CN112559288A - Distributed inertial platform test system based on Ethernet - Google Patents
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Abstract
A distributed inertial platform test system based on Ethernet comprises a test system front end, an Ethernet bus and a test system rear end. The front end of the test system is a server end and is used for receiving and processing user operation instructions, performing message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing and realizing intelligent scheduling of test tasks; the rear end of the test system is a client, is directly connected with the inertial platform to be tested and is responsible for inertial platform test information interaction, computer hard disk state monitoring, acousto-optic alarm device control, power supply control and communication management, simulation of sending inertial navigation data by an external inertial navigation system and simulation of sending light collimation signals by an external optical collimation system; the front end and the back end of the test system realize information interaction through an Ethernet bus. The invention can construct a networked inertia platform test system, and realizes the online test of a plurality of sets of inertia platform systems by matching the front end of the test system with a plurality of distributed back ends.
Description
Technical Field
The invention relates to a distributed inertial platform test system based on Ethernet, belonging to the field of inertial platform test systems.
Background
With the continuous development of the inertia technology, the iterative updating speed of the inertia platform product is increased day by day, and the situation that a plurality of spectrum type inertia platforms are tested simultaneously often appears on the production and user use field. The requirements of different types of inertia platforms on external test interfaces and hardware resources of a test system are different; with the improvement of the digitization level of the inertia platform, higher requirements are put on the rapid communication capability, the data batch processing capability, the intelligent flow control and the fault self-diagnosis capability of the test computer, and the computer resources occupied by the functions are larger and larger. Therefore, the currently widely adopted test system based on a single inertial platform far cannot meet the requirements of compatible test and simultaneous online test of multiple models of inertial platforms. On the other hand, the inertia platform needs to perform information interaction with an external system in the actual use process, comprehensive testing work related to an interface of the external system needs to be completed in the inertia platform testing stage, the equivalent part of the external system in the actual inertia platform testing system is still blank, and certain risk exists in the inertia platform testing coverage. At present, no inertial platform test system and an implementation method thereof exist, wherein the inertial platform test system integrates the equivalent function of an external system, the compatibility of a distributed multi-type inertial platform based on a front-end and back-end mode with an online test function, intelligent bus management, intelligent test flow control, fault self-diagnosis and other functions.
At present, in the field of inertial platform system testing, no related technical method is realized.
Disclosure of Invention
The technical problem of the invention is solved: the invention provides a distributed inertial platform test system based on an Ethernet bus, which overcomes the defects of the prior art. The system can simulate information interaction between an external inertial navigation system and an optical aiming system and an inertial platform system, and meets the 100% test coverage requirement of an external interface of the inertial platform in real time. In addition, the inertia platform test system can realize the distributed online test of a plurality of sets and types of inertia platform systems, and greatly improves the test efficiency of the inertia platform.
The technical solution of the invention is as follows:
an Ethernet-based distributed inertial platform test system comprising: the system comprises a test system front end, an Ethernet bus and a plurality of test system rear ends, wherein the test system rear ends carry out information interaction with the test system front end through the Ethernet, and each test system rear end corresponds to one inertia platform to be tested;
the front end of the test system is a server end and is used for receiving and processing user operation instructions, performing message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
the rear end of the test system is a client which is directly connected with the inertial platform to be tested and used for inertial platform test information interaction, computer hard disk state monitoring, acousto-optic alarm device control, power supply control and communication state management, external inertial navigation system sending inertial navigation data simulation and external optical aiming system sending optical aiming straight signals simulation.
Furthermore, the front end of the test system comprises a front end initialization module, a front end bus message management module, a human-computer interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module and a real-time diagnosis and decision processing module;
the front-end initialization module completes initialization of a human-computer interaction interface, a TCP server end and creation of a data storage file, and connection can be established with the rear end of the test system after initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system is communicated with the rear end through the front-end bus message management module, the front-end bus message management module inspects the message sending queue in real time, when a message to be sent is detected, data are sent to the rear end of the test system through the Ethernet, and meanwhile, the message receiving queue is inspected in real time, and when an unprocessed message is detected in the message receiving queue, the received message is sent to the message analyzing and processing module;
the human-computer interface operation module receives a user operation instruction or input information, presses the user operation instruction or the input information into a message sending queue, and controls the rear end of the test system to complete corresponding operation through the front-end bus message management module;
the message analysis processing module completes analysis processing of the test information, the processed information is displayed through the interface display module, stored through the information storage module, and complete real-time fault diagnosis through the real-time diagnosis and decision processing module, and when the test information is detected to be abnormal, an audible and visual alarm message and a decision processing message are generated and pressed into a message sending queue;
the task intelligent scheduling module is realized by adopting a finite state machine, acquires the working state of the inertial platform to be tested through the message analysis processing module, completes task state transfer according to the working state or task execution time of the inertial platform to be tested, and ensures that a test sequence runs orderly to realize the intelligent scheduling of tasks;
the platform parameter management module realizes the sending and receiving of data parameters of the inertial platform to be tested, the data parameter sending is realized by pressing parameter information into a sending message queue, and the received data parameters are sent to the platform parameter management module through the message analysis processing module.
