CN112304300B - Small-sized fiber-optic gyroscope based on domestic CPU (Central processing Unit) Loongson and having long service life and high reliability - Google Patents
Small-sized fiber-optic gyroscope based on domestic CPU (Central processing Unit) Loongson and having long service life and high reliability Download PDFInfo
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- CN112304300B CN112304300B CN202011065527.4A CN202011065527A CN112304300B CN 112304300 B CN112304300 B CN 112304300B CN 202011065527 A CN202011065527 A CN 202011065527A CN 112304300 B CN112304300 B CN 112304300B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/721—Details
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Abstract
The invention discloses a miniaturized fiber optic gyroscope with long service life and high reliability based on a domestic CPU (Central processing Unit) Loongson, which comprises a body, two light sources (which are backup with each other), three sets of gyroscope digital circuits, two sets of light source driving and refrigerating circuits, a signal processing and interface circuit, three fiber optic ring assemblies, three electric connectors, a secondary power supply, four side covers and an upper cover, wherein the signal processing and interface circuit comprises a first optical fiber ring assembly, a second optical fiber ring assembly, a third optical fiber ring assembly, a fourth optical fiber ring assembly and a fourth optical fiber ring assembly; the three axial orthogonal optical fiber ring components are arranged on the side surface and the middle part of the body; the secondary power supply box is arranged at the lower part of the body to realize the lower part sealing of the body; the signal processing and interface circuit is arranged on the upper part of the inner cavity of the body structure, and the side cover and the upper cover realize the sealing of the side surface and the top surface. Three electrical connectors realize external power input and signal input/output. The invention can output the angular speed digital and analog information of three orthogonal axes and the power telemetering signal outwards, is used for stabilizing/controlling the satellite attitude, and can realize long service life, high reliability and miniaturization.
Description
Technical Field
The invention relates to a miniaturized fiber-optic gyroscope with long service life and high reliability based on a domestic CPU (Central processing Unit) Loongson, which is applied to a navigation satellite and belongs to the technical field of inertial measurement.
Background
The traditional electromechanical gyroscope has the problems of high power consumption, short service life, low reliability and the like, the general service life is only 5 years, the service life can be prolonged to 8 years at most, the reliability at the end of the service life is only 0.95, and the requirements that the service life of a Beidou networking satellite is 15 years and the reliability at the end of the service life is not less than 0.975 cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art in the aspects of service life and reliability, and provides a miniaturized fiber-optic gyroscope based on a domestic CPU (Central processing Unit) Loongson, which has long service life and high reliability.
The purpose of the invention is realized by the following technical scheme:
a miniaturized fiber optic gyroscope with long service life and high reliability based on a domestic CPU (Central processing Unit) Loongson comprises a body, three sets of gyroscope digital circuits, two sets of light source driving and refrigerating circuits, a signal processing and interface circuit, three fiber optic ring assemblies, two light sources which are mutually backups, an electric connector, a secondary power box, four side covers and an upper cover;
the body is of a hexahedral structure, a cavity is processed in the body, the top and the side faces are inwards recessed, the top and the two adjacent side faces are mutually orthogonal, the top and the two adjacent side faces are respectively provided with an optical fiber ring assembly, the three optical fiber ring assemblies are axially orthogonal, the two side faces for installing the optical fiber ring assemblies are a first side face and a second side face, the other two side faces are a third side face and a fourth side face, and the secondary power supply box is installed at the lower part of the body to realize the lower part sealing of the body;
the three sets of gyro digital circuits correspond to three side covers one by one, each gyro digital circuit is arranged on the inner side of each side cover, and then the side covers are arranged on the first side surface, the second side surface and the third side surface of the body; the three optical fiber rings correspond to the three sets of gyroscope digital circuits one by one, and each set of gyroscope digital circuit is used for processing signals of the optical fiber ring assembly; the two light sources are welded on a printed board, the printed board is arranged on the fourth side face of the body, and the fourth side cover covers the outer side of the printed board; the outer sides of the side covers on the third side and the fourth side are provided with electric connectors for connecting with an external system; each light source is simultaneously connected with three optical fiber ring assemblies;
the light source driving and refrigerating circuit is arranged on the body and located above the optical fiber ring assembly, the light source driving and refrigerating circuit corresponds to the light sources one to one, the signal processing and interface circuit is arranged on the body and located above the light source driving and refrigerating circuit, and the upper cover covers the signal processing and interface circuit.
The optical fiber ring assembly comprises a magnetic shielding upper cover, a magnetic shielding base, an optical fiber ring, a coupler and a waveguide;
a columnar bulge with a cavity is arranged above the magnetic shielding base, the coupler and the waveguide are arranged in the cavity, the optical fiber ring is fixed on the outer side of the columnar bulge through GD414 glue, the magnetic shielding upper cover is sleeved on the outer side of the optical fiber ring and is connected with the magnetic shielding base through a spigot so as to realize magnetic shielding of the optical fiber ring, the coupler is connected with the waveguide through an optical fiber, the coupler is connected with the light source through an optical fiber, the waveguide is connected with the optical fiber ring through an optical fiber, and meanwhile, the waveguide is connected with the gyro digital circuit through a lead; the magnetic shielding base is provided with a chute-shaped optical fiber outlet.
