CN109581415B - GNSS-based synchronous calculation and time service control device and method - Google Patents
GNSS-based synchronous calculation and time service control device and method Download PDFInfo
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
Abstract
The invention discloses a device and a method for generating, triggering and timing control of a synchronous calculation time sequence based on GNSS in distributed simulation. The control device comprises a microprocessor module (M1), a GNSS module (M2), a cascade module (M3), a synchronous signal selection module (M4), a synchronous signal output module (M5), an external synchronous signal conditioning module (M6), a working mode configuration module (M7), a network communication module (M8), a programming module (M9) and a power module (M10) which are electrically connected. The synchronous calculation and time service control method relies on the control device to provide a homologous and high-precision time sequence trigger signal, serial port accurate time service and network multicast time service control for each simulation node computer connected through a serial communication port, so as to drive synchronous calculation and system time consistency check of each simulation node and support synchronous calculation and time check control of a large-scale distributed simulation system under the condition of different-place networking.
Description
Technical Field
The invention belongs to the technical field of distributed simulation, in particular to a device and a method for generating, triggering and timing control based on a synchronous calculation time sequence of hardware in distributed simulation, which are particularly suitable for synchronous calculation and timing control of a large-scale distributed simulation system under a networking condition.
Background
For a large-scale distributed simulation system, time sequence synchronization and time management are key and difficult points for realizing correct simulation logic, and particularly for a flight simulation training real-time simulation system under a networking condition, the synchronization of calculation time sequence and the consistency of time of each simulation node are ensured to realize correct interaction and synchronous propulsion of each simulation model, so that the problems such as jittering of a visual image or target display under a large maneuvering flight condition are avoided.
At present, in order to solve the synchronous promotion of each simulation node, three solutions are mainly provided: firstly, a software synchronization method is implemented by completely utilizing software to complete synchronization of clocks in a distributed simulation system, but the workload of the software for synchronization is large, synchronization deviation among nodes is easy to accumulate, more importantly, synchronization information is delayed greatly when transmitted on a wide area network and has large uncertainty, so that the effect of the software synchronization is not ideal, and CN 103763377B is a soft synchronization method based on the Ethernet; secondly, the hardware synchronization method is usually realized by means of a global navigation satellite system (Global Navigation Satellite System, GNSS), the Ethernet or the reflective memory network is generally selected to transmit the time sequence signal according to real-time constraint conditions, the synchronization based on the Ethernet also has uncertainty of time delay, and the synchronization based on the reflective memory network has the defect of higher hardware cost; the third is a layered hybrid synchronization method, which adopts hardware and software synchronization to realize clock synchronization between nodes, namely, a certain node is selected as a time management host, a GNSS receiver is introduced on the time management host, the time management hosts in different local area networks can realize synchronization through GNSS time signals, and each node realizes synchronization with the time management host in each local area network through software in each local area network. CN 102201907B is to send synchronization information to each simulation node through a heartbeat server without introducing a GNSS receiver, and has the main disadvantage of delay uncertainty of the synchronization information, which is not suitable for synchronization control of a large-scale distributed simulation system under the networking condition. CN 1749916a realizes accurate time alignment based on GPS pulse per second signals through two COM ports of the computer, and is not used for generating synchronous calculation timing signals of multiple computers.
Each emulated node computer typically has a 9 pin serial communication port (meeting EIA-RS-232C standard) that can collect external input control signals on Data carrier detect (Data Carrier Detect, DCD), data Send Ready (DSR), clear To Send (CTS) and Ring Indicator (RI) pins, and receive Data (RXD) pins can receive serial communication Data, causing corresponding serial interrupt events on the emulated node computer and enabling Data reception, which requires proper setup by software running on the emulated node computer.
The invention belongs to a hardware synchronization method based on GNSS, which is to introduce a homologous and high-precision time sequence trigger signal through serial communication ports of each simulation node computer to drive synchronous calculation of each simulation node, overcome the time delay uncertainty of synchronization through Ethernet, and support synchronous calculation and timing control of a large-scale distributed simulation system under the condition of different-place networking without installing a special synchronous hardware board card on each simulation node computer.
Disclosure of Invention
The invention aims to provide a device and a method for GNSS-based synchronous calculation and time service control in a distributed simulation system, which are used for introducing a time sequence trigger signal through a serial communication port of a simulation node computer and performing time service in a mode of Ethernet UDP multicast so as to meet synchronous driving and system time checking of periodic simulation calculation of each node computer in the distributed simulation system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention relates to a synchronous calculation and time service control device based on GNSS, which is characterized by comprising a microprocessor module (M1), a GNSS module (M2), a cascade module (M3), a synchronous signal selection module (M4), a synchronous signal output module (M5), an external synchronous signal conditioning module (M6), a working mode configuration module (M7), a network communication module (M8), a programming module (M9) and a power supply module (M10) which are electrically connected.