Furthermore, the rear end of the test system comprises a rear end initialization module, a rear end bus message management module, a power control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module;
the back-end initialization module completes initialization of hardware drive and initialization of a TCP client, and TCP connection is carried out to a server end after initialization is completed, namely the front end of the test system;
the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes program control and data reading of the direct-current stabilized power supply through an SCPI control instruction according to the message of the rear-end bus message management module;
when monitoring that the test information is abnormal, the front end of the test system sends an alarm control instruction, and after receiving the alarm control instruction, the rear-end bus message management module sends an audible and visual alarm instruction to the audible and visual alarm module to realize fault alarm prompt;
the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end;
the external aiming system equivalent module outputs a collimation control signal and a collimation pulse signal according to a command sent by the front end, so that the optical aiming interface test of the inertial platform to be tested is realized;
the test information interaction module is used for acquiring output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, reporting data to the front end of the test system through the back-end message management module, and sending the control instruction to the inertial platform through the test information interaction module after the back-end message management module receives the control instruction of the front end of the test system, so as to control the inertial platform to complete corresponding operation.
Furthermore, data interaction is realized between the back-end bus message management module and the power control and communication management module through the Ethernet, the back-end bus message management module serves as a client, the power control and communication management module serves as a server, the power control and communication management module has a communication link self-monitoring function, and reconnection is automatically tried when the communication link is monitored to be interrupted; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
Furthermore, the front end of the test system completes coding management of client socket according to a network address of the rear end of the test system and the model and number information of the inertial platform to be tested, which are obtained by reading back, the front end of the test system realizes information interaction with corresponding back end equipment of the test system and the inertial platform to be tested through different sockets, and the on-line test of a plurality of sets of inertial platform systems is realized by matching the front end of the test system with the rear ends of a plurality of distributed test systems.
Further, the real-time diagnosis and decision processing module performs real-time fault diagnosis, specifically:
the fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, when the test data frame received by the real-time diagnosis and decision processing module fails to pass the verification, the current frame of test data does not participate in the subsequent fault diagnosis, and the next frame of test data is continuously received; after the test data passes the verification, performing qualification judgment on the frame data parameters, if the data is qualified, continuously receiving the next frame of test data, if the data has unqualified items, judging whether the unqualified items are key parameters, if the key parameters are unqualified, directly deciding to execute protective treatment measures, if the unqualified items are not key parameters, adding 1 to a continuous fault count value, then judging whether the continuous fault count value is greater than 5, if the continuous fault count value is greater than 5, sending an audible and visual alarm instruction to a bus message management module, and if the continuous fault count value is less than 5, continuously receiving the next frame data; and for the key parameter fault, directly sending a control instruction to the bus message management module to realize the disconnection operation of the control loop and the power supply.
Further, the platform parameter management module realizes the sending and receiving of the data parameters of the inertial platform to be tested, and specifically comprises:
the platform parameter management module completes the sending and receiving management of the parameters of the inertial platform, the parameters of the platform comprise tool errors of an inertial instrument, installation errors of the instrument and temperature coefficients of the instrument, and the platform parameter management module comprises three functions of manual parameter programming, automatic parameter programming and parameter downloading management;
the manual parameter programming realization process comprises the following steps: reading a local parameter file, displaying data in the parameter file, completing dimension conversion of the data, sending uploaded data and a parameter programming instruction to a front-end bus message management module, and after receiving the parameter programming message at the rear end of the test system, realizing curing of all parameters through an inertial platform;
the automatic parameter programming realization process comprises the following steps: the method comprises the steps that a parameter automatic programming instruction is sent to a front-end bus management module, after the rear end of a test system receives the automatic programming instruction, an inertial platform is controlled to achieve automatic updating and solidification of parameters of a platform, the solidification mode is that the inertial platform reads out data in a Flash area of data inside the platform, statistical operation is carried out, and a statistical result is solidified in the parameter Flash area;
the parameter downloading management comprises the readback, the verification and the qualification judgment of all the parameters, the display and the storage of the platform parameters are automatically realized, and the parameter downloading management process comprises the following steps: the method comprises the steps of clearing a platform parameter display interface, sending a parameter read-back message through the front end of a test system, receiving platform parameters uploaded by the rear end of the test system, judging the qualification of the parameters, carrying out analysis dimension conversion and platform parameter interface display on the parameters by the front end of the test system, and creating a parameter file to store the platform parameters.