The signal processing and interface circuit comprises a Loongson processor, a light source switching circuit, a gyro pulse interface circuit, a frequency/voltage conversion circuit, a sampling temperature AD conversion circuit, a power-on reset circuit, a secondary power supply remote measurement circuit, an external interface circuit, a program memory Flash and a data memory SRAM;
the light source switching circuit realizes the switching of the two light sources by controlling the light source driving and refrigerating circuit 3;
the gyro pulse interface circuit is used for receiving pulse signals sent by the triaxial gyro digital circuit and transmitting the pulse signals to the Loongson processor and the frequency/voltage conversion circuit;
the frequency/voltage conversion circuit is used for converting the pulse signal sent by the three-axis gyroscope digital circuit into a voltage signal;
the sampling temperature AD conversion circuit is used for collecting temperature pulse signals of the triaxial fiber ring assembly and the body, carrying out analog-to-digital conversion on the temperature pulse signals, and sending a converted result to the Loongson processor;
the power-on reset circuit is used for resetting and initializing the Loongson processor;
the secondary power supply telemetering circuit is used for leading out a power supply signal of the signal processing and interface circuit for external monitoring;
the external interface circuit is used for receiving an external instruction and sending the external instruction to the Loongson processor, and feeding back a processing result of the Loongson processor to the outside;
the program memory Flash is used for storing programs running in the Loongson processor, and the Loongson processor carries the programs stored in the Loongson processor to the data memory SRAM to run after the Loongson processor is powered on; the program memory Flash comprises two Flash which are backups of each other;
the Loongson processor is used for compensating and correcting the pulse signals sent by the triaxial gyro digital circuit to obtain the angular velocity of the optical fiber gyro, calculating the temperature pulse signals of the triaxial optical fiber ring assembly and the body to obtain the temperature of the optical fiber gyro and responding to various external instructions.
When the fiber-optic gyroscope runs in orbit, in a normal state, the Loongson processor receives a default instruction 0xEb000000 sent by the ground to perform conventional data processing work; when the abnormity occurs, the ground can inject a Loongson processor program on the signal processing and interface circuit according to the requirement.
The upper note flow is as follows:
the ground sends a 12-byte program uploading instruction to the Loongson processor through the communication serial port, and the Loongson processor enters a program uploading state;
the Loongson processor receives program data frames of ground notes and stores the program data frames into a data memory SRAM, and 56 bytes are transmitted in each frame;
the Loongson processor accumulates the instruction frame numbers which are injected upwards and sends the accumulated frame numbers to the ground;
and after the upper note is finished, the Loongson processor receives a 12-byte CRC (cyclic redundancy check) instruction of the upper note on the ground, the Loongson processor performs CRC according to the CRC instruction, and if the CRC is correct, the upper note data frame is written into the designated Flash to finish software updating.
If the designated Flash needs to be rewritten on the ground, a program rewriting instruction is injected to the Loongson processor, and the Loongson processor rewrites a program stored in the designated Flash to another Flash according to the rewriting instruction;
the Loongson processor circularly carries out CRC (cyclic redundancy check) on the two parts of Flash, if one part of Flash is found to be wrong in verification, the alarm flag bit is set to be 1, and the alarm flag bit is downloaded to the ground; and when the alarm flag bit is 1, the ground injects a program duplicating instruction to the Loongson processor, and the Loongson processor duplicates the program stored in the correct Flash to the wrong Flash according to the duplicating instruction.
When the ground is signal processing and the godson processor program is injected on the interface circuit, the interrupt can still be responded; and if abnormity occurs in the process of uploading, recording the current uploading frame number, and after the abnormity is solved, continuously uploading at the breakpoint.
The gyro digital circuit is realized by an ASIC chip, and the total dose of anti-radiation in the gyro digital circuit is less than 100Krad (Si) devices, so that the tantalum sheet is fully pasted, and meanwhile, copper is coated on the tantalum sheet for auxiliary heat dissipation.
The thickness of the tantalum sheet is 1mm.
The gyro digital circuit is connected with the signal processing and interface circuit through a flexible printed line, the light source is connected with the light source driving and refrigerating circuit through a flexible printed line, and the signal processing and interface circuit is connected with the light source driving and refrigerating circuit through a flexible printed line.
