CN106571896B - A kind of radar communication method - Google Patents
A kind of radar communication method Download PDFInfo
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- CN106571896B CN106571896B CN201610996978.7A CN201610996978A CN106571896B CN 106571896 B CN106571896 B CN 106571896B CN 201610996978 A CN201610996978 A CN 201610996978A CN 106571896 B CN106571896 B CN 106571896B
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/1607—Details of the supervisory signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
Abstract
The present invention provides a kind of radar communication methods, for realizing the generalization of communications protocol between each subsystem of radar.By the present invention in that developing the chained library based on C++ standard with the universal communication agreement of unified format, supports various communication interfaces, improve the reusability of communications protocol, solve the problems, such as the overlapping development of subsystem communications protocol.The present invention uses the thought of hierarchical design, module is divided into Communication Layer, protocol layer and application layer, realize the modular functionality of radar data communication, keep versatility, independence, scalability and the advance etc. of the module, with good compatibility, testability, scalability and inheritance, exploitation and debugging cycle are substantially reduced, there is preferable economic effect.
Description
Technical field
The invention belongs to radar system communication fields, are related to radar communication agreement and the means of communication, logical for realizing radar
Interrogate the generalization of agreement.
Background technique
With the development of Radar Technology, radar model is more and more, the continuous upgrading of Radar Products, along with new demand
Increase, the communications protocol of radar subsystem, application programming interfaces are continuously increased, and the communications protocol between each subsystem is not mutually simultaneous
Hold, for the interoperability for guaranteeing equipment room, just must do communications protocol and software interface for each subsystem.Meanwhile phase
In the subsystem of same type, identical data even identical function must just be weighed due to using in different applications sometimes
It is newly developed, the complexity of system cost and maintenance is increased, the debug time of each subsystem is caused to be concentrated mainly on communications protocol
Conversion on.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of radar communication method, by using unified format
Universal communication agreement develops the chained library based on C++ standard, supports various communication interfaces, improves the reusability of communications protocol, solves
The overlapping development problem of subsystem of having determined communications protocol, and protocol realization hierarchical design, so that upper level applications do not need
Understand specific protocol format, module is called simple.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
(1) unique corresponding number is carried out to each subsystem of radar equipment；
(2) order of each subsystem and status data are distinguished according to fixation, dedicated and general three types；Gu
Fixed order refers to meaning order identical with format in different subsystems, and generic command refers to the identical life of same type subsystem
It enables, specific command refers to the exclusive order of certain subsystem；Stationary state refers to meaning shape identical with format in different subsystems
State, generic state refer to the same state of the subsystem of same type, and single user state refers to the exclusive state of certain subsystem；To each
The order of subsystem and status data carry out unique corresponding number；
(3) when a subsystem is sent to other subsystems orders, order includes sending subsystem number, command response
Mark, command sequence number receive subsystem number, order number, transmission times, data generation time, version number, command parameter long
Degree and command parameter；The command response mark come determine this order whether need command response；
(4) if after order sending, the life that subsystem does not receive HF receiving subsystem feedback in the duration of setting is sent
Response is enabled, then the transmission times that this orders is added 1, if transmission times is not above the transmission times upper limit of setting, again
Send this order；
(5) after HF receiving subsystem receives order, related manipulation is executed according to command parameter, and send to subsystem is sent
State report, state report include subsystem number, subsystem number, subsystem status data packet length, subsystem status number k,
Status number, status data length and status data；The subsystem state data packets include that status number, status data are long
Degree and status data；Actively to operation control terminal status report when each subsystem breaks down；
(6) it sends after subsystem receives state report and is parsed, obtain the working condition of HF receiving subsystem.
The beneficial effects of the present invention are: realizing the modular functionality of radar data communication, radar data communication is maintained
Versatility, independence, scalability and the advance of module have compatibility and testability well.Radar communication agreement can expand
Exhibition only need to increase particular protocol conversion module, particular protocol format is converted into general association in protocol layer when there is particular protocol
Format is discussed, does not influence entire process flow.