Further, the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end, and the specific steps are as follows:
after the rear end of the test system receives an external inertial navigation control instruction sent by the front end, the test system controls an equivalent module of the external inertial navigation system to send inertial navigation data to the inertial platform to be tested in a mode of generating or reading a text on line, and therefore testing of the external inertial navigation interface function of the inertial platform is achieved.
Compared with the prior art, the invention has the advantages that:
(1) the inertia platform test system set up by the method can realize distributed test of the inertia platform system, complete simultaneous online test of multiple types and sets of inertia platform systems, realize the unification of test system resources and effectively reduce the investment of developing resources.
(2) The test system can complete the equivalent function of an external system with information interaction with the inertial platform system, can complete the test of all interfaces of the inertial platform system through one set of test system, and realizes 100% coverage of external interfaces of the inertial platform system.
(3) The inertia platform test flow has strong universality, can automatically realize the intelligent control of the platform test flow, and can realize the respective control of different test flows according to the rear network address of the test system, thereby effectively reducing the requirement of the test process on the number of personnel and greatly improving the test efficiency.
(4) All the peripheral devices of the test system are controlled by programs, the communication link is monitored in real time, and the communication link can be automatically reconnected when abnormal, so that the communication robustness of the test system is improved.
(5) The test system can realize the real-time monitoring of the state of the computer hard disk, the test data file is stored in a binary source code mode, the key test result is stored in a text file mode, the data storage space is effectively saved, and the test system supports the data playback function.
Drawings
FIG. 1 is a block diagram of the structural components of the present invention;
FIG. 2 is a block diagram of a front end of the test system of the present invention;
FIG. 3 is a back end component diagram of the test system of the present invention;
FIG. 4 is a flow chart of a real-time diagnostic and decision making process of the present invention;
FIG. 5 is a flow chart of a platform parameter management implementation of the present invention;
FIG. 6 is a diagram of the front-end software interface and switching logic of the present invention;
FIG. 7 is a flow chart of an external inertial navigation equivalent module implementation of the present invention;
FIG. 8 is a block diagram of an equivalent module of the optical sight system of the present invention;
FIG. 9 is a flowchart of the operation of the test system of the present invention.
Detailed Description
As shown in fig. 1, the distributed inertial platform testing system based on the ethernet provided by the present invention includes a testing system front end, an ethernet bus and a plurality of testing system back ends, where the testing system back ends perform information interaction with the testing system front end through the ethernet, and each testing system back end corresponds to one inertial platform to be tested.
The front end of the test system is a server end and is used for receiving and processing user operation instructions, performing message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
the rear end of the test system is a client which is directly connected with the inertial platform to be tested and used for inertial platform test information interaction, computer hard disk state monitoring, acousto-optic alarm device control, power supply control and communication state management, external inertial navigation system sending inertial navigation data simulation and external optical aiming system sending optical aiming straight signals simulation.
The method comprises the steps that a front end and a rear end are coordinated and matched in the testing process of an inertial platform system, the front end issues a received user operation instruction to the rear end through an Ethernet bus according to an agreed format, the rear end completes message analysis after receiving data, controls a corresponding hardware module to complete specified operation according to message types, periodically reports collected testing data to the front end, the front end can complete message analysis, identification and distribution after receiving reported messages, and completes operations of data processing, display, storage, fault diagnosis and the like through a corresponding data processing module.
