sent carries out navigation calculation, obtains carrier navigation information,
Flight control units are combined navigation operations according to carrier navigation information and inertial navigation information, obtain flight control parameter, according to
The flight control parameter executes orbits controlling operation, obtains flight control instruction, which passes through observing and controlling T-R tube
Reason unit is sent to exterior operator；At the same time, remote control, telemetering that observing and controlling transmitting-receiving administrative unit receiving radio frequency front end is sent
Signal carries out signal demodulation, obtains remote-control data and telemetry parameter, and flight control units parsing remote-control data executes remote control and refers to
Enable, to telemetry parameter again framing send back to observing and controlling transmitting-receiving administrative unit, then by observing and controlling transmitting-receiving administrative unit be sent to radio frequency before
End；
When the height of carrier exceeds satellite navigation system sphere of action, flight is controlled stand-by program by configuration management element
It is loaded onto function remodeling unit to be reconstructed, complete after reconstructing, the synchronization that function remodeling unit is sent to flight control units
Request instruction completes flight time synchronization process by flight control units and function remodeling unit jointly, and later, flight control is single
Member sends to synchronize and instruct to configuration management element and function remodeling unit, and system is switched to two-shipper operating mode, flight control
Unit and function remodeling unit parse remote-control data simultaneously, execute telecommand, and the framing that takes remote measurement handles and believed according to inertial navigation
Breath carries out flight control and flight control instruction is calculated, and sends telemetry frame and flight control instruction and manages to observing and controlling transmitting-receiving
Unit, and health status signal is sent simultaneously to configuration management element, configuration management element is according to flight control units or function
Reconfiguration unit whether " health ", control observing and controlling transmitting-receiving management cell data gating switch, observing and controlling receive and dispatch administrative unit according to data
Gating switch selects the output of the flight control instruction and telemetry of flight control units or function remodeling unit.
When system work is under single machine operating mode, the flight control units, function remodeling unit, observing and controlling T-R tube
It manages unit and sends health status signal to configuration management element, configuration management element is according to flight control units, function remodeling list
The health status signal of member and observing and controlling transmitting-receiving administrative unit judges flight control units, function remodeling unit and observing and controlling transmitting-receiving respectively
Administrative unit whether " health ", program is carried out to the unit of " unhealthy " and is reloaded.
The health status signal is square-wave signal, judges observing and controlling transmitting-receiving administrative unit, flight according to health status signal
Control unit or function remodeling unit whether " health " method particularly includes: to health status signal in designated time section T seconds
Positive pulse is counted, when positive pulse number is more than that threshold value then thinks the unit " health ", otherwise it is assumed that the unit " unhealthy ".
When the frequency of the square-wave signal is f, threshold value is T × f × 0.9.
The configuration management element according to flight control units or function remodeling unit whether " health ", control observing and controlling transmitting-receiving
Administrative unit data strobe switch method particularly includes: when flight control units " unhealthy ", function remodeling unit " health ",
The flight control instruction and telemetry that selection function reconfiguration unit is sent externally export, and otherwise, select flight control units hair
The flight control instruction and telemetry sent are exported to radio-frequency front-end.
The configuration management element is realized using Flouride-resistani acid phesphatase chip.
A kind of restructural observing and controlling, navigation, flight control integral system reconstructing method, this method comprises the following steps:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and is initialized, leading
Boat processing routine is loaded onto function remodeling unit, and function remodeling unit receives navigation satellite signal, carries out navigation calculation, is carried
Body navigation information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units complete observing and controlling, navigation, flight control jointly
Function processed；
(2) when aircraft altitude is more than satellite navigation system sphere of action, flight control units are to configuration management element
Send restructuring directive；
(3) after configuration management element receives the restructuring directive that flight control units are sent, flight control units are extracted
Stand-by program is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that make function remodeling unit flight time and flight control units flight when
Between it is synchronous；
(5) after completing flight time synchronization, function remodeling unit is mutually backups with flight control units, while carrying out distant
Control instruction parsing, flight control calculate and the processing of telemetering framing, executes telecommand, exports flight control instruction, telemetry
Frame；
(6) according to " health " the status strobe flight control units or function weight of flight control units and function remodeling unit
The flight control instruction and telemetry frame of structure unit export.
Step (4) the flight time synchronization process process are as follows:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
After (4b) flight control units receive synchronization request instruction, the current flight moment is sent to function remodeling list
Member；
The local flight time is adjusted to the flight moment of flight control units by (4c) function remodeling unit；
(4d) function remodeling unit executes orbits controlling operation according to inertial navigation information and obtains a frame flight control instruction, is denoted as
Synchronous flight control instruction, is sent back to flight control units, the synchronous flight control instruction for the synchronization flight control instruction
Include the flight time；
The synchronization flight control instruction that (4e) flight control units receive capabilities reconfiguration unit returns, to the same flight moment
Flight control units be compared with synchronous flight control instruction, unanimously, then it is assumed that function remodeling unit and flight control are single
Member has synchronized, and instructs well to function remodeling unit is synchronous with configuration management element transmission；It is inconsistent, then it is assumed that function remodeling list
Member is asynchronous with flight control units, does not send to synchronize and instructs.
