CN112947384B - Multifunctional satellite simulation test system - Google Patents
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Abstract
The invention relates to a multifunctional satellite simulation test system which at least comprises an upper computer and a to-be-simulated test satellite, wherein data transfer is carried out between the upper computer and the to-be-simulated test satellite through simulation test equipment, and the simulation test equipment at least comprises a signal acquisition module and a signal output module. The signal acquisition module is configured to be capable of acquiring data information of each port of the upper computer and/or the satellite to be simulated. The signal output module is configured to be capable of outputting the data acquired by the signal acquisition module to the upper computer and/or each port of the satellite to be simulated and tested. The communication protocol at least comprises subblock contents used for representing each part and/or simulation test information according to a mode that at least each part and/or simulation test information of the satellite to be simulated can be abstracted so that hardware and software of the upper computer do not need to be correspondingly modified along with the change of the satellite platform to be simulated.
Description
Technical Field
The invention relates to the field of satellite simulation test systems, in particular to a multifunctional satellite simulation test system.
Background
The space engineering is characterized by bulkiness, complexity and high comprehensiveness, so that the satellite must be subjected to full component testing and system simulation before the last day, and the design scheme and the existing problems of the system are checked. However, the existing satellite simulation test system is generally designed only for a specific satellite platform, and has the following technical defects: 1) the simulation test system is complex, high in cost, large in volume and difficult to maintain; 2) the universality is not strong, namely after the satellite platform is changed, the upper computer and the simulation test system also need to be modified correspondingly with the upper computer and/or the simulation test system; 3) the simulation test system has strong coupling, so the expansion is inconvenient; 4) the simulation test has relatively single function and limited simulation effect; 5) during testing, corresponding adaptation of software and hardware structures of a satellite platform is needed, and the satellite is not completely in a real operating condition and the like.
For example, chinese patent publication No. CN205427516U discloses a bus-based satellite-ground closed loop test system for testing on-board devices of an attitude and orbit control subsystem. The system comprises N detection devices, a controller, M execution devices, a bus and a dynamics computer. The sensor is used for detecting flight attitude information. The sensor processing circuit is used for processing the flight attitude information output by the sensor. The actuating mechanism driving circuit receives the control signal sent by the controller and generates a driving signal to drive the actuating mechanism to execute operation. And the controller receives the signal output by the sensor processing circuit through a bus and sends a control signal to an actuating mechanism driving circuit through the bus based on the signal. And receiving a status signal fed back by the execution device through the bus. And the dynamic computer is in bidirectional communication with the dynamic computer through a bus. The type of the satellite-ground interface is greatly simplified through the arrangement of the bus, and the number of the satellite-ground interfaces and the volume of the test equipment are also reduced. However, the satellite-ground closed loop test system still has the following technical defects: the system is mainly based on a special acquisition card such as a serial port card and a 1553B board card, acquires specific type bus data and sends the data to a dynamics computer for simulation, but when a satellite platform changes, for example, the type or the number of the buses used by satellite components changes, the system needs to be additionally provided with the corresponding acquisition card and modify upper computer simulation software on the dynamics computer, and the system is poor in universality and expandability. Accordingly, there is a need for improvement in response to the deficiencies of the prior art.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multifunctional satellite simulation test system which at least comprises an upper computer and a satellite to be simulated and tested. And data transfer is carried out between the upper computer and the satellite to be simulated and tested by the simulation testing equipment. The simulation test equipment at least comprises a signal acquisition module and a signal output module. The signal acquisition module is configured to be capable of acquiring data information from the upper computer and/or each port of the satellite to be simulated. The signal output module is configured to be capable of outputting the data information acquired by the signal acquisition module to the upper computer and/or each port of the satellite to be simulated. The communication protocol at least comprises subblock contents used for representing each part and/or simulation test information according to a mode that at least each part and/or simulation test information of the satellite to be simulated can be abstracted so that hardware and software of the upper computer do not need to be correspondingly modified along with the change of the platform of the satellite to be simulated.