As shown in fig. 2, the front end of the test system includes a front end initialization module, a front end bus message management module, a human-computer interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module, and a real-time diagnosis and decision processing module;
the front-end initialization module completes initialization of a human-computer interaction interface, a TCP server end and creation of a data storage file, and connection can be established with the rear end of the test system after initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system is communicated with the rear end through the front-end bus message management module, the front-end bus message management module inspects the message sending queue in real time, when a message to be sent is detected, data are sent to the rear end of the test system through the Ethernet, and meanwhile, the message receiving queue is inspected in real time, and when an unprocessed message is detected in the message receiving queue, the received message is sent to the message analyzing and processing module;
the human-computer interface operation module receives a user operation instruction or input information, presses the user operation instruction or the input information into a message sending queue, and controls the rear end of the test system to complete corresponding operation through the front-end bus message management module;
the message analysis processing module completes the verification and analysis processing of the test information, the processed information is displayed through the interface display module, stored through the information storage module, the real-time fault diagnosis is completed through the real-time diagnosis and decision processing module, when the test information is detected to be abnormal, an audible and visual alarm message and a decision processing message are generated and pressed into a message sending queue;
the task intelligent scheduling module is realized by adopting a finite state machine, acquires the working state of the inertial platform to be tested through the message analysis processing module, completes task state transfer according to the working state or task execution time of the inertial platform to be tested, and ensures that a test sequence runs orderly to realize the intelligent scheduling of tasks;
the platform parameter management module realizes the sending and receiving of data parameters of the inertial platform to be tested, the data parameter sending is realized by pressing parameter information into a sending message queue, and the received data parameters are sent to the platform parameter management module through the message analysis processing module.
As shown in fig. 3, the back end of the test system includes a back end initialization module, a back end bus message management module, a power control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module.
The back-end initialization module completes initialization of hardware drive and initialization of a TCP client, and TCP connection is carried out to a server end after initialization is completed, namely the front end of the test system;
the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes program control and data reading of the direct-current stabilized power supply through an SCPI control instruction according to the message of the rear-end bus message management module;
when monitoring that the test information is abnormal, the front end of the test system sends an alarm control instruction, and after receiving the alarm control instruction, the rear-end bus message management module sends an audible and visual alarm instruction to the audible and visual alarm module to realize fault alarm prompt;
the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end;
the external aiming system equivalent module outputs a collimation control signal and a collimation pulse signal according to a command sent by the front end, so that the optical aiming interface test of the inertial platform to be tested is realized;
the test information interaction module is used for acquiring output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, and reporting data to the front end of the test system through the back-end message management module.
The back-end bus message management module and the power control and communication management module realize data interaction through Ethernet, the back-end bus message management module is used as a client, the power control and communication management module is used as a server, the power control and communication management module has a communication link self-monitoring function, and when the communication link is monitored to be interrupted, reconnection is automatically tried; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
The front end of the test system completes coding management of client sockets according to the network address of the rear end of the test system and the model and the serial number information of the inertial platform to be tested, the front end of the test system realizes information interaction with corresponding back-end equipment of the test system and the inertial platform to be tested through different sockets, and online test of multiple sets of inertial platform systems is realized in a mode that the front end of the test system is matched with the rear ends of multiple distributed test systems.
As shown in fig. 4, the real-time diagnosis and decision processing module may receive data processed by the front-end message parsing processing module of the testing system. And the fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, and when the received test data frame is not verified, the current frame of test data does not participate in subsequent fault diagnosis and continues to receive the next frame of test data. And after the test data passes the verification, performing qualification judgment on the frame data parameters, if the data is qualified, continuously receiving the next frame of test data, if the data has unqualified items, judging whether the unqualified items are key parameters, if the key parameters are unqualified, directly deciding to execute a protection processing measure, and if the unqualified items are non-key parameters, adding 1 to the continuous fault count value. And then judging whether the continuous fault count value is greater than 5, if the continuous fault count value is greater than 5, sending an audible and visual alarm instruction to the bus message management module, and if the continuous fault count value is less than 5, continuously receiving next frame data. The false alarm rate is reduced to a certain extent and the safety of the test process is ensured through the fault real-time diagnosis and decision processing mechanism. For the key parameter fault, the front end of the test system directly sends a control instruction to the bus message management module, so that disconnection operation of a control loop and a power supply is realized, and the damage of the fault to an inertial platform, a test place and a tester is reduced.