Compared with the prior art, the invention has the following beneficial effects:
1. because the frameless optical fiber ring is adopted, the temperature sensitivity of the optical fiber gyroscope is reduced, and the drift caused by thermal expansion and cold contraction of the optical fiber ring framework and the inconsistency of the optical fiber is mainly eliminated; the frameless optical fiber ring manufactured by adopting the curing glue process improves the shock resistance, can bear the shock response spectrum shock of not less than 1600g @ 10-5000 Hz, ensures that the optical fiber gyro is not damaged by strong shock in the launching process, and improves the flight and on-orbit working reliability. The design scheme of the triaxial integrated shared light source reduces the power consumption of the fiber-optic gyroscope, the power consumption at normal temperature is as low as 8W, and the total temperature is not more than 10W @ -25 ℃ -65 ℃. In addition, the light source adopts a backup design, single-point failure is eliminated, the service life is prolonged, and the continuous service life of the fiber-optic gyroscope is not less than 15 years.
2. The invention adopts one light source (the other light source is used as a backup), realizes the three-axis integrated design, and reduces the using amount of the light sources compared with the traditional gyroscope with three light sources; meanwhile, the design of the Loongson processor and double Flash is applied, the Loongson processor replaces the traditional CPU and coprocessor by one to two, and the use of devices is reduced; the invention has the advantages that the compact design on the matching structure ensures that the same precision and reliability are achieved, the weight and the volume of the gyroscope are obviously reduced compared with the traditional gyroscope, and the miniaturization is realized.
3. The gyro digital circuit does not adopt an anti-fuse FPGA, adopts an application specific integrated circuit chip (ASIC), simultaneously adopts local protection measures for partial devices, improves the anti-radiation design index, improves the Total Ionization Dose (TID) to 100krad (Si), and achieves the cross section threshold value of anti-Single Event Upset (SEU) of 75 MeV.mg/cm 2 And (4) horizontal.
4. The signal processing and interface circuit adopts a design of a Loongson processor and a Flash dual Memory to replace a traditional design scheme of a single chip microcomputer and a PROM (Programmable Read-Only Memory), thereby improving the localization level. Compared with a single chip microcomputer, the Loongson has a floating point operation function, can completely meet the requirements of rapidity and accuracy of signal processing, and realizes localization of key elements. Meanwhile, the signal processing and interface software are stored in two Flash memories and are mutually independent, the SRAM is loaded to operate when the Flash memories are started, the 16-bit cyclic Redundancy Check (CRC, CCITT-16) is carried out on the codes in the Flash memories at regular time, error correction is carried out immediately through a duplicating instruction when inconsistency occurs, the runaway or the crash is avoided, and the software reliability is improved. If the internal software of the Flash has errors, the error can be corrected by injecting, refreshing and correcting on the ground.
5. In the optical fiber gyroscope, a flexible printed wire is adopted to replace a lead to realize electrical interconnection, so that the assembly process is simplified, and the reliability is improved. Meanwhile, compared with the traditional lead, the flexible printed wire has the advantages that the space position between signals is more determined, the quality consistency can be better ensured during batch production, and the manufacturability of products is favorably improved.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic diagram of the configuration of an optical fiber ring;
FIG. 4 is a schematic view of the internal construction of the fiber optic ring;
FIG. 5 is a schematic diagram of a circuit board local radiation-resistant design;
FIG. 6 is a signal processing and interface circuit;
FIG. 7 is a functional block diagram of a signal processing and interface circuit;
FIG. 8 is a data processing flow diagram of a Loongson processor;
FIG. 9 is a control instruction flow diagram;
FIG. 10 is a flowchart of a procedure rewriting process;
FIG. 11 is a schematic illustration of a process flow for annotation;
FIG. 12 is a schematic diagram of the interconnection of internal flex lines.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1 and 2, the long-life miniaturized fiber optic gyroscope of the present invention is used for controlling the attitude of a beidou navigation satellite, and includes a main body 9, three sets of gyroscope digital circuits 6, two sets of light source driving and refrigerating circuits 3 (which are mutually backup), a signal processing and interface circuit 2, three fiber optic ring assemblies 4, two sets of three-axis shared light sources 7 which are mutually backup, an electric connector 8, a secondary power supply box 10, four side covers 5, and an upper cover 1.
The body 1 is a hexahedral structure, a cavity is formed in the body, the top and the side faces are inwards recessed, the top and the two adjacent side faces are orthogonal to each other, the top and the two adjacent side faces are respectively provided with an optical fiber ring assembly 4, the three optical fiber ring assemblies are axially orthogonal to each other, the two side faces for installing the optical fiber ring assemblies are a first side face and a second side face, the other two side faces are a third side face and a fourth side face, and the secondary power supply box is installed on the lower portion of the body to seal the lower portion of the body.