According to a preferred embodiment, the signal acquisition module and/or the signal output module are configured to at least enable transmission of data frames with the upper computer according to a communication protocol. The communication protocol at least comprises the frame type of the data frame according to a mode capable of at least representing the path condition of the data received by the signal acquisition module to be transmitted.
According to a preferred embodiment, the simulation test equipment is further provided with a configuration module. The configuration module is configured to configure a data flow matrix according to at least the data frame of the upper computer received by the signal acquisition module. The data flow matrix is used for representing the path condition of the data frame to be transmitted.
According to a preferred embodiment, the method for configuring the data flow matrix by the configuration module according to the data frame of the upper computer comprises the following steps: the configuration module can configure the data stream matrix according to the frame type of the data frame received by the signal acquisition module.
According to a preferred embodiment, the simulation test equipment is provided with a component load data acquisition module in a manner that the component and load data received by the signal acquisition module can be analyzed at least according to the protocol of the satellite component and load to be simulated.
According to a preferred embodiment, the simulation test equipment is provided with a component load simulation module in a manner that response data can be generated at least according to the protocol of the satellite component and load to be simulated and based on the data frame received by the signal acquisition module.
According to a preferred embodiment, the simulation test equipment is provided with an interference test module in a mode of generating interference data and/or simulation data at least according to the data frame configuration of the upper computer.
According to a preferred embodiment, the simulation test equipment is provided with a recording and analyzing module in a manner of being capable of correspondingly recording and/or analyzing the data frames received by the signal acquisition module.
According to a preferred embodiment, the method for performing bidirectional data flow between the upper computer and the satellite to be simulated and between the buses of the satellite to be simulated respectively comprises the following steps: the signal acquisition module inquires whether a data frame is received from the upper computer or the satellite; the signal acquisition module searches whether a start mark of the data frame exists in a processing buffer area of the signal acquisition module; the signal acquisition module inquires whether the received data frame has length data or not; the signal acquisition module checks the currently received data frame; the signal acquisition module processes the content of the subblocks in the received data frame; and the signal acquisition module judges whether the content of the subblocks is processed.
According to a preferred embodiment, the method for processing the content of the sub-blocks in the received data frame by the signal acquisition module comprises the following steps: the signal acquisition module can call one or more modules of a configuration module, a component load data acquisition module, a record analysis module, a component load simulation module, an interference test module and a data transparent transmission forwarding module according to different frame types corresponding to the content of the subblocks for processing.
The beneficial technical effects of the invention at least comprise:
the satellite simulation test system at least comprises an upper computer and a to-be-simulated test satellite, data transfer is carried out between the upper computer and the to-be-simulated test satellite through simulation test equipment, the simulation test equipment at least comprises a signal acquisition module and a signal output module, the signal acquisition module can acquire data information from each port of the upper computer and/or the to-be-simulated test satellite, the signal output module can output the data information acquired by the signal acquisition module to each port of the upper computer and/or the to-be-simulated test satellite, the communication protocol is configured to abstract at least each component and/or simulation test information of the to-be-simulated test satellite so that hardware and software of the upper computer at least comprise subblock contents for representing each component and/or simulation test information in a mode of correspondingly modifying the hardware and the software of the upper computer without changing along with the to-be-simulated test satellite platform, through the configuration mode, the upper computer software can be adjusted without the configuration difference of the satellite platform, namely, the upper computer only needs to carry out corresponding data interaction according to the specific communication protocol, and does not need to carry out corresponding modification along with the change of the satellite platform.