As shown in fig. 5, the platform parameter management module completes the sending and receiving management of platform parameters, the platform parameters include an inertial instrument tool error, an instrument installation error and an instrument temperature coefficient, and the platform parameter management module includes three functions of manual parameter programming, automatic parameter programming and parameter downloading management. The manual parameter programming realization process comprises the steps of reading a local parameter file, displaying data in the parameter file to a platform parameter management interface, completing dimension conversion of the data, sending uploaded data and a parameter programming instruction to a front-end bus message management module, and realizing curing of all parameters through an inertial platform after a rear end of a test system receives the parameter programming message. The automatic parameter programming only needs to send a parameter automatic programming instruction to the front-end bus management module, the rear end of the test system can control the inertial platform to realize automatic updating and solidification of parameters of the platform after receiving the automatic programming instruction, the solidification mode is that the inertial platform reads out data in a data Flash area inside the platform, statistical operation is carried out, a statistical result is solidified in the parameter Flash area, the automatic parameter programming process is simple, and the phenomenon that the operation errors of testers cause the calculation errors of the parameters of the platform can be avoided. The parameter download management part comprises readback, verification and qualification interpretation of data parameters, and can automatically realize display and storage of platform parameters, and the parameter download process comprises emptying a platform parameter display interface, sending a parameter readback message through the front end of the test system, receiving the platform data parameters uploaded by the rear end of the test system, performing qualification interpretation on the parameters, performing analysis dimension conversion and platform parameter interface display on the parameters by the front end of the test system, and creating a parameter file to store the platform data parameters.
As shown in fig. 6, the front end of the test system has rich human-computer interaction interfaces, and the switching of the interfaces and the calling operation of the sub-windows can be conveniently and quickly realized for different testers. The front end of the test system is provided with two main operation interfaces, namely a designer test interface and a user test interface. The test interface of the designer can display complete test information, the software function is rich, the user test interface is refined, the operation is simple and convenient, and the test requirement of the inertial platform can be met. The software at the front end of the test system is started and defaulted to be a user test interface, and the software can be switched conveniently by reserving a shortcut key. The designer test interface can realize more test functions, and the child window is triggered and called by a button clicking method. The software interface can display the current state, the operation record and the key test result of the inertial platform, and update the interface test information in real time.
As shown in fig. 7, the equivalent function of the external inertial navigation system is realized by the front end and the rear end of the test system in a matching manner, the rear end of the test system receives an external inertial output control command from the front end, and inertial navigation data is output to the inertial platform to be tested through the external inertial navigation system equivalent module. The external inertial navigation equivalent system sub-window needs to be called through a test main interface of a designer, and output modes of fast-changing information, slow-changing information and course synthetic information can be selected from the sub-window, wherein the output modes comprise a fixed value output mode, a sine alternating output mode and a text reading mode, the fast-changing information is attitude information, and the slow-changing information is speed and position information. After the user selects the output mode, the control instruction is sent to the front-end bus message management module through the human-computer interaction interface, and after the rear end of the test system receives the control instruction, the external inertial navigation system equivalent module is controlled to send inertial navigation data to the inertial platform to be tested in an online text generation or reading mode, so that the test of the inertial platform external inertial navigation data interface function is realized, and a convenient way is provided for verifying the inertial platform system transfer alignment, dynamic transposition control function and the like.
As shown in fig. 8, the equivalent function of the optical aiming system is realized by the front end and the rear end of the test system, the sub-window corresponding to the module needs to be called by a designer test main interface, and the equivalent module of the inertial aiming system includes two parts of contents of sending a collimated pulse signal and sending a collimated control current. The front end of the test system can be provided with a sending interval of the collimated pulse signals, the output mode of the collimated current is adjustable, and the configurable parameters comprise output mode selection, a direct-current voltage value, a square-wave high level, a square-wave low level, alternating-current signal frequency, signal duty ratio and sinusoidal signal amplitude. After the rear end of the test system receives the control instruction of the optical aiming system sent by the front end, the rear end optical aiming system equivalent module is controlled to send the collimated pulse signal and the collimated control current to the inertial platform to be tested according to the specified setting, so that the test of the electrical and optical interfaces between the inertial platform and the optical aiming system is completed, and the verification work of the optical aiming algorithm and the optical aiming test flow of the inertial platform system can be completed in an assisted manner.