Another implementation method of step (4e) are as follows: two counters are set in flight control units, and one is lost to be synchronous
Counter is lost, to have synchronized counter, its flight time is adjusted to flight control units by the function remodeling unit for another
The flight moment after, in each guidance period, orbits controlling operation executed according to inertial navigation information obtain frame flight control and refer to
It enables, is denoted as synchronous flight control instruction, which is sent back to flight control units, flight control units hair
When sending restructuring directive, by synchronization failure counter and synchronous good counter O reset, later, in each guidance period to current flight
Control instruction is compared with the synchronization flight control instruction received, and when inconsistent, synchronization failure counter adds 1, and will be same
Counter O reset has been walked, when synchronization failure count value reaches M, M >=2, it is believed that function remodeling unit and flight control units difference
Step, does not send to synchronize and instructs；When consistent, counter will be synchronized and added 1, has reached N, N >=2 and synchronous mistake when having synchronized counter
When losing Counter Value less than M, it is believed that function remodeling unit is synchronous with the flight time of flight control units, and transmission, which synchronizes, to be referred to
It enables.
The present invention having the beneficial effect that compared with the existing technology
(1) present invention carries out dividing elements according to three kinds of key functions of spacecraft, and observing and controlling, navigation, flight are controlled
System has carried out integrated design, while increasing configuration and management that configuration management element completes above-mentioned three kinds of functions, using the time-division
The design philosophy of multiplexing realizes navigation, Configuration design of the flight control across function, and it is hard to avoid simple function redundancy bring
Part the device is complicated change, this observing and controlling, navigation, flight control integrated design system and its reconstructing method optimize system entirety
Function improves the utilization efficiency of system hardware resources, can take into account multi-functional, high-performance, highly reliable and inexpensive demand.
(2) system application faces harsh space radiation environment, to take into account economy and reliability, configuration management of the present invention
Unit is designed using Flouride-resistani acid phesphatase chip, and under single machine operating mode, each module carries out periodically healthy shape by Flouride-resistani acid phesphatase chip
State monitoring carries out failure refreshing to trouble unit, can tolerate partial fault, using this scheme, remaining device can be fitted
When reducing component class requirement, to reduce product cost.
(3) health status signal of the present invention uses square-wave signal, and reasonable judgment threshold number of pulses is arranged and is counted
Judgement, data strobe signal use low and high level, control the selection in the channel externally exported, and above-mentioned function is example, in hardware letter
Number realize, it can be ensured that the reliability and real-time of judgement.
(4) present invention takes synchronization policy to ensure that system reconfiguration flies for active and standby unit time reference after Dual OMU Servers Mode and output
The consistency of instruction is controlled, it is synchronous to use double-counting judgment mode, it avoids unsuccessfully causing system is synchronous to lose because of a certain subsynchronous judgement
It loses, improves the synchronous probability of success of system, the threshold value of double-counting can modify in conjunction with the design of actual fault mode, have
Certain flexibility.
Detailed description of the invention
Fig. 1 is the system composition block diagram of the embodiment of the present invention；
Fig. 2 is the information processing platform of embodiment of the present invention circuit composition block diagram；
Fig. 3 is system clock unit of embodiment of the present invention annexation figure；
Fig. 4 is reconstructing method of embodiment of the present invention flow chart；
Fig. 5 is function remodeling of embodiment of the present invention unit and flight control units flight time synchronous method.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings:
By taking certain rocket Upper Stage as an example, scheme that guidance system is generally selected are as follows: near-earth section utilizes star sensor measurement letter
Breath calibration inertial reference, used group are combined navigation with satellite navigation information, after a certain height not due to satellite navigation information
It can use, therefore, its speed, position are assigned to track as initial value and calculate use, hereafter GPS navigation processing equipment is in idle
State, Upper Stage is subsequent to use pure-inertial guidance until the satellite and the rocket separate.However, the powered phase task of Upper Stage is just opened at this time
Begin, flight control needs to carry out multiple ignition operation, and reliability is particularly important, needs to carry out multimachine Configuration design and guarantees that it can
By operation, Fig. 1 is a kind of observing and controlling, navigation, flight control integral system composition block diagram of the embodiment of the present invention, as shown,
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 channel two parts.Wherein: S frequency range transceiver channel receiving portion
Two-way S frequency band signals are received, wherein carrying out phase offset by phase shifter all the way is allowed to synchronous with another way signal phase, to two
Road signal combining, filter and carry out low noise amplification and AGC control finally signal is exported to the information processing platform；S frequency range hair
Power amplification, filtering of the part to the telemetered signal of information processing platform output are penetrated, and is divided into two-way, passes through two antennas respectively
Launch, level-one filter can also be added in transmitting link power amplifier front end, selection is filtered to input signal.L frequency range
Receiving channel receives two-way GPS navigation signal simultaneously, is allowed to believe with another way wherein carrying out phase offset by phase shifter all the way
Number Phase synchronization, carries out low noise amplification after two paths of signals combining, filtering and AGC control finally exports signal to information processing
Platform.