Three sets of gyro digital circuits 6 correspond to three side covers 5 one by one, each gyro digital circuit is arranged on the inner side of each side cover, and then the side covers are arranged on the first side surface, the second side surface and the third side surface of the body; the three optical fiber ring assemblies correspond to the three sets of gyroscope digital circuits one by one, and each set of gyroscope digital circuit is used for processing signals of the optical fiber ring assemblies; the two sets of light sources 7 are welded on a printed board, the printed board is arranged on the fourth side face of the body, and the fourth side cover covers the outer side of the printed board; the outer sides of the side covers on the third side and the fourth side are provided with electric connectors 8 for connecting with an external system; each light source 7 is connected with three optical fiber ring assemblies 4 at the same time, so that a three-axis common light source is realized.
Light source drive and refrigerating circuit 3 install on the body, and are located the optic fibre ring subassembly top, light source drive and refrigerating circuit 3 and light source 7 one-to-one, and signal processing installs on the body with interface circuit 2, and is located light source drive and refrigerating circuit 3 top, and 1 lids of upper cover are in signal processing and interface circuit 2's top.
The side cover and the upper cover realize the side and top surface closure. Three electrical connectors realize external power input and signal input/output.
1. Boneless fiber optic ring design
The optical fiber gyroscope according to the present invention has a frameless optical fiber ring assembly, as shown in fig. 3 and 4, the optical fiber ring comprises a magnetic shielding upper cover 41, a magnetic shielding base 43, an optical fiber ring 45, a coupler 42 and a waveguide 44. For the column arch that has the cavity above magnetism shielding base 43, coupler 42 and waveguide 44 are installed in the cavity, optical fiber ring 45 passes through GD414 and glues and fix in the column arch outside, magnetism shielding upper shield 41 cover is in the optical fiber ring 45 outside, and pass through the tang with magnetism shielding base 43 and be connected, realize the magnetism shielding to optical fiber ring 45, coupler 42 and waveguide 44 pass through fiber connection, coupler 42 passes through fiber connection with light source 7, waveguide 44 passes through optic fibre and is connected with optical fiber ring 45, waveguide 44 passes through the wire and is connected with top digital circuit simultaneously. The coupler 42 splits the light emitted by the light source 7 into two beams, one beam being sent to the waveguide 44 and the other beam being used for detection. For avoiding magnetic field influence, shield the protection through magnetism shielding upper shield 41 and magnetism shielding base 43 to the optical fiber ring, will take shape optical fiber ring to pass through GD414 and glue to be fixed on magnetism shielding base, magnetism shielding upper shield 41 and magnetism shielding base 43 form a confined space, and magnetism shielding structure adopts soft magnetic material 1J85 to make, has added the tang design in magnetism shielding upper shield 41 and magnetism shielding base 43 junction, guarantees the electromagnetic seal nature. The magnetic shielding upper cover 41 and the magnetic shielding base 43 are installed in a split mode and are fixed on the body structure respectively, adverse effects on strength of the base caused by the quality of the magnetic shielding upper cover 41 are avoided, and weight reduction design is achieved. The magnetic shielding base 43 is provided with a chute-shaped optical fiber outlet, so that the optical fiber is ensured to naturally extend out along the fiber coiling direction, bending stress is not generated on the optical fiber, the magnetic leakage influence of the groove can be effectively reduced, and the electromagnetic sealing property is ensured. The mounting hole of the magnetic shielding base 43 is countersunk, the magnetic shielding base 43 is fixed to the body structure through a slotted countersunk head screw, the screw does not occupy space after assembly, the bottom of the cavity of the magnetic shielding base 43 is a plane, the mounting positions of the coupler 42 and the waveguide 44 and the space of the coiled fiber are guaranteed, and the miniaturization design is facilitated.
The optical fiber ring disclosed by the invention uses a thickened magnetic shielding material, the thickness of the thickened magnetic shielding material is 1mm, and the radiation resistance of the optical fiber ring is enhanced.
The magnetic shielding material is iron-nickel alloy, and the thickness of the magnetic shielding upper cover 41 is 1.0mm. The body shields the light path and plays a role in radiation resistance shielding. The fiber ring assembly is shown in figure 3. The magnetic shield upper cover 41 and the magnetic shield base 43 are mounted to the main body through mounting holes.
2. ASIC and local anti-radiation protection design
The gyro digital circuit 6 is implemented using an ASIC chip.
For devices (such as AD and DA) with low total dose of anti-radiation in the gyro digital circuit 6, a tantalum sheet is locally pasted to meet the requirement of anti-radiation, and meanwhile, the tantalum sheet is coated with copper for auxiliary heat dissipation.
The thickness of the tantalum sheet used in the invention is 1mm, and the thickness of the equivalent aluminum sheet is 6mm. From the material thermal conductivity data, it can be seen that the coating of the tantalum sheet with copper T2 (thermal conductivity 7 times higher than that of tantalum and 3 times higher than that of aluminum) can assist in heat dissipation of the chip. The coating is shown in fig. 5.
The 9mm equivalent aluminum shield corresponds to the total residual irradiation dose of 12.1krad (Si), and all devices in the fiber-optic gyroscope can bear the residual dose of more than 30%.