The module M1 is used for generating a self-synchronizing signal (X3) according to an input synchronizing source signal, realizing the synchronous signal output switching control of the control device, and realizing the synchronous signal frequency setting, time service data time interval setting and GNSS module (M2) working state control of the output of the control device according to received network control data.
The synchronization source signals input by the microprocessor module (M1) comprise a satellite synchronization signal (X1) output by the GNSS module (M2), and a second external synchronization signal (X4) output by the cascade module (M3) and output by the synchronization signal (X2) and the external synchronization signal conditioning module (M6).
The synchronization signal output switching control of the microprocessor module (M1) is realized by measuring the input synchronization source signal frequency value, and is realized by the switching control of the satellite synchronization signal (X1) and the self-synchronization signal (X3), the switching control of the synchronization signal (X2) and the self-synchronization signal (X3), and the switching control of the second external synchronization signal (X4) and the self-synchronization signal (X3). The switching control is to switch to output the self-synchronizing signal (X3) when the microprocessor module (M1) does not detect the satellite synchronizing signal (X1), the slave synchronizing signal (X2) or the second external synchronizing signal (X4), and switch from outputting the self-synchronizing signal (X3) to outputting the satellite synchronizing signal (X1), the slave synchronizing signal (X2) or the second external synchronizing signal (X4) when the satellite synchronizing signal (X1), the slave synchronizing signal (X2) or the second external synchronizing signal (X4) is detected again. Whether the synchronous source signal can be detected or not is determined according to the frequency value of the synchronous source signal which is input by measurement, when the frequency values of the continuous 3 times of measurement are equal to 0, the synchronous source signal is not detected, and when the frequency values of the continuous 3 times of measurement are equal to and are larger than 0, the synchronous source signal is detected.
The synchronization signal frequency setting of the microprocessor module (M1) comprises the frequency setting of a satellite synchronization signal (X1) output by the GNSS module (M2) and the frequency setting of a self-synchronization signal (X3) output by the microprocessor module (M1) through an internal timer.
The time interval setting of the time service data of the microprocessor module (M1) comprises the time interval setting of the output of the RS-232C serial time service data (D1), the time period setting of the output of the RS-232C second pulse signal (X9) and the time interval setting of the output of the UDP multicast time service data (D3).
The self-synchronizing signal (X3) output by the microprocessor module (M1) is a frequency-adjustable timing signal generated by a timer inside the microprocessor module (M1). The microprocessor module (M1) measures the current frequency of the synchronous source signal (X1 or X2 or X4) and adjusts the self-synchronizing signal (X3) with consistent output frequency of an internal timer, and when the synchronous source signal (X1 or X2 or X4) is not detected, the frequency value of the self-synchronizing signal (X3) is set by the received network control data.
The microprocessor module (M1) internally comprises a timer, a memory and a plurality of serial communication ports, receives input synchronous signals, configuration states, time service data and network control data, and outputs self-synchronous signals (X3), selection and gating control signals, time service data and GNSS module (M2) working state control data. The serial communication ports of the microprocessor module (M1) are respectively connected with the programming module through the serial port A for debugging and downloading programming data, the memory inside the serial port B is connected with the memory to realize storage data transmission, the serial port C is connected with the cascade module (M3) to realize time service data receiving and transmitting, and the serial port D is connected with the GNSS module (M2) to realize satellite time service data receiving and transmitting of the working state control data of the GNSS module (M2).
The microprocessor module (M1) realizes selection of two working modes of the control device Master and the Slave according to the working mode configuration state. The microprocessor module (M1) receives satellite time service data output by the GNSS module (M2) through the serial port D in a Master working mode, and receives time service data output by the cascade module (M3) through the serial port C in a Slave working mode. The microprocessor module (M1) outputs time service data to the cascade module (M3) and the synchronous signal output module (M5) through the serial port C in the Master working mode, and outputs time service data to the synchronous signal output module (M5) only through the serial port C in the Slave working mode.
The GNSS module is connected with the microprocessor module (M1) to realize the receiving and transmitting of satellite time service data and working state control data of the GNSS module (M2), outputs a satellite synchronous signal (X1) to the microprocessor module (M1) and a synchronous signal selection module (M4), and outputs a second pulse signal (X5) to the cascade module (M3) and a synchronous signal output module (M5). The GNSS module (M2) receives signals of navigation satellites through the antenna, and the serial port D of the microprocessor module (M1) is connected through the UART interface to realize receiving and transmitting of satellite time service data and working state control data of the GNSS module (M2).