As shown in fig. 9, the working flow of the test system of the present invention is as follows: the front end of the test system automatically completes initialization of each module after running, starts network monitoring, waits for the rear end to be connected into a test network, sends a control instruction to acquire the model and serial number information of a product of the rear end corresponding to the inertial platform when the front end monitors that the rear end is connected, manages network sockets according to the information, and realizes mapping management of the sockets and the corresponding platforms. After the test is started, a periodic control instruction is automatically or manually sent by the front end, so that the inspection of the test information of the inertial platform product is realized, the rear end of the test system completes the instruction analysis, the hardware board card is controlled to realize the acquisition of the test information, and the test data is periodically stored in a local storage medium in a source code mode. Meanwhile, the rear end of the test system can periodically upload the collected test data to the front end, and the front end completes analysis, processing and display operation of the source code data. The back ends of different test systems can be accessed to the front end of the test system in a time sharing manner, the back ends of different test systems are not affected by involvement, and the back ends of the test systems can be distributed in different test stations. When the test is finished, a certain back end can actively disconnect the network connection with the front end. The test work of other products is not influenced. The front end and the back end of the test system respectively operate, when the front end does not operate, the back end cannot establish network connection, and at the moment, the system test cannot be carried out.
The inertia platform test system set up by the method can realize distributed test of the inertia platform system, complete simultaneous online test of multiple types and sets of inertia platform systems, realize the unification of test system resources and effectively reduce the investment of developing resources.
Parts of the invention not described in detail are within the common general knowledge of a person skilled in the art.
Claims (8)
1. An Ethernet-based distributed inertial platform test system, comprising: the system comprises a test system front end, an Ethernet bus and a plurality of test system rear ends, wherein the test system rear ends carry out information interaction with the test system front end through the Ethernet, and each test system rear end corresponds to one inertia platform to be tested;
the front end of the test system is a server end and is used for receiving and processing user operation instructions, performing message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
the rear end of the test system is a client which is directly connected with the inertial platform to be tested and used for inertial platform test information interaction, computer hard disk state monitoring, acousto-optic alarm device control, power supply control and communication state management, external inertial navigation system sending inertial navigation data simulation and external optical aiming system sending optical aiming straight signals simulation.
2. An ethernet-based distributed inertial platform test system according to claim 1, wherein: the front end of the test system comprises a front end initialization module, a front end bus message management module, a human-computer interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module and a real-time diagnosis and decision processing module;
the front-end initialization module completes initialization of a human-computer interaction interface, a TCP server end and creation of a data storage file, and connection can be established with the rear end of the test system after initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system is communicated with the rear end through the front-end bus message management module, the front-end bus message management module inspects the message sending queue in real time, when a message to be sent is detected, data are sent to the rear end of the test system through the Ethernet, and meanwhile, the message receiving queue is inspected in real time, and when an unprocessed message is detected in the message receiving queue, the received message is sent to the message analyzing and processing module;
the human-computer interface operation module receives a user operation instruction or input information, presses the user operation instruction or the input information into a message sending queue, and controls the rear end of the test system to complete corresponding operation through the front-end bus message management module;
the message analysis processing module completes analysis processing of the test information, the processed information is displayed through the interface display module, stored through the information storage module, and complete real-time fault diagnosis through the real-time diagnosis and decision processing module, and when the test information is detected to be abnormal, an audible and visual alarm message and a decision processing message are generated and pressed into a message sending queue;
the task intelligent scheduling module is realized by adopting a finite state machine, acquires the working state of the inertial platform to be tested through the message analysis processing module, completes task state transfer according to the working state or task execution time of the inertial platform to be tested, and ensures that a test sequence runs orderly to realize the intelligent scheduling of tasks;
the platform parameter management module realizes the sending and receiving of data parameters of the inertial platform to be tested, the data parameter sending is realized by pressing parameter information into a sending message queue, and the received data parameters are sent to the platform parameter management module through the message analysis processing module.
3. An ethernet-based distributed inertial platform test system according to claim 1, wherein: the rear end of the test system comprises a rear end initialization module, a rear end bus message management module, a power control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module;
the back-end initialization module completes initialization of hardware drive and initialization of a TCP client, and TCP connection is carried out to a server end after initialization is completed, namely the front end of the test system;
the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes program control and data reading of the direct-current stabilized power supply through an SCPI control instruction according to the message of the rear-end bus message management module;
when monitoring that the test information is abnormal, the front end of the test system sends an alarm control instruction, and after receiving the alarm control instruction, the rear-end bus message management module sends an audible and visual alarm instruction to the audible and visual alarm module to realize fault alarm prompt;
the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end;
the external aiming system equivalent module outputs a collimation control signal and a collimation pulse signal according to a command sent by the front end, so that the optical aiming interface test of the inertial platform to be tested is realized;
the test information interaction module is used for acquiring output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, reporting data to the front end of the test system through the back-end message management module, and sending the control instruction to the inertial platform through the test information interaction module after the back-end message management module receives the control instruction of the front end of the test system, so as to control the inertial platform to complete corresponding operation.