Order sender's subsystem number and recipient's subsystem number are contained in the protocol header that the present invention uses, when
When recipient receives order, it can determine whether out that the current command is which subsystem is sent, whose be sent to.When in large software system
In system, when a certain software and multiple softwares are communicated, it can determine which point this order is destined to by subsystem number
System, while this order is which subsystem is sent known to the subsystem of recipient.In this way, subsystem can clearly be known
Whether this order is destined to oneself, while when feedback information, it is also known that information should be sent to which subsystem.
The present invention realizes the reliability of transmission using data re-transmitting mechanism, when the order that sender sends needs recipient
Inform that sender has been received by data after receiving, then recipient immediately returns to a command response message after receiving information, informs
Sender has been properly received, and sends success message to upper layer submiting command automatically；Otherwise, sender will retransmit this life
It enables, the number of retransmission can be sent out to upper layer submiting command by user's sets itself when reaching specified transmission times automatically
Failed message is sent, user's quick positioning question can be helped and is solved the problems, such as.
The present invention to data parameters have data boundary judgement processing capacity, can submittal error code, can be set to
The data content and markers of the processing of link layer and protocol layer are printed to local file, just by debugging mode in the form of log
In customer analysis data and debugging.
The present invention can use standard C/C++ language development, can Windows operating system, (SuSE) Linux OS,
It is run in VXWorks operating system, dynamic link library and header file is provided, used by the way of library function call.
Detailed description of the invention
Fig. 1 is the schematic diagram that universal communication protocol format divides；
Fig. 2 is functional module structure schematic diagram；
Fig. 3 is implementation steps figure of the invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention is suitable for software communication module design, realizes standardization, the modularization of software communication module.It can be applied to
All softwares based on C/C++ language development provide consensus standard for data communication, realize the function that interconnects between software
Energy.
Status of support of the present invention and the group packet of order, parsing, transmission, reception, particular protocol are converted, unknown format is handled,
The functions such as debugging printing.
Universal communication agreement is divided into control command agreement and equipment state agreement.Communications protocol formulate thought be based on towards
Object pattern classifies each subsystem, same type of subsystem subseries again, extracts identical state or control life
It enables.According to type, state, control command can be divided into fixed, general and three kinds dedicated.The agreement is in multiple model projects
Upper successful application saves a large amount of repeated work in debugging process.
(1) control command agreement
(1) type of message is divided into command message and command response message.
A) command message: the message is the control command of radar.If you need to postback the message of command response, then message is received
Afterwards, command response should be sent immediately to be confirmed, sender as do not received command response, then needs using three after a certain time
Secondary retransmission mechanism such as then sends failure, carries out troubleshooting all without command response three times；As do not needed to postback command response
Message need not then be responded.
B) command response message: responding the message for needing command response, and the message does not need command response.
(2) protocol format
A) sending device is numbered
Sending device number: for the device numbering for sending order.
B) command response mark
Determine whether this order needs command response by command response mark, 0 is does not need command response, and 1 is
Need command response.
C) command sequence number
Refer to all serial numbers for sending command messages after program operation, sends a subcommand and add 1,0 is initially, when being more than
It is started the cycle over after 65535 from 1；The command sequence number is for the order handshake response between sender and recipient.Sender is responsible for
The uniqueness of maintenance command serial number whithin a period of time.Recipient postbacks after receiving and needing the message of command response with the life
Enable command response message of the serial number as content of parameter, the response for order.
D) controlled plant is numbered
For controlled plant number.
E) order number:
For the coding of this message.
F) transmission times
Message sending times are for the first time 0, are up to 2.
G) data generation time
Message generates the time, and 32 words divide 00 second accumulated time value for starting timing with when 00 00, and unit is the second.
H) version number
Refer to that program runs the serial number of the order of the sheet after starting " order number " mark, modification adds 1 each time, initially
It is 0, is started the cycle over after more than 65535 from 1.