3. Loongson + Flash double-memory design
The circuit adopts a 'Loongson + double Flash' scheme, and is matched with peripheral interface chips, such as a serial port chip, a light source switching relay and other elements, so that functions of gyro pulse counting, temperature sampling reading, gyro drift compensation, ground measurement, light source switching and the like are completed. The analog circuit completes the functions of temperature measurement, angular speed conversion analog quantity, telemetering voltage conditioning and the like. See figure 6 for external appearance and figure 7 for schematic block diagram.
The signal processing and interface circuit 2 comprises a light source switching circuit, a gyro pulse interface circuit, a frequency/voltage conversion circuit, a sampling temperature AD conversion circuit, a power-on reset circuit, a secondary power supply remote measurement circuit, an external interface circuit, a program memory Flash and a data memory SRAM which are mutually backed up;
the light source switching circuit realizes the switching of the two light sources by controlling the light source driving and refrigerating circuit 3;
the gyro pulse interface circuit is used for receiving pulse signals sent by the triaxial gyro digital circuit and transmitting the pulse signals to the Loongson processor and the frequency/voltage conversion circuit;
the frequency/voltage conversion circuit is used for converting the pulse signal sent by the three-axis gyroscope digital circuit into a voltage signal;
the sampling temperature AD conversion circuit is used for collecting temperature pulse signals of the triaxial fiber ring assembly and the body, carrying out analog-to-digital conversion on the temperature pulse signals, and sending a converted result to the Loongson processor;
the power-on reset circuit is used for resetting and initializing the Loongson processor;
the secondary power supply telemetering circuit is used for leading out a power supply signal of the signal processing and interface circuit for external monitoring;
the external interface circuit is used for receiving an external instruction and sending the external instruction to the Loongson processor, and feeding back a processing result of the Loongson processor to the outside;
the program memory Flash is used for storing programs running in the Loongson processor, and the Loongson processor carries the programs stored in the Loongson processor to the data memory SRAM to run after the Loongson processor is powered on; the program memory Flash comprises two Flash (a Flash and B Flash) which are backup to each other.
The Loongson processor is used for compensating and correcting the pulse signals sent by the triaxial gyro digital circuit to obtain the angular velocity of the optical fiber gyro, calculating the temperature pulse signals of the triaxial optical fiber ring assembly and the body to obtain the temperature of the optical fiber gyro and responding to various external instructions.
When the fiber-optic gyroscope runs in orbit, in a normal state, the Loongson processor receives a default instruction 0xEb000000 sent by the ground to perform conventional data processing work; when an abnormality occurs, the ground can inject a Loongson processor program on the signal processing and interface circuit 2 according to the requirement.
The signal processing and interface circuit 2 is divided into a digital circuit and an analog circuit. The digital circuit takes a Loongson processor as a core, completes the processing of the signals of the triaxial gyro digital circuit and the output of digital quantity, and comprises a light source switching circuit, a gyro pulse interface circuit, a power-on reset circuit, an external interface circuit, a program memory Flash and a data memory SRAM which are mutually backed up. The analog circuit comprises a sampling temperature AD conversion circuit, a secondary power supply telemetering circuit and a frequency/voltage conversion circuit.
The processor is Loongson 1F04 matched with a Flash memory capable of carrying out ECC check. Loongson 1F04 integrates a telemetering and remote control function interface (A/D acquisition control logic, PCM telemetering and remote control logic, OC gate control logic, pulse Width Modulation (PWM), a Programmable Pulse Counter (PPC), general purpose input/output (GPIO) and the like), an external bus interface, a standard test interface (JTAG) and a GS132 processor core. The GS132 processor core loads an interface and runs a guide and control program to configure and control each functional interface, and the functions of PPC, OC, PWM, UART, GPIO and PCM can be multiplexed by pins.
A homemade autonomous program memory Flash is adopted to realize repeated erasing and writing, and long-distance online erasing and writing are realized by matching with a Loongson EMI bus. Meanwhile, because the single Flash stores programs in space with the risk of single event locking or single event upset, the invention adopts a double Flash scheme to ensure reliability.
The method selects the main Flash loading program when the power is on, switches to the backup Flash running program when a dog biting reset signal is detected in the running process of the program, allows the main Flash or the backup circuit to be actively selected to load and run the program, and simultaneously, the Flash judges whether the loaded program is an expected program or not through the ECC check value.
4. Redundancy error correction algorithm and upper note refreshing technology
The invention adopts a circuit design scheme of ' Loongson + Flash double memory ', and the Loongson processor ' replaces a minimum system of ' CPU + coprocessor ' by ' one to two '. Besides the functions of data acquisition, processing and sending, the program also adopts two functions of a redundancy error correction algorithm and an upper note refreshing technology to improve the reliability, maintainability and use convenience of the software. The general software architecture and control instruction flow are shown in fig. 8 and fig. 9.