The GNSS module (M2) operational state control data includes a synchronized GNSS system selection, a time mode setting, an antenna and a user delay time setting. An alternative synchronized GNSS system includes GPS, GLONASS, galileo and beidou, and the time Mode settings include Disabled, surveyin, and Fixed Mode.
And the cascade module is connected with the microprocessor module (M1) to realize the receiving and transmitting of time service data, and realizes the receiving and transmitting of RS-485 cascade signals (X11) through 2 cascade interfaces (P1). The cascade module (M3) is connected with a serial port C of the microprocessor module (M1) to realize the receiving and transmitting of time service data.
The 2 cascade interfaces (P1) of the cascade module (M3) are used for outputting 2 paths of RS-485 cascade signals (X11) in a Master working mode of the control device, and are used for inputting 1 path of RS-485 cascade signals (X11) and outputting 1 path of RS-485 cascade signals (X11) in a Slave working mode of the control device.
And the module M4 is used for receiving the selection control of the microprocessor module (M1) and outputting one of four synchronous time sequence signals of the input satellite synchronous signal (X1), the slave synchronous signal (X2), the self-synchronous signal (X3) and the second external synchronous signal (X4) as a selected synchronous signal (X6). The synchronous signal selection module (M4) realizes the selection control of four synchronous time sequence signals through a data selector.
The module M5 is used for receiving the selected synchronizing signal (X6), the second pulse signal (X5) and the time service data (D2) output by the microprocessor module M1, converting the selected synchronizing signal into the synchronizing signal (X8) of the RS-232C level, the RS-232C second pulse signal (X9) and the serial time service data (D1) and outputting the synchronizing signal to the RS-232C synchronizing time sequence output port (P2), and simultaneously outputting the selected synchronizing signal (X6) to the TTL synchronizing signal output port (P3) as a TTL synchronizing signal (X7) after passing through a driver. The selected synchronizing signal (X6) received by the synchronizing signal output module (M5) is from the synchronizing signal selection module (M4), the received second pulse signal (X5) is from the GNSS module (M2), and the received time service data (D2) is from the output of the serial port C of the microprocessor module (M1). The synchronous signal output module (M5) is internally provided with a plurality of paths of RS-232C level conversion circuits, and can convert an input selected synchronous signal (X6), a second pulse signal (X5) and time service data (D2) into a plurality of paths of RS-232C level synchronous signals (X8), RS-232C second pulse signals (X9) and serial time service data (D1) and output the synchronous signals to a plurality of RS-232C synchronous time sequence output ports (P2), wherein each RS-232C synchronous time sequence output port simultaneously comprises the RS-232C level synchronous signals (X8), the RS-232C second pulse signals (X9) and the serial time service data (D1). Meanwhile, the synchronous signal output module (M5) outputs the input selected synchronous signal (X6) to the TTL synchronous signal output port (P3) as a TTL synchronous signal (X7) after passing through the high-speed driver.
And the module M6 is used for receiving gating control of the microprocessor module (M1), conditioning the input first external synchronous signal (X10) and outputting the conditioned signal to the microprocessor module (M1) and the synchronous signal selection module (M4). The first external synchronous signal (X10) input by the external synchronous signal conditioning module (M6) is pulse triggering type or edge triggering type, and the signal conditioning after passing through comprises amplitude limiting, shaping and the like.
And the working mode configuration module is connected to the microprocessor module (M1), acquires the configuration state through the microprocessor module (M1), and sets the control device to be in a Master or Slave working mode. The configuration state of the working mode configuration module (M7) is provided with a low level state and a high level state, the configuration state is set by a short circuit block, when the configuration state acquired by the microprocessor module (M1) is at the low level, the control device is in a Master working mode, and when the configuration state acquired by the microprocessor module (M1) is at the high level, the control device is in a Slave working mode.
And the module M8 is connected to the microprocessor module (M1), receives network control data through the network interface (P4) and outputs UDP multicast time service data (D3). The received network control data mainly comprises a synchronous signal frequency set value, a time service data time interval set value, GNSS module (M2) working state control data and the like.
And the programming module M9 is connected with the serial port A of the microprocessor module (M1) and downloads programming data to the control device.
And the power supply module M10 supplies power by 5V input, converts the power into 3.3V and provides direct current power for the whole control device.