Drawings
FIG. 1 is a simplified schematic diagram of a preferred embodiment of a simulation test system of the present invention;
FIG. 2 is a simplified schematic diagram of a preferred embodiment of the present invention simulation test equipment flow of parsing data from a host computer;
FIG. 3 is a simplified schematic diagram of a preferred embodiment of the data flow between the host computer and the emulation test equipment of the present invention;
FIG. 4 is a simplified schematic diagram of another preferred embodiment of the data flow between the upper computer and the emulation test equipment of the present invention;
FIG. 5 is a simplified schematic diagram of a preferred embodiment of the modules within the simulation test equipment of the present invention;
fig. 6 is a simplified schematic diagram of a preferred embodiment of the data flow matrix of the present invention.
List of reference numerals
1: an upper computer 2: the satellite to be simulated and tested 3: simulation test equipment
301: the signal acquisition module 302: the configuration module 303: data transparent transmission forwarding module
304: the signal output module 305: component load data acquisition module
306: component load simulation module 307: the interference test module 308: record analysis module
309: integrated simulation test interface I310: integrated simulation test interface II
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Example 1
As shown in fig. 1, a satellite simulation test system for data stream multi-directional transmission at least includes an upper computer 1 and a to-be-simulated test satellite 2. The upper computer 1 is configured at least to be used for simulation testing of the satellite 2 to be simulated. Data transfer can be carried out between the upper computer 1 and the satellite 2 to be simulated and tested through the simulation testing equipment 3. The simulation test device 3 comprises at least: the system comprises a signal acquisition module 301, a configuration module 302, a data transparent transmission and forwarding module 303 and a signal output module 304. The signal acquisition module 301 is configured to be capable of at least cyclically and continuously acquiring data of each port of the upper computer 1 and/or the satellite 2 to be simulated and tested. The configuration module 302 is configured to configure a data flow matrix at least according to the data frame of the upper computer 1 received by the signal acquisition module 301, where the data flow matrix is used to represent a path condition where the data frame needs to be transmitted. The transparent data transmission and forwarding module 303 may be configured to query the configuration of the data flow matrix. The signal output module 304 is configured to be capable of outputting data received by the signal acquisition module 301 to the upper computer 1 and/or the test satellite 2 to be simulated. The data pass-through forwarding module 303 is configured to at least be capable of transmitting the data frame received by the signal acquisition module 301 to a port specified by the data flow matrix by calling the signal output module 304 according to the configuration condition of the data flow matrix.
Preferably, the software part of the upper computer 1 may include at least one of simulation software, test software, and a kinetic model. Preferably, the software part of the upper computer 1 can be implemented based on an embedded real-time system, so that the upper computer 1 can have better real-time performance. Preferably, the software part of the upper computer 1 may also not be limited to the simulation test of the satellite. Preferably, the dynamic model may be one or more of a flywheel model, a magnetic moment model, a space-sensitive model, a gyro model, a star-sensitive model, a magnetometer model, a GPS model, and the like. Preferably, the dynamical model may not be limited to a dynamical model of a satellite. Preferably, the test satellite 2 to be simulated may comprise at least an on-board computer and an actuator. Preferably, the actuators of the satellite 2 to be simulated for testing may comprise flywheels, windsurfing drives, magnetic torquers, propulsion subsystems, etc. Preferably, the sensor of the satellite 2 to be simulated and tested can comprise a gyroscope, an infrared earth sensor, a sun sensor, a star sensor and the like. Preferably, the upper computer 1 may be a general-purpose computer. Preferably, the upper computer 1 can run a simulation system human-computer interaction software. Preferably, the simulation system may include a processor, a display and an input device. Preferably, a TCP/IP network communication interface can be integrated on the processor. Preferably, the input device can complete the input of test parameters and other related operations. Preferably, the display may display various status parameters of the simulated operating satellite. Preferably, the processor may perform the processing of the relevant data and the storage thereof.