I) parameter length
For the data length of design parameter content.
J) command parameter
The parameter of specific instructions, different orders have different explanations.Such as message is command response, then content of parameter is
The command sequence number received.
K) protocol classification
Fix command: the order meaning of different subsystems is identical as format, and such as all subsystem states have " self-test " life
It enables.
Generic command: the same commands of the subsystem of same type, such as different types of transmitter have " radiation of power " life
It enables.
Specific command: the exclusive order of certain subsystem.
L) control command protocol definition
Command code 0x00-0x1F is fixed numbers order, there is parameter；
Command code 0x20-0x3F is general numerical value order, there is parameter；
Command code 0x40-0x7F is dedicated numerical value order, there is parameter；
Command code 0x80-0x9F is fix command section, printenv；
Command code 0xA0-0xBF is generic command section, printenv；
Command code 0xC0-0xFF is specific command section, printenv.
(2) state report agreement
(1) protocol specification
Status protocol is for the status data communication between each subsystem of radar.There are three types of sending methods for state message: i.e.
When, timing, inquiry.When data are transmitted as multibyte, low byte is preceding, and high byte is rear.
(2) protocol format and explanation
Radar state reporting format:
Subsystem number n (1byte)+1 state report of subsystem+subsystem, 2 state report+...+subsystem n-state report
It accuses；
Subsystem status report format:
Subsystem number+subsystem status data packet length+subsystem state data packets；
Subsystem state data packets format:
Subsystem status number k (1byte)+subsystem state 1+ subsystem state 2+ ...+subsystem state k；
Subsystem status format:
Format 1 (numeric state type): status number+data length (2byte)+status data；
String format:
String length+string content
Wherein, status number to status data part repeats k times；Subsystem number repeats n times to status data.
When a certain state of each subsystem changes, according to the state group packet that status protocol will currently change, Xiang Leida
It sends；
When each subsystem receives " obtain state report " order of radar transmission, according to status protocol by the subsystem
All status datas form a bag data, to radar send；
When each subsystem breaks down malfunction periodically actively should be sent to radar.
A) subsystem number
Indicate subsystem number contained in state report,
Length: 1Byte.
B) subsystem state report
The status report data packet of radar station subsystem includes subsystem number, subsystem status data length, subsystem
Status data.
C) subsystem is numbered
The Unified number as defined in radar monitoring system, the number identify each subsystem of radar station for monitoring system；
Length: 1byte.
D) subsystem status data packet length
The subsystem status data length calculated by byte；
Length: 1Word.
E) subsystem state data packets
The data packet of all states composition of this report of subsystem.
F) subsystem status number
Indicate status number contained in the subsystem state data packets.
G) subsystem state
The particular content of subsystem a single state.
H) status number
The number for indicating certain state meaning and data structure that subsystem defines.
I) data length
For numeric state type, the byte number that data occupy is indicated；
Length: 1word.
J) numeric state
Data length (1Word)+data content (length is variable).
K) report category
Stationary state: the stationary state meaning of different subsystems is identical as format, and such as all subsystem states have " electricity
Source " state and " failure " state.
Generic state: the same state of the subsystem of same type, such as different types of transmitter have " when cumulative activation
Between " state.
Single user state: the exclusive state of certain subsystem.
Numeric state: state report content has different meanss of interpretation, is made of data length+data content.
L) report coding protocol definition
State encoding 0x00-0x3F is fixed numbers state, there is parameter；
State encoding 0x40-0x9F is general numeric state, there is parameter；
State encoding 0xA0-0xFF is dedicated numeric state, there is parameter；
The meaning of state and order:
● stationary state/control command: all subsystems publicly-owned state or control command, such as on line state obtain
Status command etc.；
● generic state/control command: certain a kind of subsystem publicly-owned state or control command；
● single user state/control command: the distinctive state of subsystem or control command.