The invention provides a method for distributed simulation synchronous calculation and time service control, which is characterized by comprising the following steps:
step S1, constructing a plurality of GNSS-based synchronous calculation and time service control devices, configuring one of the control devices to be in a Master working mode and serve as a Master controller, configuring the other control devices to be in a Slave working mode and serve as Slave controllers, and connecting the Master controllers with satellite signal receiving antennas;
step S2, connecting the cascade port (P1) of the master controller and the slave controller in the step S1, and realizing transmission of a synchronous signal, a second pulse signal and time service data from the master controller to the slave controller based on an RS-485 logic level;
step S3, connecting the synchronous time sequence output ports (P2) of the master controller and the slave controller with serial communication ports of a plurality of simulation node computers in a distributed simulation system, wherein the synchronous time sequence output ports are connected with an RS-232C synchronous signal (X8) output by a control device through a CTS or DSR or DCD signal pin of the serial communication port, connected with an RS-232C second pulse signal (X9) output by the control device through an RI or DCD or DSR or CTS signal pin of the serial communication port, and connected with an RS-232C serial time sequence data (D1) signal output by the control device through an RXD signal pin of the serial communication port; the synchronous signal (X8) and the RS-232C second pulse signal (X9) cannot be connected to the same pin of the same serial communication port at the same time;
step S4, the network ports (P4) of the master controller and the slave controller in the step S1 are respectively connected to a switch of a local area network where the distributed simulation system is located through network cables, so that the network periodic time service of the master controller based on a UDP multicast mode is realized, and the remote network configuration management of the master controller and the slave controller is realized;
step S5, connecting the input end of the first external synchronous signal (X10) of the main controller in the step S1 with an external synchronous signal source to realize distributed simulation calculation driving under the triggering of the external signal source;
step S6, the TTL synchronous signal output ports (P3) of the master controller and the slave controller in the step S1 are connected to the external synchronous signal source input interface of the synchronous sub-card of the professional display card, so that the display refresh of the professional display card is synchronized to the simulation calculation period;
and S7, correctly setting the serial communication port of the simulation node computer in the step S3 so that the simulation node computer receives the synchronous signal, the second pulse signal and the serial teaching data, wherein the setting of the serial communication port comprises setting of a data receiving baud rate and enabling interrupt events corresponding to serial communication port pin signals connected with the RS-232C second pulse signal (X8) and the RS-232C second pulse signal (X9).
The synchronization calculation and timing control method is dependent on the GNSS-based synchronization calculation and timing control device, provides a method for synchronizing time sequence trigger signals with homology and high precision and receiving consistency time for each simulation node computer connected through a serial communication port, supports network timing and single serial port accurate timing, has the synchronization capability of time sequence trigger signals under the GNSS-based off-site networking condition, has the generation modes of satellite synchronization, slave synchronization, external synchronization and timing synchronization, can realize the synchronization of a plurality of simulation node computers through cascade connection of a master controller and a slave controller, and also has the functions of synchronizing a refresh period of a synchronization sub-card of a professional display card, receiving the synchronization signals output by the synchronization sub-card of the professional display card through an external synchronization signal input end, receiving external pulse trigger signal sources such as VGA frame synchronization signals and the like.
The invention has the beneficial effects that the invention provides the synchronization calculation and time service control device and method based on GNSS in the distributed simulation system, the method is different from the method for transmitting the time sequence signal through the Ethernet or the reflection memory network, the serial communication port of the simulation computer is adopted for triggering the synchronization signal, the uncertainty of the transmission delay of the Ethernet signal is avoided, and meanwhile, the hardware board cards such as the reflection memory card or the PCI card and the like are not required to be added on the simulation computer, so the invention has the advantages of high synchronization precision, convenient construction and economical feasibility.
Drawings
FIG. 1 is a schematic diagram of a GNSS-based synchronous computing and timing control device according to the present invention;
FIG. 2 is a circuit diagram of an interface of a microprocessor module according to the present invention;
FIG. 3 is a circuit diagram of a GNSS module according to the present invention;
FIG. 4 is a schematic diagram of a cascade circuit of selected sync signals according to the present invention;
FIG. 5 is a circuit diagram of a synchronous signal selection module according to the present invention;
FIG. 6 is a circuit diagram of one path of synchronization signal and timing data output in the present invention;
FIG. 7 is a circuit diagram of an external synchronization signal conditioning module according to the present invention;
FIG. 8 is a schematic diagram of a cascade connection of master and slave controllers according to the present invention;
FIG. 9 is a schematic diagram of the connection of the main controller according to the present invention;
FIG. 10 is a schematic diagram of the connection of the slave controller according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is a schematic structural diagram of a GNSS-based synchronous calculation and timing control device according to the present invention, which includes 10 main functional modules, such as a microprocessor module (M1), a GNSS module (M2), a cascade module (M3), a synchronization signal selection module (M4), a synchronization signal output module (M5), an external synchronization signal conditioning module (M6), a working mode configuration module (M7), a network communication module (M8), a programming module (M9), and a power module (M10).