Above-mentioned function realizes that integrated design avoids simple function redundancy bring hardware and sets in one piece of circuit board
It is standby to complicate, system allomeric function is optimized, the utilization efficiency of system hardware resources is improved, multi-functional, Gao Xing can be taken into account
Energy, highly reliable and inexpensive demand.
2, the information processing platform
The information processing platform is restructural observing and controlling, navigation, flight control system core, can be in system operation
The middle reconstruct for realizing navigation feature and flight control function.The information processing platform by clock processing unit, power conversion unit, fly
Row control unit, function remodeling unit, observing and controlling transmitting-receiving administrative unit and configuration management element composition.
Fig. 2 is information processing platform circuit composition block diagram.Information processing platform circuit is mainly by two CSTR processor (DSP1
And DSP2), FPGA1, FPGA2, FPGA3, EPROM, SRAM1, SRAM2, AD (S), AD (L), DA and external interface circuit realize,
The external interface includes CAN bus, 422 serial line interfaces etc..Wherein, flight control units are mainly realized by DSP2 and SRAM2,
There are also small part functions to realize in FPGA1；Function remodeling unit is mainly realized by AD (L), DSP1, SRAM1 and FPGA2；It surveys
Control transmitting-receiving administrative unit is mainly realized by AD (S), FPGA1, DA (S) and interface circuit；Configuration management element mainly by FPGA3 and
EPROM is realized.
Signal processing platform each unit is described in detail below:
2.1 power conversion unit
Externally input+28V DC power supply is converted to+the 5V1/9.5W ,+5V2/ of system needs by power conversion unit
3W ,+3.3V/1W and+5V/0.4W power supply, firstly,+28V successively passes through short-circuit protection circuit and surge restraint circuit.Short circuit is protected
Protection circuit is that equipment short circuit in order to prevent causes machine last time power protection, and surge restraint circuit is wave when preventing equipment from starting
Gush impact of the electric current to primary power source.Power conversion unit uses DVHF2805S, DVSA2805S and DVSA283R3S converter,
With wider operating temperature range, the continuous work 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 used to generate accurate, synchronous clock signal, uses for system, and Fig. 3 is system clock unit connection
Relational graph, the influence in order to avoid temperature to crystal oscillator, clock unit use temperature-compensating crystal oscillator to provide time reference for system, brilliant
Vibration carries out branch to clock by clock buffer, respectively to FPGA1 and FPGA2 output system work clock, by FPGA1
After portion PLL, the clock of generation, output is used to AD connected to it (S), DA (S), DSP2, CAN bus chip, by FPGA2
After internal PLL, output is used to AD connected to it (L) and DSP1.FPGA1 and FPGA2 is same to DSP1 and DSP2 output respectively
Frequency generates identical dominant frequency, DSP1 and DSP2 reactive mode by master clock with the master clock and guidance clock, DSP1 and DSP2 of phase
The synchronous guidance operation of clock is led, in this way it can be ensured that the synchronism of DSP1 and DSP2 clock, and guarantee that two-shipper operating mode is same
The hardware foundation of step, flight control period determine according to the clock cycle of certain multiple, generally select in 20ms~200ms range
It takes.
2.3 flight control units
The calculation function of flight control units realizes that the function of sending health status signal is real in FPGA1 in DSP2
Existing, the function of specific implementation has:
A) DSP2 receives the remote-control data of FPGA1, parses to it, obtains telecommand, executes corresponding instruction behaviour
Make, telecommand includes the navigational parameter amendment of uplink, failure intervention of power-off restarting and program control command of crucial single machine etc..
B) DSP2 will be sent back to by the agreement of agreement after telemetry parameter framing that each remote-measuring equipment forwarded via FPGA1 acquires
FPGA1；It controls FPGA1 and sends health status signal to FPGA3, which is the square-wave signal that frequency is 100Hz.