Preferably, the simulation test device 3 may be in a listening mode by default, that is, only collecting signals on the satellite buses and not outputting signals to the satellite buses, so as to avoid interfering with the normal operation of the satellite. Preferably, the upper computer 1 can configure the simulation test equipment 3 and the satellite to enter different working modes. For example, go to full physics simulation, non-physics simulation, hybrid simulation. Preferably, the upper computer 1 can perform dynamic configuration during the operation of the simulation test equipment 3 and the satellite. Preferably, the upper computer 1 and the simulation test device 3can communicate with each other through a serial port. Preferably, the upper computer 1 and the simulation test device 3can communicate with each other through an ethernet. Preferably, the upper computer 1 and the simulation test device 3can communicate with each other through other types of interfaces. Preferably, the upper computer 1 and the simulation testing device 3 may perform interaction of operation instructions, collected data and simulation data based on a UDP network protocol. Preferably, the upper computer 1 and the simulation testing device 3can also perform interaction of operation instructions, collected data and simulation data based on TCP/IP protocol communication.
Preferably, the hardware part of the simulation test device 3 may adopt an embedded single board, so as to realize the miniaturization of the volume of the simulation test device 3. For example, the hardware part of the simulation test device 3 may be integrated on an embedded board which is controlled by an ARM chip. For example, the hardware portion of the simulation test equipment 3 may be integrated on an embedded board within 10cmx10cmx10 cm. By the configuration mode, the simulation test device 3can be used and maintained conveniently, and meanwhile, the manufacturing cost of the simulation test device 3can be reduced.
Preferably, the upper computer 1 and the simulation testing device 3can communicate with each other through a serial port and/or an ethernet.
As shown in fig. 2, the signal acquisition module 301 may continuously process the data stream. Preferably, when the signal acquisition module 301 does not read a complete frame, the data continues to remain in the processing buffer of the signal acquisition module 301. Preferably, when the current processing buffer data contains a complete frame, the signal acquisition module 301 processes the complete frame. Preferably, the signal acquisition module 301 may delete the data that has been processed. Preferably, unprocessed data may continue to remain in the processing buffer of the signal acquisition module 301 to await being processed.
According to a preferred embodiment, the signal acquisition module 301 is configured to be able to acquire at least data information from the upper computer 1 and/or the ports of the test satellite 2 to be simulated. Preferably, the data information of each port may include one or more of data information from a CAN (Controller Area Network), an SPI (Serial Peripheral Interface), a Serial port (including RS422, RS485, and the like), an IIC (Inter-Integrated-Circuit bus) bus, an analog input/output, a digital input/output, a PWM (pulse width modulation) signal, and the like. Preferably, the signal collection module 301 may collect signals received by each port of the simulation test device 3 cyclically. Preferably, the ports may include all serial ports and/or bus interfaces and the like on the simulation test device 3. Preferably, the port may also be a port for communicating with the upper computer 1. Preferably, the length of data received by the signal acquisition module 301 at a time can be dynamically configured according to actual requirements. For example, the data read by the signal acquisition module 301 at a time may be of any length. By the data stream processing manner as shown in fig. 2, it can be ensured that: when the signal acquisition module 301 queries that the received frame data is incomplete, the incomplete frame data may be discarded, and the signal acquisition module 301 may continue to query the frame data cyclically and continuously until the signal acquisition module 301 finds the complete frame data of the next batch and then processes the complete frame data; when there is an error in the frame data, the frame data with the error can also be found through checking, and the signal acquisition module 301 may discard the frame data with the error.
Preferably, the signal output module 304 can transmit the corresponding data frame to the corresponding bus or other port of the satellite according to the data flow matrix generated by the configuration module 302. Preferably, the signal output module 304 may send the corresponding data frame to the corresponding port of the upper computer 1 according to the data flow matrix generated by the configuration module 302. Preferably, each module on the simulation test equipment 3can send the data to be sent to the sending queue of the signal output module 304. Preferably, the signal output module 304 may query its own transmit queue cyclically. For example, if the signal output module 304 finds that there is data to be output, the signal output module 304 transmits the corresponding data to a corresponding port of the upper computer 1 or the satellite.