Module M1, which may be implemented using RCM57XX, RCM67XX, and other families of microprocessor modules, is an interface circuit diagram using RCM6700 microprocessor modules. The method comprises the steps of realizing the downloading of programming data by using a serial port A (TXA and RXA signal lines) of a microprocessor module, realizing the transmission of program data with an internal flash memory by using a serial port B, realizing the Time service data receiving and transmitting of a cascade module (M3) and the Time service data transmitting of a synchronous signal output module (M5) by using a serial port C (TXC_Time and RXC_Time signal lines), and realizing the receiving and transmitting of satellite Time service data and working state control data of a GNSS module (M2) by using a serial port D (TXD_GNSS and RXD_GNSS signal lines); the satellite synchronous signal TP1Out (X1) output by the GNSS module (M2) is used as an external interrupt signal of the microprocessor module (M1) to be input and the frequency of the external interrupt signal is measured; measuring the frequency of the slave synchronizing signal RX_485 (X2) output by the cascade module (M3) through the input capturing function of the microprocessor module (M1); measuring the frequency of a second external synchronous signal ExtSynSigIN (X4) output by the external synchronous signal conditioning module (M6) through an input capturing function of the microprocessor module (M1); the microprocessor module (M1) is used for judging whether the working mode of the control device is in a Master state or a Slave state by collecting the high-low level state of the GetMasterOrslave signal output by the working mode configuration module (M7); the microprocessor module (M1) measures the frequency of the current synchronous source signal (X1 or X2 or X4) and adjusts the self-synchronous signal TimerC0 (X3) with consistent output frequency of an internal timer, and realizes automatic switching control of synchronous signal output according to the detection state of the synchronous source signal (X1 or X2 or X4); the microprocessor module (M1) judges whether the GNSS module exists or not by collecting the state of the GNSS_ADD signal, and when the GNSS module exists, the output of satellite synchronous signals can be realized; the microprocessor module (M1) is used for realizing the input and output of network data of TX+, TX-, RX+ and RX-; RE_485 and DE_485 of the interface of the microprocessor module (M1) realize cascade signal receiving and transmitting control of a cascade module (M3); sigSel_En1, sigSel_En2, sigSel_S0 and SigSel_S1 of the microprocessor module (M1) interface realize the output signal selection control of the synchronous signal selection module (M4); the DFF_set of the microprocessor module (M1) interface realizes the gating control of the external synchronous signal conditioning module (M6).
And the module M2 is realized by adopting an LEA-M8T precise time service module, and fig. 3 is a circuit design diagram of the LEA-M8T module. The antenna signal of the navigation satellite is received through the RF_IN, the satellite synchronous signal TP1Out (X1) is output through the serial port D of the microprocessor module (M1) connected through the UART interface TXD_GNSS and RXD_GNSS signal lines, the second pulse signal TP2Out (X5) is output, meanwhile, the USB communication of the LEA-M8T module is realized through the USB_DM and the USB_DP, and the open circuit and short circuit detection of the antenna is realized through the VCC_RF, the V_ANT and the ANT_DET_N.
And the module M3 is realized by adopting three RS-485 communication chips MAX 3073. Fig. 4 is a circuit diagram of a cascade module of the selected synchronization signal Sig1Out (X6), and in the Master operation mode, the selected synchronization signal Sig1Out (X6) is converted into an RS-485 logic level by a MAX3073 chip, and is output to 2 cascade interfaces (P1) through toutz_485 and touty_485 signal lines. In a Slave working mode of the control device, the input RS-485 logic level Slave synchronizing signal is received through RInA_485 and RInB_485 signal lines of the 1-path cascade interface, and the Slave synchronizing signal RX_485 (X2) is output to the microprocessor module (M1) after being converted by the MAX3073 chip. The pulse per second signal and the time service data can be input and output in cascade by adopting two other MAX3073 chips according to the same principle.
The module M4, the synchronization signal selection module, is implemented by using the dual four-way data selection chip 74HC153, and fig. 5 is a circuit diagram of the synchronization signal selection module. One of four synchronous timing signals of the input satellite synchronous signal TP1Out (X1), the slave synchronous signal rx_485 (X2), the self synchronous signal TimerC0 (X3) and the second external synchronous signal extsynsign (X4) is selected by the data selecting chip 74HC153 to be output as a selected synchronous signal Sig1Out (X6), and at the same time, another selected synchronous signal Sig2Out is also output to increase driving capability.