C) whether the height of flight control units real-time judge carrier is more than satellite navigation system sphere of action；
D) when the height of carrier is within satellite navigation system sphere of action, by taking GPS satellite navigation system as an example, work as load
When body flight is more than 3000km, GPS navigation information is unsatisfactory for carrier guidance precision requirement, it is believed that exceeds GPS satellite navigation system
Sphere of action.DSP2 controls FPGA1 and receives DSP1 by the FPGA2 carrier navigation information sent and by external inertial measurement combination
The inertial navigation information inputted by external interface, the inertial navigation information includes the posture of carrier, position and speed information, in each system
Leading the period is combined navigation operations, it may be assumed that using the inertial navigation information of navigation information amendment inertial measurement combination output, is flown
Control parameter, as attitude of carrier, position and speed information execute orbits controlling operation and flown according to flight control parameter
Control instruction, flight control instruction include the switching control instruction etc. of current flight moment, exterior operator such as engine, will
Flight control instruction is sent to FPGA1；
E) when the height of carrier exceeds satellite navigation system sphere of action, DSP2 controls FPGA1 and receives inertial navigation information work
For flight control parameter；It according to flight control parameter, executes orbits controlling operation and obtains flight control instruction, flight control is referred to
Order is sent to FPGA1；
F) when the height of carrier exceeds satellite navigation system sphere of action, DSP2 controls FPGA1 and sends reconstruct to FPGA3
Instruction, restructuring directive is the pulse signal that width is 100ms；DSP2 control FPGA1 receives the synchronization request that FPGA2 is sent and refers to
It enables, later, controls FPGA1 for the flight moment and be sent to FPGA2, which is using departure time as the cumulative flight of zero point
Time.The synchronization flight control instruction that FPGA2 is returned is received, synchronous flight control instruction and current flight control instruction are carried out
Consistency judgement, when consistent, instructs well to FPGA2 is synchronous with FPGA3 transmission.
2.4 function remodeling units
There are two types of reconstituted states for function remodeling unit tool: navigation processing status and flight control Status of Backups, AD (L),
DSP1, SRAM1 and FPGA2 realize that FPGA2 has been compatible with the function under two kinds of reconstituted states of function remodeling unit, so weight
It is reloaded when structure just for DSP1.
When system initialization, FPGA3 moves navigation processing routine in SRAM1 from EPROM to, is loaded into using FPGA2
DSP1 will realize that navigation signal processing and the program of flight control backup interface function are loaded into FPGA2, when the height of carrier
When within satellite navigation system sphere of action, FPGA2 receives the reference clock signal that clock unit is sent, and receives radio frequency AD
(L) sampled signal exported realizes the capture, tracking and data demodulation of multiple channel signals, generates navigation satellite data and sends
To DSP1, navigation satellite data carries out single or integrated positioning information navigation calculation and obtains the position of carrier DSP1 based on the received
It sets, navigation informations, the navigation information such as speed are sent to DSP2 by FPGA1；DSP1 also controls FPGA2 and sends health status letter
Number, the health signal is the square-wave signal that frequency is 100Hz.
When the height of carrier exceeds satellite navigation system sphere of action, FPGA3 is carried out by program of the FPGA2 to DSP1
It reloads, flight control stand-by program is loaded into DSP1 by FPGA2, makes DSP1 when in flight control backup shape
State, DSP1 controls FPGA2 to FPGA1 transmission synchronization request instruction after completing load, and it is 50ms's that synchronization request instruction, which is width,
Pulse signal, the rising edge synch of synchronization request pulse and guidance clock, control FPGA2 receive the system flight that FPGA1 is sent
Flight time variable is changed to the flight moment of flight control units by the moment, receives the inertial navigation information forwarded via FPGA1,
Orbits controlling operation is executed according to the inertial navigation information and obtains synchronous flight control instruction, and synchronous flight control instruction is sent back to
FPGA1；Synchronizing for real-time detection FPGA1 transmission instructs, and receives after synchronizing instruction, is mutually backups with DSP2, carries out distant
Control instruction parsing, flight control calculate and telemetering framing processing, export flight control instruction, telemetry frame, control FPGA2 to
FPGA3 sends health status signal, and the health signal is the square-wave signal that frequency is 100Hz.
The flight of flight control units and function remodeling unit controls cycle synchronisation, and a guidance period is 20ms.Flight
Control unit and function remodeling unit are completed to be approximately equal to synchronization time in a flight control period for executing flight control
Time t1+ of operation instructs passing time t2, and t1+t2 controls the period much smaller than flying in design, in the present embodiment, flight control
Period is set as 20ms, and it is 5.6ms that the t1+t2 time, which surveys maximum value, it can be ensured that completes to fly within a flight control period
Row control unit is synchronous with function remodeling unit.
Administrative unit is received and dispatched in 2.5 observing and controlling
Observing and controlling is received and dispatched administrative unit and is mainly realized by AD (S), FPGA1, DA (S) and interface circuit, and wireless remotecontrol is received
Signal carries out signal demodulation, obtains remote-control data, be sent to flight control units and function remodeling unit.In the present embodiment, on
Line link are as follows: S frequency range remote signal samples to obtain digital remote control signal by AD (S) chip, the digital remote control signal FPGA1 into
Row demodulation, obtains remote-control data and is sent to DSP2；Downlink are as follows: FPGA1 receives the telemetering Framed Data that DSP2 is sent, and carries out
PCM-PSK modulation, downlink telemetry are modulated same descending carrier, and modulated signal is that intermediate frequency is sent to by DA chip
Radio-frequency front-end.Health status signal is generated in FPGA1, is sent to FPGA3, and the health signal is the side that frequency is 100Hz
Wave signal.