(3) design objective
Radar communication protocol function design according to hierarchical design thought, by module be divided into Communication Layer, protocol layer and
Application layer.Communication Layer is responsible for the communication of physical link, sending and receiving including data；Protocol layer is responsible for turning for protocol format
It changes, including ordering and the group packet of state, parsing；Application layer is responsible for handling data content, is not related to specific protocol format.Tool
Body function is as follows:
● routine call
When routine call, it is only necessary to which subsystem number, order number and command parameter or subsystem number, shape are set
State number and state parameter, are not required to it is to be understood that specific protocol format.
● order group packet
User organizes packet module automatically according to association by calling interface, input subsystem number, order number and command parameter
It discusses format and generates order data.If necessary to the conversion of particular protocol, then agreement is converted.
● command analysis
Received order data is parsed, parsing component system number, order number and command parameter are sent to and answer
With layer.If it find that the command format that can not be parsed, then send the data to application layer process.
● state group packet
User organizes packet module automatically according to association by calling interface, input subsystem number, status number and state parameter
It discusses format and generates status data.If necessary to the conversion of particular protocol, then agreement is converted.Support the stateful timing hair of institute
Send mechanism.
● state parsing
Received status data is parsed, parsing component system number, status number and state parameter are sent to and answer
With layer.If it find that the status format that can not be parsed, then send the data to application layer process.
● data are sent
It is numbered according to subsystem, specific communication modes is selected to be sent.And support data re-transmitting mechanism (certain time
The response of other side is not received inside, then repeats to send data).
● data receiver
Data are received on communication link, by data distribution to parsing module.It responds, then carries out automatic if necessary to data
Response.
● particular protocol conversion
For certain outsourcing devices for having been cured protocol format, can be incited somebody to action by particular protocol conversion module in protocol layer
The protocol format of outsourcing device is converted into puppy parc format, does not influence entire process flow.
● unknown format processing
For the format that can not be parsed, it will be directly distributed to application layer, determines how to use by application layer.
● debugging printing
It can be set to debugging mode, by the data content and markers of the processing of link layer and protocol layer, in the form of log
Local file is printed to, convenient for debugging.
The present invention the following steps are included:
(1) each subsystem in radar equipment is distinguished, and is numbered to each subsystem, is such as to transmitter number
0x20, operation control terminal number is 0x10；
(2) by the order of each subsystem in radar equipment and status data according to fixation, dedicated and general three types
It distinguishes.For transmitter, the generic command that radiation is its same category of device and the order are opened without parameter, command code
It can be defined in 0xA0-0xBF, opening radiation order such as definition is 0xA0；Transmitter radiation regimes are the generic command of same category of device
And the state needs parameter, and state encoding can define in 0x40-0x9F, and it such as defines transmitter radiation open state and is defined as 0x40,
Parameter 0, which represents, closes, and 1 representative is opened；
(3) it is sent when operation control terminal sends control command to radar according to control command format.If operation control terminal is to transmitting
Radiation order is opened in machine transmission, then first fills in operation control terminal device numbering；The order needs command response, and then command response mark is set
It is 1；Command sequence number is the serial number that operation control terminal is sent out order, every to send one plus 1, it is assumed that opening radiation order is the 1st article
Order；Fill in transmitter number；Opening radiation order number is 0xA0；Transmission times be this article order be again in retransmitting three times the
Several times；Data generation time is the system time when order is sent, it is assumed that time 01:02:03；Exist according to radiation order is opened
Which time sent in whole system operational process is filled in；Opening radiation order printenv therefore parameter length is 0；Command parameter
For sky.Therefore it is 02 0x01 of 0x10 0x01 0x01 0x00 0x20 0xA0 0x00 0x03 0x that transmitter, which opens radiation order,
0x00 0x01 00 0x00 0x00。
(4) after the order if necessary to retransmit issues, command response is not received in 1 second, then the transmission ordered this
Number+1 is sent again；
(5) after subsystem receives control command, related manipulation and feedback oneself state are executed.As transmitter receives
After opening radiation order, radiation is automatically opened, radiates open state to operation control terminal feedback according to state communications protocol.Subsystem number is
1；Subsystem number is 0x20, subsystem status data packet length time-division system status number, status number, data length and state
The byte summation of data；Feedback radiates open state, therefore subsystem status number is 1；Radiating open state number is 0x40；Radiation
Open state contains 1 parameter, then data length is 1；1 represent radiation open therefore status data be 1.Therefore shape is opened in transmitter radiation
State is 0x01 0x20 0x05 0x00 0x01 0x40 0x01 0x00 0x01.