Preferably, the data transparent transmission forwarding module 303 may analyze a path condition that the data frame needs to be transmitted according to the data stream matrix configured by the configuration module 302. Preferably, the data transparent transmission forwarding module 303 may determine whether to forward the corresponding data received by the signal acquisition module 301 to the designated port of the upper computer 1 and/or the satellite according to the data flow matrix. Preferably, the designated port may be a serial port and/or a bus port. Preferably, the data transparent transmission forwarding module 303 may implement forwarding and/or transparent transmission of data by calling an interface of the signal output module 304. Preferably, the data transparent transmission and forwarding module 303 can forward the data received by the signal acquisition module 301 to a specified component, so as to cooperate with the upper computer 1 to perform an automatic test on the specified component. Through the configuration mode, the data transparent transmission forwarding module 303 may receive the data signal from the signal acquisition module 301, configure the data flow matrix according to the frame type of the received data frame, then the data transparent transmission forwarding module 303 queries the data flow matrix, and invokes the signal output module 304 to send the data frame to be transmitted to the sending queue of the signal output module 304. The signal output module 304 queries the transmission queue, and if the signal output module 304 queries that there is a data frame to be output, outputs the corresponding data to the port indicated by the data flow matrix.
According to a preferred embodiment, as shown in fig. 3 and 4, the signal acquisition module 301 and/or the signal output module 304 are configured to at least enable transmission of data frames with the upper computer 1 according to a communication protocol. The communication protocol at least includes a frame type of the data frame in a manner capable of at least indicating a path condition along which data received by the signal acquisition module 301 needs to be transmitted. Preferably, the communication protocol may include at least a start flag, length, frame type, and sub-block content.
Preferably, the start flag may be used to indicate a start position of the current data frame. Preferably, the start flag may be AA 55. Preferably, the start mark may take other forms of characters. Preferably, the length may represent a total length of the current data frame. Preferably, the frame type may indicate a type of the current data frame. Preferably, one data stream may include data of a plurality of frame types. Preferably, each frame type may correspond to a plurality of identical or different sub-block contents. Preferably, the length of the data frame can be arbitrarily expanded according to actual requirements. Preferably, the data frame may employ a uniform data format. Preferably, the categories of the data frames can be distinguished by frame type. Preferably, the frame type may be represented by a number. For example, the frame type 0 may represent data sent by the upper computer 1 to the simulation test device 3, 1 may represent commands sent by other computers to the simulation test device 3, 2 may represent data sent by the simulation test device 3 to the upper computer 1, 01 may represent data sent by the serial port 1 of the upper computer 1 to the simulation test device 3CAN1, and the like. Preferably, other values for the frame type may be used for expansion. Preferably, the frame type may be represented by other forms of characters.
According to a preferred embodiment, the communication protocol is configured to abstract at least the components of the satellite under test 2 and/or simulation test information so that the hardware and software of the upper computer 1 do not need to be modified accordingly as the platform of the satellite under test 2 changes. Preferably, the present communication protocol may abstract components of the satellite and/or simulation test content. Preferably, the communication protocol can abstract information such as remote measurement and remote control. Preferably, the content transmitted by the present communication protocol may be abstract data. Preferably, the abstraction may be by abstracting components and/or simulation test content on the satellite into concrete characters. Preferably, the characters may be numbers. Preferably, the characters may be characters in other forms convenient for representing the components and/or simulating the test contents. Preferably, the communication protocol can abstract information of different components, loads and the like into data information such as subblock length, subblock type, subblock subtype and subblock content. Preferably, the sub-block content may represent data of the same or different components, and may be, for example, simulation or test content of a flywheel or the like.
Preferably, the satellite platform change may be a change in the type and/or number of buses used on the satellite. Preferably, the satellite platform changes may also vary as to the type and/or number of components used on the satellite. The satellite platform changes may also preferably be changes to other hardware and/or software on the satellite. Preferably, the content of the sub-blocks received by the signal acquisition module 301 can be dynamically set according to actual requirements. Preferably, the number of sub-blocks included in the data received by the signal acquisition module 301 at a time may be dynamically set according to actual requirements. By the configuration mode, the condition that the processing data speeds of the upper computer 1 and the simulation test equipment 3 are different can be adapted. Preferably, the signal acquisition module 301 may query the data cyclically.