Peripheral high-speed AD and DA chip realize the acquisition and output of intermediate-freuqncy signal.AD is radio frequency A/D chip, for radio frequency
The S frequency range remote signal of front end input and L frequency range GPS signal AD sampling and quantization, in order to realize integrated design, ADC core
Piece will be compatible with the S frequency range and GPS frequency range of observing and controlling processing work, therefore its bandwidth must be enough, select the full power bandwidth of chip to be
2.3GHz, has been internally integrated optional DEMUX reduction of speed module, and two kinds of optional rates of ratio 1:1,1:2 ensure that in higher sampling
Data stabilization reliable transmission under rate.Due to chip sample rate highest order 1.5Gsps, for S the and GPS frequency range of input, all
It is unsatisfactory for low pass sampling thheorem, but since its bandwidth is lower, using bandpass sampling mode.
DAC chip is radio frequency chip, and telemetered signal is carried out DA conversion, and DAC exports the radiofrequency signal of 2-3GHz, selects
DAC full power bandwidth 6GHz, has been internally integrated optional MUX speed-raising module, and two kinds of optional rates of ratio 2:1 and 4:1 ensure that
Compared with the data stabilization reliable transmission under high sampling rate.
FPGA1 is also responsible for all data interface managements of observing and controlling transmitting-receiving administrative unit, realizes that flight control units are external
Communication function, such as: the telemetry parameter (e.g., temperature, pressure etc.) of external equipment input being received by CAN interface and inertial navigation is believed
Breath, while it being sent to DSP2 and FPGA2, the data of FPGA2 are forwarded in DSP1 indirectly；Receive the flight that DSP1 and DSP2 is sent
Control instruction is exported according to the flight control instruction that data strobe switchs selection DSP2 or DSP1 output to exterior operator,
The telemetry frame that DSP2 or DSP1 are sent is received, telemetry frame is modulated and defeated all the way according to the selection of data strobe switch
Radio-frequency front-end is arrived out.
There are two types of states for data strobe switch, when being high level, the flight control instruction and telemetering number that select DSP2 to send
According to external output, when being low level, the flight control instruction and telemetry for selecting DSP1 to send externally are exported, and original state is
High level.
2.6 configuration management element
Configuration management element is mainly realized that FPGA3 is Flouride-resistani acid phesphatase chip by Flouride-resistani acid phesphatase FPGA3 and EPROM, can bear to dislike
Bad space environment, EPROM include measurement and control program, navigation processing routine, fly for storing user program and data, user program
Row controls main part program, flight control stand-by program, and SRAM1 and SRMA2 are for storing the data for reading use at random.
In system initialization, measurement and control program is loaded into FPGA1 by FPGA3 from EPROM, and flight is controlled main part program
Be loaded into the corresponding SRAM2 of DSP2 from EPROM, will navigation processing routine from EPROM to be loaded into function remodeling unit corresponding
In SRAM1, system is set as single machine operating mode.Space single-particle generates Single event upset effecf to memory block in order to prevent,
Overturn device logic state, i.e., " 0 " stored originally becomes " l ", or " l " becomes " 0 ", and the storage and reading of data use
Two kinds of single-particle protection design means, firstly, critical data is stored on physical address on the EPROM of triple redundance simultaneously,
The mode that two from three should be taken to decide by vote when reading, and subsequent operation is carried out using the result after two from three；Secondly as general
DSP does not have EDAC (Error Detection And Correction) function, therefore selects the SRAM of included EDAC circuit
Device, for storing the program and data of quick calling, be written data when automatically generate the check code of certain digit, with phase
It answers data to be saved together, also check code is made decisions when reading data, is then corrected automatically if there is a bit-errors, it will
Correct data is sent out, while will modify later data cover inherited error data.
When the height of carrier is more than satellite navigation system sphere of action, the reconstruct that FPGA3 receives FPGA1 transmission refers to
It enables, flight control units stand-by program is extracted from EPROM, is loaded into the corresponding SRAM1 of DSP1, function remodeling unit
As flight control units backup machine state.The sending of real-time monitoring flight control units is synchronized and is instructed, and is received to synchronize and is instructed
Afterwards, system is set as two-shipper operating mode.
Observing and controlling receives and dispatches administrative unit, function remodeling unit, flight control units and sends health status signal to FPGA3,
Health status signal is the square-wave signal that frequency is f, for characterizing measurement and control unit, function remodeling unit, flight control units work
Make state, FPGA3 counts the positive pulse of health status signal in designated time section T seconds, when positive pulse number is more than threshold value
Then think the unit " health ", otherwise it is assumed that the unit " unhealthy ", health status signal is designed as configurable frequency, such as sets
Setting heartbeat is the square-wave signal that frequency is 100Hz, and 100 square waves of generation in one second at this time judge the period for 1s, threshold value is set as
90, then it is assumed that receive 90 square-wave signals in the 1s period and think corresponding unit " health ", Ts can also be continuously judged, to Ts's
Square-wave signal is counted and is judged.