The processing procedure of the Loongson processor is as follows: hardware initialization, sending gyro configuration words to configure an ASIC in a gyro digital circuit, clearing a watchdog counter, reading temperature pulses, collecting and processing ppc pulses in the triaxial gyro digital circuit, responding to an external command, and realizing a ground detection function, wherein ppc interruption requires that a gyro processor sends an instruction to be actively started.
The redundancy error correction algorithm circularly carries out CCITT-16 verification on the program in the Flash under the condition of not influencing the main flow of the program, the program in the Flash A and the program in the Flash B can be completely verified in more than ten minutes, if the program is found to be wrong, an alarm is immediately sent to the ground through an alarm zone bit, a rewriting instruction is sent to the ground, and the Loongson processor copies the correct program to the wrong Flash. The flow is shown in FIG. 10.
1) Self-checking does not affect the original functional time sequence
The 'CCITT-16 table look-up method' is used, so that the calculation time is saved; and only when the system is idle and only a small number of bytes are read each time, the CCITT-16 check is carried out, and the interference on other functions in time sequence is not caused.
2) Normally responding to the fetching instruction of the upper computer during AB copy
The program of the invention also needs to normally respond to the fetching instruction during the duplicating, and has nesting in time sequence, and the solution is that a plurality of nodes are uniformly arranged in the duplicating process to respond to the ground command.
3) Flash read-write operation by godson processor
The software of the invention can correctly execute the Flash rewrite flow, including IO port enabling, main backup chip selection switching, flash write operation enabling, flash reading, flash erasing, interruption closing, flash writing, flash write operation enabling closing and other operations.
The 'on-orbit refreshing technology' is used for on-orbit updating of software by annotating a new version program and programming Flash through the existing interface during on-orbit. The invention receives the annotating program through the communication serial port, transmits 56 bytes in each frame, performs CRC check after the completion of the receiving, and automatically writes to the corresponding Flash if the CRC check is correct, thereby completing software updating. The flow is shown in fig. 11.
Under normal state, the Loongson processor receives a default instruction 0xEb000000 sent by the ground to perform normal data processing work. When the upper notes are needed, the ground sends 12-byte program upper note instructions to the Loongson processor, the program upper note state is entered, data frames received and injected on the ground are stored in a data memory SRAM, the upper note instruction frame numbers are accumulated, the accumulated frame numbers are sent to the ground, after the upper notes are completed, the Loongson processor receives 12-byte CRC check instructions injected on the ground, the Loongson processor conducts CRC check according to the CRC check instructions, and the upper note data frames are written into designated Flash if the check is correct. And after receiving the 1-byte Flash overwriting instruction, the Loongson processor reads a program in the appointed Flash according to the instruction and overwrites the other Flash.
The innovation point is that the on-orbit modification or program updating of the fiber-optic gyroscope is realized, and the software reliability and maintainability are improved. In addition, during ground test, software is programmed during board-level debugging, and the software is not required to be opened during parameter programming and software upgrading after installation, so that single machine assembly and debugging and testing are facilitated. The main innovation points are as follows:
1) Can normally respond to the fetching instruction during the upper note program
When the program is injected, the interruption of the fetching instruction is also responded normally, thereby greatly increasing the complexity of the program and leading the nesting of several functions in time sequence to appear.
2) Can display the progress of the upper note and support the breakpoint transmission
And when the program is annotated, returning the current annotation frame number when responding to the access command, thereby displaying the annotation progress. If the interruption occurs in a certain frame due to abnormality, breakpoint continuous transmission can be supported, and visibility and reliability of upper notes are greatly improved;
3) CCITT-16 verification of the annotating program
After the program is annotated, CCITT-16 verification is carried out on the annotated content, programming is carried out if the verification is passed, and programming is not carried out if the verification is wrong, so that the reliability of the program annotation is ensured.
5. Flexible printed wire replaces wire to realize electrical interconnection design
The invention fully adopts the flexible printed wires to realize the interconnection and intercommunication of the power supply and the signals. The digital and analog circuits of the signal processing and interface circuit are connected into a rigid-flexible combined circuit board by using flexible wires, and the two circuit boards are bent for 180 degrees and stacked for installation, so that the space is saved. The interconnection of the signal processing and interface circuit and the rest of the components all use flexible printed lines. The flexible printed lines are used for replacing the conducting wires to realize the electrical connection among the circuit boards, so that the assembly process is simplified, and the reliability is improved.
The flexible printed lines realize the functions of signal processing, temperature signal processing, power supply switching, light source and light source driving and refrigeration main backup circuit switching of the three-axis gyroscope digital circuit, as shown in fig. 12.