Preferably, the sub-block content may represent data of the same or different components, and may be, for example, simulation or test content of a flywheel or the like. Preferably, the content of the subblocks can also be flexibly expanded according to the requirements of the actual simulation test. Preferably, the number of sub-blocks can be flexibly set according to actual simulation test requirements. Preferably, the content of the sub-block may represent a specific simulation test data. Preferably, the content of a sub-block may be data related to a component. Preferably, the content of the sub-block may be an instruction.
Preferably, the content of the sub-block can be set as other data according to actual requirements. Preferably, the sub-blocks of different frame types represent different meanings. As shown in fig. 3, the data of the simulation component includes star sensor data and flywheel data. Preferably, the sub-block content may also be data of any other component. Preferably, the sub-block length may also be included in the sub-block. Preferably, the value of the sub-block length may be the total length of the sub-block, i.e., the total length of the sub-block length, the sub-block type, the sub-block subtype, and the sub-block content. Preferably, the sub-blocks may also include a type for distinguishing different sub-blocks. Preferably, the number of sub-blocks in the communication protocol can be dynamically configured according to the actual requirements of the simulation test, that is, the communication protocol can dynamically adapt to different numbers or types of devices or components on the satellite. For example, type 1 in the sub-block of fig. 3 represents a star sensor, and type 2 in the sub-block represents a flywheel. Preferably, the sub-types in the sub-blocks are used to distinguish the same type of data. For example, in FIG. 3, subtype 1 may represent Star min 1 and subtype 2 may represent Star min 2. Through the configuration mode, the universality and the system coupling of the simulation test equipment 3can be stronger, so that the corresponding extension can be conveniently carried out according to the change of a satellite platform, namely when the satellite platform is changed or used components and the like are changed, the corresponding modification on the relevant hardware and software of the upper computer 1 and the simulation test equipment 3 is not needed, and only the communication and the corresponding simulation test can be carried out according to the communication protocol. For example, the dynamics model in the upper computer 1 may be configured to use 1 star sensor and 1 reaction flywheel (as in the upper part of fig. 4); the dynamic configuration of the dynamic model in the upper computer 1 uses 2 star sensors (as shown in the lower part of fig. 4).
Preferably, the data frame may be checked in order to guarantee the accuracy of the data frame transmission. Preferably, the check may use different check methods such as a cumulative sum or a CRC according to different applications. Preferably, the check field may be a value calculated by a corresponding algorithm from all data preceding the check field.
Through the configuration mode, the software of the upper computer 1 can be adjusted without the configuration of the satellite platform and the difference of the used interfaces, namely, the upper computer 1 only needs to carry out corresponding data interaction according to the specific communication protocol, and does not need to carry out corresponding modification along with the change of the satellite platform bus or the component configuration.
According to a preferred embodiment, as shown in fig. 5 and 6, the method for configuring the data flow matrix by the configuration module 302 according to the data frame of the upper computer 1 is as follows: the configuration module 302 may configure the data stream matrix according to the frame type of the data frame received by the signal acquisition module 301. Preferably, the data flow matrix may be used to indicate the path condition of the data frame to be transmitted. Preferably, the configuration module 302 may configure the data flow matrix according to the frame type of the data frame received by the signal acquisition module 301. For example, a data frame with a frame type of 01 may represent a data frame sent from the serial port 1 of the upper computer 1 to the simulation test device 3CAN 1; the data frame with the frame type 02 CAN represent a data frame sent from a CAN1 port of the simulation test equipment 3 to a serial port 1 of the upper computer 1; the data frame of the frame type 03 may represent a data frame transmitted from the CAN1 port of the emulation test device 3 to the CAN2 of the emulation test device 3. Preferably, the data flow matrix may be a bit matrix of N times N, where N may be a positive integer. Preferably, the configuration module 302 may configure the data stream matrix by setting a bit in the data stream matrix to be 1 or 0. Preferably, 1 bit in the data stream matrix may represent one data transmission path. Preferably, 0 may indicate that the data transmission path is not through. Preferably, 1 may indicate the data transmission path. Preferably, the data flow matrix may also take other forms to represent the path over which the data needs to be transmitted. Preferably, the configuration module 302 may also configure the data stream matrix in other ways to form a path for the data stream to be transmitted.