When system is single machine operating mode, FPGA3 is according to flight control units, function remodeling unit and observing and controlling T-R tube
Whether the health status signal of reason unit judges flight control units, function remodeling unit and observing and controlling transmitting-receiving administrative unit respectively
" health ", when " unhealthy " occurs in any one unit, FPGA3 corresponds to SRAM to corresponding unit and carries out program updating operation.
The design main purpose is under system single machine operating mode, and health status realizes system as the foundation for executing refresh operation
The recovery of failure.
When system is two-shipper operating mode, function remodeling cell operation is in flight control units state, and FPGA3 is according to receipts
To flight control units and the health status signal of function remodeling unit judge flight control units or function remodeling unit is
No " health ", according to flight control units or function remodeling unit whether " health ", control observing and controlling transmitting-receiving management cell data choosing
Open up pass.It controls observing and controlling transmitting-receiving management cell data gating switch method particularly includes: when flight control units " unhealthy ",
When function remodeling unit " health ", control data strobe signal is low level, and otherwise, control data strobe signal is high level.
The design main purpose is the foundation that health status is controlled as gating signal under system two-shipper operating mode, realizes system
The handoff functionality of two-shipper principal and subordinate.It can be seen that health status signal before reconstitution after function use different, corresponding refresh operation
The troubleshooting measure of two different effects is operated with the machine of cutting, middle filling machine operation belongs at the failure under dual redundant mode
Reason method, reliability are higher.
The present embodiment application faces harsh space radiation environment, and to take into account economy and reliability, the present invention is using anti-
Chip FPGA design is irradiated, under single machine operating mode, each module carries out periodic health status monitoring by Flouride-resistani acid phesphatase chip,
Failure refreshing is carried out to trouble unit, can tolerate partial fault, using this scheme, remaining device can suitably reduce member
Device scale requirement, to reduce product cost.
Fig. 5 is a kind of restructural observing and controlling, navigation, flying controls the flow chart of the reconstructing method of integral system, this method
Detailed process are as follows:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and is initialized, leading
Boat processing routine is loaded onto function remodeling unit, and function remodeling unit receives navigation satellite signal, carries out navigation calculation, is carried
Body navigation information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units complete observing and controlling, navigation, flight control jointly
Function processed；
(2) when aircraft altitude is more than satellite navigation system sphere of action, flight control units are to configuration management element
Send restructuring directive；
(3) after configuration management element receives the restructuring directive that flight control units are sent, flight control units are extracted
Stand-by program is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that make function remodeling unit flight time and flight control units flight when
Between it is synchronous；
Flight time synchronization process process are as follows:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
After (4b) flight control units receive synchronization request instruction, the current flight moment is sent to function remodeling list
Member；
The local flight time is adjusted to the flight moment of flight control units by (4c) function remodeling unit；
(4d) function remodeling unit executes orbits controlling operation according to inertial navigation information and obtains a frame flight control instruction, is denoted as
Synchronous flight control instruction, is sent back to flight control units, the synchronous flight control instruction for the synchronization flight control instruction
Include the flight time；
The synchronization flight control instruction that (4e) flight control units receive capabilities reconfiguration unit returns, to the same flight moment
Flight control units be compared with synchronous flight control instruction, unanimously, then it is assumed that function remodeling unit and flight control are single
Member has synchronized, and instructs well to function remodeling unit is synchronous with configuration management element transmission；It is inconsistent, then it is assumed that function remodeling list
Member is asynchronous with flight control units, does not send to synchronize and instructs.
(5) after completing flight time synchronization, function remodeling unit is mutually backups with flight control units, while carrying out distant
Control instruction parsing, flight control calculate and the processing of telemetering framing, executes telecommand, exports flight control instruction, telemetry
Frame；
(6) according to " health " the status strobe flight control units or function weight of flight control units and function remodeling unit
The flight control instruction and telemetry frame of structure unit export.