And the module M5 is realized by adopting a plurality of RS-232C level conversion chips MAX3232E, each chip realizes the conversion output of two paths of RS-232C level signals, and fig. 6 is a circuit diagram of one path of synchronous signals and timing data output. The circuit diagram receives the selected synchronizing signal Sig1Out (X6) and Time service data TXC_Time (D2), the synchronizing signal OutSyNSG (X8) converted into RS-232C level by a MAX3232E chip and the serial Time service data TXC_232 (D1) are output to a synchronizing Time sequence output port (P2), and the second pulse signal TP2Out (X5) is output to the synchronizing Time sequence output port (P2) after being converted by another MAX3232E chip. Meanwhile, the selected synchronizing signal Sig1Out (X6) is output to the TTL synchronizing signal output port (P3) as a TTL synchronizing signal (X7) after passing through the high-speed driver NC7SZ125 chip.
And the module M6 is realized by adopting a limiting circuit and a D trigger 74HC74 chip, and fig. 7 is a circuit diagram of the external synchronous signal conditioning module. The first external synchronization signal ExtSynSig (X10) is conditioned, and the conditioned second external synchronization signal ExtSynSigN (X4) is sent to the microprocessor module (M1) and the synchronization signal selection module (M4).
And the module M7 is used for configuring the high level and the low level of the state signal through the short circuit block.
And the network communication module M8 is connected with the TX+, TX-, RX+ and RX-of the interface of the microprocessor module (M1) through an Ethernet port (P4), a network isolation transformer and a signal filtering circuit, so as to realize the input and output of network data.
And the programming module adopts an FT232RL chip to realize USB communication and state indication of a serial port A (TXA and RXA signal lines) and a state signal (STATUS and SMODE signal lines) of the microprocessor module (M1) and an upper computer, and realizes programming data downloading and operation debugging.
And the module M10 is used for converting 5V power supply into 3.3V direct current by adopting an AMS1117 power conversion chip.
The connection schematic diagrams of the specific implementation of the synchronization calculation and time service control method provided by the invention are shown in fig. 8, 9 and 10, fig. 8 is a cascade connection schematic diagram of the synchronization calculation and time service control device (called Master controller) in a Master working mode and the synchronization calculation and time service control device (called Slave controller) in a Slave working mode, fig. 9 is a connection schematic diagram of the Master controller, and fig. 10 is a connection schematic diagram of the Slave controller.
Step S1, constructing a plurality of GNSS-based synchronous calculation and time service control devices, setting one control device to be in a Master working mode and serving as a main controller through a short circuit block of a working mode configuration module, setting other control devices to be in a Slave working mode and serving as a Slave controller through the short circuit block of the working mode configuration module, and simultaneously connecting a satellite signal receiving antenna to an antenna input port.
Step S2, connecting the 2 cascade output ports of the master controller and the cascade input ports of the slave controllers in step S1, wherein one master controller can be connected with the cascade input ports of the two slave controllers, the cascade connection schematic diagram is shown in FIG. 8, and the cascade ports are in the form of RJ45 interfaces.
And S3, respectively connecting the synchronous output ports of the master controller and the slave controllers in the step S1 with serial communication ports of a plurality of simulation node computers in the distributed simulation system, connecting a CTS signal pin of the serial communication port with a synchronous signal (X8) output by a control device, connecting an RI signal pin of the serial communication port with an RS-232C second pulse signal (X9) output by the control device, and connecting an RXD signal pin of the serial communication port with a time service data (D1) signal output by the control device. The synchronization output port is also in the form of an RJ45 interface.
And S4, connecting the network ports of the master controller and the slave controller in the step S1 to a network switch of a local area network where the distributed simulation system is located through network cables respectively, realizing network periodic time service of the master controller based on a UDP multicast mode, and simultaneously carrying out remote network configuration management of the master controller and the slave controller.
And S5, connecting the external synchronous signal input end of the main controller in the step S1 with an external synchronous signal source, wherein the external synchronous signal source can be a synchronous signal output by a synchronous sub-card of a professional display card or a frame synchronous signal in a VGA video signal, thereby realizing distributed simulation calculation drive consistent with the display refresh rate.
And S6, connecting TTL synchronous signal output ports of the master controller and the slave controller in the step S1 to a synchronous sub-card BNC interface of the professional display card to serve as an external synchronous signal input source, and realizing the display refresh synchronization of the professional display card to a simulation calculation period. And a TTL synchronous signal output port in the DB9 form is adopted, and one TTL synchronous signal output port can be connected to drive a plurality of synchronous sub-cards.