In order to facilitate understanding of the working principle of the bidirectional data flow from the satellite 2 to be tested to the upper computer 1, a brief process thereof is described as follows: suppose that the upper computer 1 is only provided with a serial port, and a certain single machine component is a port of a CAN bus. When the upper computer 1 needs to send a data stream command to test the single-machine component, the upper computer 1 cannot directly send the data stream command to the single-machine component. At this time, the simulation test device 3can be used as an intermediate bridge between the upper computer 1 and the single-computer component to complete data transfer. Assuming that the serial port 1 of the simulation test device 3 is connected with the upper computer 1, the CAN1 port of the simulation test device 3 is connected with the single-computer component, and the configuration module 302 CAN set the path from the serial port 1 to the CAN1, and from the CAN1 to the serial port 1 as through. The signal output module 304 of the simulation testing device 3CAN automatically send the data received by the serial port 1 to the CAN1 according to the data flow matrix configured by the configuration module 302, and send the data returned by the component to the serial port 1 through the CAN1, thereby realizing the bridging of the bidirectional data between the upper computer 1 and the satellite. Similarly, the bidirectional data stream transmission can be performed between any bus ports. As shown in fig. 6, assuming that the emulation test device 3 has 4 data ports, which are serial port 1, serial port 2, CAN1, and CAN2, respectively, and bidirectional data flow CAN be formed between any two ports, a total of 4x4 is 16 data paths. For example, the third column in the first row of the data flow matrix in fig. 6 represents the data transmission path from serial 1 to CAN1, and the 3 rd column of the first column represents the data transmission path from CAN1 to serial 1. Preferably, the bidirectional data flow between any bus ports can be performed according to the above-mentioned procedure of bidirectional data flow from the satellite to the upper computer 1. In addition, the bidirectional data stream transmission between any buses can be dynamically configured according to the requirements of actual simulation tests. Through the configuration mode, the simulation test equipment 3can be used as a data bridge of the upper computer 1 and the satellite platform to realize bidirectional data flow between the upper computer 1 and the satellite platform, and can also be used as a transfer station of data to realize data flow between bus signals.
According to a preferred embodiment, the simulation test equipment 3 is provided with a component load data acquisition module 305 in a manner that is capable of at least resolving the component and load data received by the signal acquisition module 301 according to the communication protocol between the satellite 2 to be simulated and the simulation test equipment 3.
According to a preferred embodiment, the simulation test equipment 3 is provided with a component load simulation module 306 in such a way that it is at least able to generate response data based on the data frames received by the signal acquisition module 301 according to the communication protocol between the test satellite 2 to be simulated and the simulation test equipment 3. Preferably, the component load simulation module may generate response data according to a communication protocol between the satellite 2 to be simulated and the simulation test equipment 3, so as to simulate a request command of each component for responding to the satellite. Preferably, the response data form of the same type of component or load may be substantially consistent. For example, the response data may be a current rotation speed, a target rotation speed value, and the like of a certain flywheel, and then the component load simulation module may compile the response data according to a communication protocol between the to-be-simulated test satellite 2 and the simulation test device 3 and send the compiled response data to each designated port through the signal output module 304.