Flight control units judge that the flight control units method whether synchronous with function remodeling unit can also use down
It states the scheme repeatedly adjudicated: two counters is set in flight control units, one is synchronization failure counter, another is same
Counter is walked；After the flight moment that its flight time is adjusted to flight control units by function remodeling unit, in each system
The period is led, orbits controlling operation is executed according to inertial navigation information and obtains a frame flight control instruction, is denoted as synchronous flight control instruction,
The synchronization flight control instruction is sent back to flight control units, when flight control units send restructuring directive, by synchronization failure
Counter and synchronous good counter O reset, it is later, synchronous with what is received to current flight control instruction in each guidance period
Flight control instruction is compared, and when inconsistent, synchronization failure counter adds 1, and will synchronize counter O reset, synchronization failure
When count value reaches M, M >=2 (M takes 3 in the present embodiment), it is believed that function remodeling unit and flight control units are asynchronous, do not send out
It send to synchronize and instruct；When consistent, counter will be synchronized and added 1, has reached N when having synchronized counter, (N takes in the present embodiment for N >=2
5) when and synchronization failure Counter Value is less than M, it is believed that function remodeling unit is synchronous with the flight time of flight control units, sends
It synchronizes and instructs.
The present invention takes synchronization policy to ensure that system reconfiguration is active and standby unit time reference and the winged control of output after Dual OMU Servers Mode
The consistency of instruction, it is synchronous to use double-counting judgment mode, it avoids unsuccessfully leading to system synchronization failure because of a certain subsynchronous judgement,
The threshold value of the synchronous probability of success of raising system, double-counting can modify in conjunction with the design of actual fault mode, have spirit
Activity.
The content that description in the present invention is not described in detail belongs to professional and technical personnel in the field's well-known technique.
Claims (9)
1. a kind of restructural observing and controlling, navigation, flight control integral system, it is characterised in that including radio-frequency front-end and information processing
Platform, radio-frequency front-end include S frequency range transceiver channel and L UHF band reception channel two parts, and S frequency range transceiver channel receives remote control letter
Number, it filtered, amplified and AGC control, the telemetered signal for being sent to the information processing platform, while the information processing platform being exported
By being passed under downlink radio signal, L UHF band reception channel reception navigation satellite signal, filtered, amplify and AGC control,
It is sent to the information processing platform, the information processing platform includes flight control units, function remodeling unit, observing and controlling transmitting-receiving administrative unit
And configuration management element, in which:
Configuration management element stores measurement and control program, navigation processing routine, the main part program of flight control, flight control stand-by program,
When system initialization, measurement and control program is loaded into observing and controlling transmitting-receiving administrative unit, flight is controlled main part program by configuration management element
It is loaded into flight control units, navigation processing routine is loaded into function remodeling unit, system is set as single machine operating mode；
Whether the height of flight control units real-time judge carrier is more than satellite navigation system sphere of action；
When the height of carrier is within satellite navigation system sphere of action, system is always worked under single machine operating mode, function
The navigation satellite signal that energy reconfiguration unit receiving radio frequency front end is sent, carries out navigation calculation, obtains carrier navigation information, flight control
Unit processed is combined navigation operations according to carrier navigation information and inertial navigation information, obtains flight control parameter, according to the flight
Control parameter executes orbits controlling operation, obtains flight control instruction, which receives and dispatches administrative unit by observing and controlling
It is sent to exterior operator；At the same time, the remote control of observing and controlling transmitting-receiving administrative unit receiving radio frequency front end transmission, telemetered signal,
Signal demodulation is carried out, obtains remote-control data and telemetry parameter, flight control units parse remote-control data and execute telecommand, to distant
Surveying parameter, framing sends back to observing and controlling transmitting-receiving administrative unit again, then is sent to radio-frequency front-end by observing and controlling transmitting-receiving administrative unit；
When the height of carrier exceeds satellite navigation system sphere of action, configuration management element loads flight control stand-by program
It is reconstructed, is completed after reconstructing to function remodeling unit, the synchronization request that function remodeling unit is sent to flight control units
Instruction, completes flight time synchronization process by flight control units and function remodeling unit jointly, later, flight control units hair
It send to synchronize and instruct to configuration management element and function remodeling unit, system is switched to two-shipper operating mode, flight control units
With function remodeling unit simultaneously parse remote-control data, execute telecommand, the framing that takes remote measurement processing and according to inertial navigation information into
Flight control instruction is calculated in row flight control, and it is single to observing and controlling transmitting-receiving management to send telemetry frame and flight control instruction
Member, and health status signal is sent simultaneously to configuration management element, configuration management element is according to flight control units or function weight
Structure unit whether " health ", control observing and controlling transmitting-receiving management cell data gating switch, observing and controlling transmitting-receiving administrative unit selected according to data
Open up flight control instruction and the telemetry output for closing selection flight control units or function remodeling unit.
2. a kind of restructural observing and controlling according to claim 1, navigation, flight control integral system, it is characterised in that when
When system work is under single machine operating mode, the flight control units, function remodeling unit, observing and controlling receive and dispatch administrative unit to matching
It sets administrative unit and sends health status signal, configuration management element is received according to flight control units, function remodeling unit and observing and controlling
The health status signal of hair administrative unit judges that flight control units, function remodeling unit and observing and controlling transmitting-receiving administrative unit are respectively
No " health " carries out program to the unit of " unhealthy " and reloads.