4. An Ethernet-based distributed inertial platform test system according to claim 3, characterised in that: the back-end bus message management module and the power control and communication management module realize data interaction through Ethernet, the back-end bus message management module is used as a client, the power control and communication management module is used as a server, the power control and communication management module has a communication link self-monitoring function, and when the communication link is monitored to be interrupted, reconnection is automatically tried; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
5. An Ethernet-based distributed inertial platform test system according to claim 3, characterised in that: the front end of the test system completes coding management of client sockets according to the network address of the rear end of the test system and the model and the serial number information of the inertial platform to be tested, the front end of the test system realizes information interaction with corresponding back-end equipment of the test system and the inertial platform to be tested through different sockets, and online test of multiple sets of inertial platform systems is realized in a mode that the front end of the test system is matched with the rear ends of multiple distributed test systems.
6. An ethernet-based distributed inertial platform test system according to claim 2, wherein: the real-time diagnosis and decision processing module carries out real-time fault diagnosis, and specifically comprises the following steps:
the fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, when the test data frame received by the real-time diagnosis and decision processing module fails to pass the verification, the current frame of test data does not participate in the subsequent fault diagnosis, and the next frame of test data is continuously received; after the test data passes the verification, performing qualification judgment on the frame data parameters, if the data is qualified, continuously receiving the next frame of test data, if the data has unqualified items, judging whether the unqualified items are key parameters, if the key parameters are unqualified, directly deciding to execute protective treatment measures, if the unqualified items are not key parameters, adding 1 to a continuous fault count value, then judging whether the continuous fault count value is greater than 5, if the continuous fault count value is greater than 5, sending an audible and visual alarm instruction to a bus message management module, and if the continuous fault count value is less than 5, continuously receiving the next frame data; and for the key parameter fault, directly sending a control instruction to the bus message management module to realize the disconnection operation of the control loop and the power supply.
7. An ethernet-based distributed inertial platform test system according to claim 2, wherein: the platform parameter management module realizes the sending and receiving of the data parameters of the inertial platform to be tested, and specifically comprises the following steps:
the platform parameter management module completes the sending and receiving management of the parameters of the inertial platform, the parameters of the platform comprise tool errors of an inertial instrument, installation errors of the instrument and temperature coefficients of the instrument, and the platform parameter management module comprises three functions of manual parameter programming, automatic parameter programming and parameter downloading management;
the manual parameter programming realization process comprises the following steps: reading a local parameter file, displaying data in the parameter file, completing dimension conversion of the data, sending uploaded data and a parameter programming instruction to a front-end bus message management module, and after receiving the parameter programming message at the rear end of the test system, realizing curing of all parameters through an inertial platform;
the automatic parameter programming realization process comprises the following steps: the method comprises the steps that a parameter automatic programming instruction is sent to a front-end bus management module, after the rear end of a test system receives the automatic programming instruction, an inertial platform is controlled to achieve automatic updating and solidification of parameters of a platform, the solidification mode is that the inertial platform reads out data in a Flash area of data inside the platform, statistical operation is carried out, and a statistical result is solidified in the parameter Flash area;
the parameter downloading management comprises the readback, the verification and the qualification judgment of all the parameters, the display and the storage of the platform parameters are automatically realized, and the parameter downloading management process comprises the following steps: the method comprises the steps of clearing a platform parameter display interface, sending a parameter read-back message through the front end of a test system, receiving platform parameters uploaded by the rear end of the test system, judging the qualification of the parameters, carrying out analysis dimension conversion and platform parameter interface display on the parameters by the front end of the test system, and creating a parameter file to store the platform parameters.
8. An Ethernet-based distributed inertial platform test system according to claim 3, characterised in that: the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end, and the method specifically comprises the following steps:
after the rear end of the test system receives an external inertial navigation control instruction sent by the front end, the test system controls an equivalent module of the external inertial navigation system to send inertial navigation data to the inertial platform to be tested in a mode of generating or reading a text on line, and therefore testing of the external inertial navigation interface function of the inertial platform is achieved.
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