The programs of the signal processing and interface circuit are stored in the two Flash memories, are independent of each other, are loaded into the SRAM to run when being started, and are compared with the codes in the Flash memories by redundancy check, so that the inconsistent immediate algorithm error correction is carried out, the runaway or the dead halt is avoided, and the software reliability is improved. If the internal software of the Flash has errors, the error can be corrected by injecting, refreshing and correcting on the ground. The invention reduces the power consumption by the triaxial integrated light source design, the normal temperature power consumption is about 8W, the full temperature is not more than 10W @ 25-65 ℃, the light source adopts the backup design, the single point failure is eliminated, and the service life is prolonged. The continuous working life is not less than 15 years. The invention improves the shock resistance of the optical fiber gyroscope to 1600g @ 10-5000 Hz level through the frameless optical fiber ring, ensures that the optical fiber gyroscope is not damaged by strong impact in the launching process, and improves the reliability.
The fiber-optic gyroscope adopts a series of new technologies and new processes in the aspects of design, process and manufacturing technology, optimizes the manufacturing flow, fully meets the requirements of the Beidou navigation satellite on a high-performance inertial angular velocity sensor, realizes satellite attitude angular velocity measurement, has the service life of not less than 15 years and has the reliability of not less than 0.975 at the end of the service life in order to meet the requirements of the BDS networking satellite on high reliability, long service life and localization.
The invention can output the angular speed digital and analog information of three orthogonal axes and the power telemetering signal outwards, and is used for satellite attitude stabilization/control.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (9)
1. The utility model provides a miniaturized fiber optic gyroscope of high reliability of long-life based on homemade CPU godson which characterized in that: the gyroscope comprises a body (9), three sets of gyroscope digital circuits (6), two sets of light source driving and refrigerating circuits (3), a signal processing and interface circuit (2), three optical fiber ring assemblies (4), two light sources (7) which are mutually backup, an electric connector (8), a secondary power supply box (10), four side covers (5) and an upper cover (1);
the body (9) is of a hexahedral structure, a cavity is processed in the body, the top and the side faces are inwards recessed, the top and the two adjacent side faces are mutually orthogonal, the top and the two adjacent side faces are respectively provided with an optical fiber ring assembly (4), the three optical fiber ring assemblies are axially orthogonal, the two side faces for installing the optical fiber ring assemblies are a first side face and a second side face, the other two side faces are a third side face and a fourth side face, and the secondary power supply box is installed at the lower part of the body to realize the lower part sealing of the body;
three sets of gyro digital circuits (6) correspond to three side covers (5) one by one, each gyro digital circuit is arranged on the inner side of each side cover, and then the side covers are arranged on the first side surface, the second side surface and the third side surface of the body; the three optical fiber ring assemblies correspond to the three sets of gyroscope digital circuits one by one, and each set of gyroscope digital circuit is used for processing signals of the optical fiber ring assemblies; two light sources (7) are welded on a printed board, the printed board is arranged on the fourth side surface of the body, and a fourth side cover covers the outer side of the printed board; the outer sides of the side covers on the third side and the fourth side are provided with electric connectors (8) for connecting with an external system; each light source (7) is simultaneously connected with three fiber ring assemblies (4);
the light source driving and refrigerating circuit (3) is arranged on the body and positioned above the optical fiber ring assembly, the light source driving and refrigerating circuit (3) corresponds to the light sources (7) one by one, the signal processing and interface circuit (2) is arranged on the body and positioned above the light source driving and refrigerating circuit (3), and the upper cover (1) covers the signal processing and interface circuit (2);
the signal processing and interface circuit (2) comprises a Loongson processor, a light source switching circuit, a gyro pulse interface circuit, a frequency/voltage conversion circuit, a sampling temperature AD conversion circuit, a power-on reset circuit, a secondary power supply remote measurement circuit, an external interface circuit, a program memory Flash and a data memory SRAM;
the light source switching circuit realizes the switching of the two light sources by controlling the light source driving and refrigerating circuit (3);
the gyro pulse interface circuit is used for receiving pulse signals sent by the three sets of gyro digital circuits and transmitting the pulse signals to the dragon core processor and the frequency/voltage conversion circuit;
the frequency/voltage conversion circuit is used for converting pulse signals sent by the three sets of gyro digital circuits into voltage signals;
the sampling temperature AD conversion circuit is used for collecting temperature pulse signals of the three fiber ring assemblies and the body, carrying out analog-to-digital conversion on the temperature pulse signals, and sending a converted result to the Loongson processor;
the power-on reset circuit is used for resetting and initializing the Loongson processor;
the secondary power supply telemetering circuit is used for leading out a power supply signal of the signal processing and interface circuit for external monitoring;
the external interface circuit is used for receiving an external instruction and sending the external instruction to the Loongson processor, and feeding back a processing result of the Loongson processor to the outside;
the program memory Flash is used for storing programs running in the Loongson processor, and the Loongson processor carries the programs stored in the Loongson processor to the data memory SRAM to run after the Loongson processor is powered on; the program memory Flash comprises two Flash which are backups of each other;
the Loongson processor is used for carrying out compensation and correction calculation on pulse signals sent by the three sets of gyroscope digital circuits to obtain the angular velocity of the optical fiber gyroscope, calculating the temperature pulse signals of the three optical fiber ring assemblies and the body to obtain the temperature of the optical fiber gyroscope, and responding to various external instructions.
2. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 1, is characterized in that: the optical fiber ring assembly comprises a magnetic shielding upper cover (41), a magnetic shielding base (43), an optical fiber ring (45), a coupler (42) and a waveguide (44);
a columnar bulge with a cavity is arranged above the magnetic shielding base (43), the coupler (42) and the waveguide (44) are installed in the cavity, the optical fiber ring (45) is fixed on the outer side of the columnar bulge through GD414 glue, the magnetic shielding upper cover (41) is sleeved on the outer side of the optical fiber ring (45) and is connected with the magnetic shielding base (43) through a spigot, magnetic shielding of the optical fiber ring (45) is achieved, the coupler (42) is connected with the waveguide (44) through an optical fiber, the coupler (42) is connected with the light source (7) through an optical fiber, the waveguide (44) is connected with the optical fiber ring (45) through an optical fiber, and meanwhile, the waveguide (44) is connected with the gyro digital circuit through a lead; the magnetic shielding base (43) is provided with a chute-shaped optical fiber outlet.
3. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 1, is characterized in that: when the fiber-optic gyroscope runs in orbit, in a normal state, the Loongson processor receives a default instruction 0xEb000000 sent by the ground to perform conventional data processing work; when the abnormity occurs, the ground can inject a Loongson processor program on the signal processing and interface circuit (2) according to the requirement.
4. The miniaturized fiber optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 3, is characterized in that: the upper note flow is as follows:
the ground sends a 12-byte program uploading instruction to the Loongson processor through the communication serial port, and the Loongson processor enters a program uploading state;
the Loongson processor receives program data frames of ground notes and stores the program data frames into a data memory SRAM, and 56 bytes are transmitted in each frame;
the Loongson processor accumulates the uplink instruction frame numbers and sends the accumulated frame numbers to the ground;
and after the upper note is finished, the Loongson processor receives a 12-byte CRC (cyclic redundancy check) instruction of the upper note on the ground, the Loongson processor performs CRC according to the CRC instruction, and if the CRC is correct, the upper note data frame is written into the designated Flash to finish software updating.
5. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 4, is characterized in that:
if the designated Flash needs to be rewritten on the ground, a program rewriting instruction is injected to the Loongson processor, and the Loongson processor rewrites a program stored in the designated Flash to another Flash according to the rewriting instruction;
the Loongson processor circularly carries out CRC (cyclic redundancy check) on the two parts of Flash, if one part of Flash is found to be wrong in verification, the alarm flag bit is set to be 1, and the alarm flag bit is downloaded to the ground; and when the alarm flag bit is 1, the ground injects a program duplicating instruction to the Loongson processor, and the Loongson processor duplicates the program stored in the correct Flash to the wrong Flash according to the duplicating instruction.
6. The miniaturized fiber optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 1, is characterized in that: when the ground is a signal processing and interface circuit (2) is filled with a Loongson processor program, the interrupt can still be responded; and if abnormity occurs in the process of uploading, recording the current uploading frame number, and after the abnormity is solved, continuously uploading at the breakpoint.
7. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 1, is characterized in that: the gyro digital circuit is realized by an ASIC chip, a device with the total dose of anti-radiation less than 100Krad (Si) in the gyro digital circuit (6) is pasted with a tantalum sheet, and meanwhile, the tantalum sheet is coated with copper for auxiliary heat dissipation.
8. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 7, is characterized in that: the thickness of the tantalum sheet is 1mm.
9. The miniaturized fiber-optic gyroscope with long service life and high reliability based on the domestic CPU Loongson as claimed in claim 1, is characterized in that: the gyro digital circuit (6) is connected with the signal processing and interface circuit (2) through a flexible printed line, the light source (7) is connected with the light source driving and refrigerating circuit (3) through a flexible printed line, and the signal processing and interface circuit (2) is connected with the light source driving and refrigerating circuit (3) through a flexible printed line.
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| CN113503868B (en) * | 2021-06-15 | 2022-10-28 | 北京航天时代光电科技有限公司 | Five-axis redundant fiber optic gyroscope measuring device structure |
| CN113514048B (en) * | 2021-06-15 | 2022-08-12 | 北京航天时代光电科技有限公司 | High-reliability miniaturized fiber-optic gyroscope signal processing and interface circuit |
| CN113945226B (en) * | 2021-08-31 | 2024-05-31 | 北京航天时代光电科技有限公司 | High-precision double-light-source redundant triaxial integrated fiber-optic gyroscope measuring device |
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