3. a kind of restructural observing and controlling according to claim 2, navigation, flight control integral system, it is characterised in that institute
State health status signal be square-wave signal, according to health status signal judge observing and controlling receive and dispatch administrative unit, flight control units or
Function remodeling unit whether " health " method particularly includes: the positive pulse progress to health status signal in designated time section T second
It counts, when positive pulse number is more than that threshold value then thinks the unit " health ", otherwise it is assumed that the unit " unhealthy ".
4. a kind of restructural observing and controlling according to claim 3, navigation, flight control integral system, it is characterised in that institute
When the frequency for stating square-wave signal is f, threshold value is T × f × 0.9.
5. a kind of restructural observing and controlling according to claim 1, navigation, flight control integral system, it is characterised in that institute
State configuration management element according to flight control units or function remodeling unit whether " health ", control observing and controlling transmitting-receiving management unit number
According to gating switch method particularly includes: when flight control units " unhealthy ", function remodeling unit " health ", selection function weight
The flight control instruction and telemetry that structure unit is sent externally export, otherwise, the flight control for selecting flight control units to send
System instruction and telemetry are exported to radio-frequency front-end.
6. a kind of restructural observing and controlling according to claim 1, navigation, flight control integral system, it is characterised in that institute
Configuration management element is stated to realize using Flouride-resistani acid phesphatase chip.
7. a kind of restructural observing and controlling, navigation, flying controls the reconstructing method of integral system, it is characterised in that including walking as follows
It is rapid:
(1) observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units are configured and is initialized, at navigation
Reason program is loaded onto function remodeling unit, and function remodeling unit receives navigation satellite signal, carries out navigation calculation, obtains carrier and lead
Boat information, observing and controlling transmitting-receiving administrative unit, function remodeling unit, flight control units complete observing and controlling, navigation, flight control function jointly
Energy；
(2) when aircraft altitude is more than satellite navigation system sphere of action, flight control units are sent to configuration management element
Restructuring directive；
(3) after configuration management element receives the restructuring directive that flight control units are sent, flight control units backup is extracted
Program is loaded into function remodeling unit；
(4) flight time synchronization process, it may be assumed that the flight time of the flight time and flight control units that make function remodeling unit are same
Step；
(5) after completing flight time synchronization, function remodeling unit is mutually backups with flight control units, while being remotely controlled finger
Parsing, flight control calculating and the processing of telemetering framing are enabled, telecommand is executed, exports flight control instruction, telemetry frame；
(6) according to " health " the status strobe flight control units or function remodeling list of flight control units and function remodeling unit
Flight control instruction and telemetry the frame output of member.
8. a kind of restructural observing and controlling according to claim 7, navigation, flying controls the reconstructing method of integral system,
It is characterized in that step (4) flight time synchronization process process are as follows:
(4a) function remodeling unit sends synchronization request instruction to flight control units；
After (4b) flight control units receive synchronization request instruction, the current flight moment is sent to function remodeling unit；
The local flight time is adjusted to the flight moment of flight control units by (4c) function remodeling unit；
(4d) function remodeling unit executes orbits controlling operation according to inertial navigation information and obtains a frame flight control instruction, is denoted as synchronization
The synchronization flight control instruction is sent back to flight control units by flight control instruction, and the synchronous flight control instruction includes
Flight time；
The synchronization flight control instruction that (4e) flight control units receive capabilities reconfiguration unit returns, flies the same flight moment
Row control unit is compared with synchronous flight control instruction, unanimously, then it is assumed that function remodeling unit and flight control units are
It synchronizes, is instructed well to function remodeling unit is synchronous with configuration management element transmission；It is inconsistent, then it is assumed that function remodeling unit and
Flight control units are asynchronous, do not send to synchronize and instruct.
9. a kind of restructural observing and controlling according to claim 8, navigation, flying controls the reconstructing method of integral system,
It is characterized in that another implementation method of step (4e) are as follows: two counters are set in flight control units, and one is lost to be synchronous
Counter is lost, to have synchronized counter, its flight time is adjusted to flight control units by the function remodeling unit for another
The flight moment after, in each guidance period, orbits controlling operation executed according to inertial navigation information obtain frame flight control and refer to
It enables, is denoted as synchronous flight control instruction, which is sent back to flight control units, flight control units hair
When sending restructuring directive, by synchronization failure counter and synchronous good counter O reset, later, in each guidance period to current flight
Control instruction is compared with the synchronization flight control instruction received, and when inconsistent, synchronization failure counter adds 1, and will be same
Counter O reset has been walked, when synchronization failure count value reaches M, M >=2, it is believed that function remodeling unit and flight control units difference
Step, does not send to synchronize and instructs；When consistent, counter will be synchronized and added 1, has reached N, N >=2 and synchronous mistake when having synchronized counter
When losing Counter Value less than M, it is believed that function remodeling unit is synchronous with the flight time of flight control units, and transmission, which synchronizes, to be referred to
It enables.
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