And S7, correctly setting the serial communication port of the simulation node computer in the step S3 so that the simulation node computer receives the synchronous signal, the second pulse signal and the serial teaching time data, wherein the serial communication port is set to have data receiving baud rate of 115200 bits/second, 8 data bits, 1 stop bit, no parity check and no flow control, and the simulation node computer can receive the synchronous calculation trigger signal, the second pulse signal and the time service data by enabling the interrupt event EV_CTS and EV_RING of the CTS pin connected by the synchronous signal and the RI pin signal connected by the second pulse signal.
The invention has the innovation point that each simulation node computer in the distributed simulation is connected through a serial communication port, and the device and the method for generating and timing control of the synchronous time sequence trigger signal based on the homology and high precision of the GNSS are provided, and have the synchronous capability of the time sequence trigger signal and the cascade capability of a master controller and a slave controller under the condition of different networking based on the GNSS. Tests show that the device and the method can provide synchronous trigger signals with the precision less than or equal to 600ns for each simulation node computer.
The above description of the embodiments of the present invention is given by way of illustration and not limitation of the scope of the present invention, and various modifications and variations of the present invention, which are not required to be creatively worked by those skilled in the art, are covered by the scope of the present invention.
Claims (10)
1. A synchronous calculation and time service controlling means based on GNSS, its characterized in that: the system comprises a microprocessor module (M1), a GNSS module (M2), a cascade module (M3), a synchronous signal selection module (M4), a synchronous signal output module (M5), an external synchronous signal conditioning module (M6), a working mode configuration module (M7), a network communication module (M8), a programming module (M9) and a power module (M10) which are electrically connected;
the microprocessor module (M1) generates a self-synchronizing signal (X3) according to an input synchronizing source signal, realizes the synchronous signal output switching control of the control device, and realizes the synchronous signal frequency setting, time service data time interval setting and GNSS module (M2) working state control output by the control device according to received network control data;
the GNSS module (M2) is connected with the microprocessor module (M1) to realize the receiving and transmitting of satellite time service data and working state control data of the GNSS module (M2), outputs a satellite synchronous signal (X1) to the microprocessor module (M1) and the synchronous signal selection module (M4), and outputs a second pulse signal (X5) to the cascade module (M3) and the synchronous signal output module (M5);
the cascading module (M3) is connected with the microprocessor module (M1) to realize the receiving and transmitting of time service data, and the receiving and transmitting of RS-485 cascading signals (X11) are realized through 2 cascading interfaces (P1);
the synchronous signal selection module (M4) receives the selection control of the microprocessor module (M1) and outputs one of four synchronous time sequence signals of an input satellite synchronous signal (X1), a slave synchronous signal (X2), a self synchronous signal (X3) and a second external synchronous signal (X4) as a selected synchronous signal (X6);
the synchronous signal output module (M5) receives the selected synchronous signal (X6), the second pulse signal (X5) and the time service data (D2) output by the microprocessor module (M1), converts the synchronous signal into a synchronous signal (X8) of RS-232C level, the RS-232C second pulse signal (X9) and the serial time service data (D1) to be output to the RS-232C synchronous time sequence output port (P2), and simultaneously outputs the selected synchronous signal (X6) to the TTL synchronous signal output port (P3) as a TTL synchronous signal (X7) after passing through a driver;
the external synchronous signal conditioning module (M6) receives gating control of the microprocessor module (M1), and outputs an input first external synchronous signal (X10) to the microprocessor module (M1) and the synchronous signal selecting module (M4) after signal conditioning;
the working mode configuration module (M7) is connected to the microprocessor module (M1), acquires the configuration state through the microprocessor module (M1), and sets the control device to be in a Master or Slave working mode;
the network communication module (M8) is connected to the microprocessor module (M1), receives network control data through the network interface (P4), and outputs UDP multicast time service data (D3).
2. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the synchronization source signals input by the microprocessor module (M1) comprise a satellite synchronization signal (X1) output by the GNSS module (M2), and a second external synchronization signal (X4) output by the cascade module (M3) and output by the synchronization signal (X2) and the external synchronization signal conditioning module (M6).
3. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the synchronization signal output switching control of the microprocessor module (M1) is realized by measuring the input synchronization source signal frequency value, and is realized by the switching control of the satellite synchronization signal (X1) and the self-synchronization signal (X3), the switching control of the synchronization signal (X2) and the self-synchronization signal (X3), and the switching control of the second external synchronization signal (X4) and the self-synchronization signal (X3).
4. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the synchronization signal frequency setting of the microprocessor module (M1) comprises the frequency setting of a satellite synchronization signal (X1) output by the GNSS module (M2) and the frequency setting of a self-synchronization signal (X3) output by the microprocessor module (M1) through an internal timer.
5. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the time interval setting of the time service data of the microprocessor module (M1) comprises the time interval setting of the output of the RS-232C serial time service data (D1), the time period setting of the output of the RS-232C second pulse signal (X9) and the time interval setting of the output of the UDP multicast time service data (D3).
6. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the self-synchronizing signal (X3) output by the microprocessor module (M1) is a frequency-adjustable timing signal generated by a timer inside the microprocessor module (M1).
7. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the cascade signal (X11) of the cascade module (M3) comprises a selected synchronous signal (X6) converted into an RS-485 logic level, a second pulse signal (X5) and time service data transmitted and received by the microprocessor module (M1).
8. The GNSS based synchronization calculation and timing control apparatus according to claim 1, wherein: the 2 cascade interfaces (P1) of the cascade module (M3) are used for outputting 2 paths of RS-485 cascade signals (X11) in a Master working mode of the control device, and are used for inputting 1 path of RS-485 cascade signals (X11) and outputting 1 path of RS-485 cascade signals (X11) in a Slave working mode of the control device.
9. The distributed simulation synchronous calculation and time service control method is characterized by comprising the following steps of:
step S1, constructing a plurality of GNSS-based synchronous calculation and time service control devices according to claim 1, configuring one of the control devices to be in a Master working mode and serve as a Master controller, configuring the other control devices to be in a Slave working mode and serve as Slave controllers, and connecting the Master controller with a satellite signal receiving antenna;
step S2, connecting the cascade port (P1) of the master controller and the slave controller in the step S1, and realizing transmission of a synchronous signal, a second pulse signal and time service data from the master controller to the slave controller based on an RS-485 logic level;
step S3, connecting a plurality of RS-232C synchronous time sequence output ports (P2) of the master controller and the slave controller in the step S1 with serial communication ports of a plurality of simulation node computers in the distributed simulation system respectively;
step S4, the network ports (P4) of the master controller and the slave controller in the step S1 are respectively connected to a switch of a local area network where the distributed simulation system is located through network cables, so that the network periodic time service of the master controller based on a UDP multicast mode is realized, and the remote network configuration management of the master controller and the slave controller is realized;
step S5, connecting the input end of the first external synchronous signal (X10) of the main controller in the step S1 with an external synchronous signal source to realize distributed simulation calculation driving under the triggering of the external signal source;
step S6, the TTL synchronous signal output ports (P3) of the master controller and the slave controller in the step S1 are connected to the external synchronous signal source input interface of the synchronous sub-card of the professional display card, so that the display refresh of the professional display card is synchronized to the simulation calculation period;
and S7, correctly setting the serial communication port of the simulation node computer in the step S3 so that the simulation node computer receives the synchronous signal, the second pulse signal and the serial teaching data, wherein the setting of the serial communication port comprises setting of a data receiving baud rate and enabling interrupt events corresponding to serial communication port pin signals connected with the RS-232C second pulse signal (X8) and the RS-232C second pulse signal (X9).
10. The method for distributed simulation synchronous calculation and timing control according to claim 9, wherein: the serial communication port of the emulation node computer in the step S3 is connected to be connected with a CTS or DSR or DCD signal pin of the serial communication port to be connected with an RS-232C synchronous signal (X8) output by the control device, an RI or DCD or DSR or CTS signal pin of the serial communication port is connected with an RS-232C second pulse signal (X9) output by the control device, and an RXD signal pin of the serial communication port is connected with an RS-232C serial time-giving data (D1) output by the control device.
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| CN110138593B (en) * | 2019-04-11 | 2021-09-14 | 上海卫星工程研究所 | SMC network-based distributed system simulation communication system |
| CN110321644B (en) * | 2019-07-09 | 2021-03-26 | 中国科学院电子学研究所 | Distributed simulation system and simulation method thereof for satellite system |
| CN111208539B (en) * | 2019-12-18 | 2023-06-23 | 中国航空工业集团公司成都飞机设计研究所 | High-precision GNSS simulator time synchronization method |
| CN111324046B (en) * | 2020-02-28 | 2022-10-25 | 中国电力科学研究院有限公司 | Method and system for performing cooperative operation on distributed simulation system |
| CN111638749A (en) * | 2020-06-02 | 2020-09-08 | 北京润科通用技术有限公司 | Simulation system synchronization method, simulation device and system |
| CN112578413A (en) * | 2020-11-13 | 2021-03-30 | 中国电子技术标准化研究院 | Timing synchronous timing method, device and remote synchronous timing system |
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