(6) operation control terminal is successively parsed after receiving the state that transmitter radiation is opened according to protocol format, can be obtained
The switch state radiated to transmitter.
The present invention have the function of following features and:
Support network TCP/IP, udp protocol, the communication of the serial line interfaces such as RS-232/485/422；
There is the processing capacity of data boundary judgement to data parameters；
With fault-tolerant ability, and can submittal error code；
With data re-transmitting mechanism；
To needing the data packet of command response to have the function of feedback command response；
It can submit and be sent successfully and failure news when sending data；
>=1000 datas can be stored by sending in data queue；
Maximum 8KB data can be sent and received；
Maximum occupies system for content 8MB；
Using standard C/C++ language development；
It can be run in Windows operating system, (SuSE) Linux OS, VXWorks operating system；
Dynamic link library and header file are provided, used by the way of library function call.
Claims (1)
1. a kind of radar communication method, it is characterised in that include the following steps:
(1) unique corresponding number is carried out to each subsystem of radar equipment；
(2) order of each subsystem and status data are distinguished according to fixation, dedicated and general three types；Fixed life
Order refers to that meaning order identical with format, generic command refer to the same commands of same type subsystem in different subsystems, specially
Refer to the exclusive order of certain subsystem with order；Stationary state refers to meaning state identical with format in different subsystems, leads to
Refer to the same state of the subsystem of same type with state, single user state refers to the exclusive state of certain subsystem；It is to each point
The order of system and status data carry out unique corresponding number；
(3) when a subsystem is sent to other subsystems orders, order includes sending subsystem number, command response mark
Will, command sequence number receive subsystem number, order number, transmission times, data generation time, version number, command parameter length
And command parameter；The command response mark come determine this order whether need command response；
(4) if after order sending, the order sound that subsystem does not receive HF receiving subsystem feedback in the duration of setting is sent
It answers, then the transmission times that this orders is added 1, if transmission times is not above the transmission times upper limit of setting, sent again
This order；Can submittal error code, can be set to debugging mode, by the data content of the processing of link layer and protocol layer and
Markers prints to local file in the form of log, convenient for customer analysis data and debugging；
(5) after HF receiving subsystem receives order, related manipulation is executed according to command parameter, and send state to subsystem is sent
Report, state report includes subsystem number, subsystem number, subsystem status data packet length, subsystem status number k, state
Number, status data length and status data；The subsystem state data packets include status number, status data length and
Status data；Actively to operation control terminal status report when each subsystem breaks down；If you need to the report for postbacking command response
Text after then receiving message, should send immediately command response and be confirmed, sender is not after a certain time as received order
Response is then needed using retransmission mechanism three times, is such as then sent failure all without command response three times, is carried out troubleshooting；It does not need such as
The message for postbacking command response need not then be responded；
(6) it sends after subsystem receives state report and is parsed, obtain the working condition of HF receiving subsystem；Radar is logical simultaneously
It is expansible to interrogate agreement, when there is particular protocol, only need to increase particular protocol conversion module, turns particular protocol format in protocol layer
It changes puppy parc format into, does not influence entire process flow.
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| CN111769886B (en) * | 2020-07-29 | 2021-06-18 | 中国电子科技集团公司第十四研究所 | General radar state data acquisition equipment and method |
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