Preferably, the data used by the component load simulation module 306 may be derived from a kinetic model of the upper computer 1. Preferably, the component load data acquisition module 305 can receive a data command sent to the component by the satellite and forward the data command to the upper computer 1 through the signal output module 304. Preferably, the dynamics model of the upper computer 1 can be updated according to the received data commands sent by the satellites to the component. Preferably, the upper computer 1 may transmit the updated dynamic model data to the component load simulation module 306 of the simulation test device 3, so that the data in the component load simulation module is the data after the dynamic model of the component is updated when the next satellite requests the component data. Preferably, the component load simulation module 306 may configure the response time according to the actual requirements of the simulation test job in response to the data instructions received by the component load simulation module 306. Preferably, the response time may be a fixed value. Preferably, the response time may also be a random value between the first threshold and the second threshold. Preferably, the first threshold value and the second threshold value may be different values. Preferably, the first threshold and the second threshold can be flexibly set according to the actual requirements of the simulation test work. Preferably, the response time is a fixed value when the first threshold is the same as the second threshold.
According to a preferred embodiment, the simulation test device 3 is provided with an interference test module 307 in such a way that interference data and/or simulation data can be generated at least as a function of the data frame configuration of the upper computer 1. Preferably, the interference test module 307 may simulate an abnormal test of each bus data and the like. Preferably, the interference test module 307 can perform various bus load rate tests. Preferably, the interference test module 307 can be correspondingly expanded according to the actual simulation test requirement. Preferably, the interference test module 307 can simulate generating bus interference data to simulate various working conditions in actual operation of the satellite. Preferably, the interference test module 307 may configure the periodic signal according to actual requirements. Preferably, the interference test module 307 may also configure the random signal within a specified range according to actual requirements. Preferably, the signal may be a digital signal. Preferably, the signal may also be an analog signal. For example, the interference testing module 307 may send a test instruction to the relevant relay according to a certain period of time, so that the relevant relay may implement a periodic on-off test on the relevant device; the interference test module 307 may also send a test instruction to the relevant disconnecting link at a random response time, so as to implement the random power-on and power-off test of the disconnecting link. Preferably, the interference test module 307 may output corresponding simulated interference data to any designated bus port to perform interference test and/or load rate test on the designated bus. Preferably, the interference test module 307 can test analog input and output of other devices through analog input and output. Preferably, the ports and the signals can be subjected to corresponding input and output tests. Preferably, the interference test module 307 may also perform corresponding extension according to the requirement of the actual simulation test. With this configuration, the interference test module 307 can be used as a data source to perform corresponding tests on each component and/or each bus, etc.
According to a preferred embodiment, the simulation test device 3 is provided with a recording and analyzing module 308 in such a way that it can perform a corresponding recording and/or analyzing of the data frames received by the signal acquisition module 301. Preferably, the recording analysis module 308 can record the bus information collected by the signal collection module 301. Preferably, the recording and analyzing module 308 may perform monitoring and analysis on the bus information collected by the signal collecting module 301 to record information such as error frames and frame counts. Preferably, the functionality of the record analysis module 308 may be extended according to the actual requirements in the simulation test work. By this configuration, the recording and analyzing module 308 can be used as a collector and a monitor of the bus signal to record and analyze corresponding information.
According to a preferred embodiment, the configuration module 302 is capable of parsing the data instructions from the upper computer 1 and globally configuring the modules within the simulation test device 3 according to the data instructions. Preferably, the global configuration may be: the configuration module 302 calls one or more of a component load data acquisition module 305, a component load simulation module 306, an interference test module 307, a record analysis module 308, a signal output module 304, a data transparent transmission forwarding module 303 and the like according to a data instruction from the upper computer 1. Preferably, the configuration module 302 invokes the component load data acquisition module 305 and/or the component load simulation module 306 to perform simulation test work on the to-be-simulated test satellite 2 in a manner of being capable of performing at least one simulation state of complete physical simulation, non-physical simulation and hybrid simulation according to the data instruction of the upper computer 1.
According to a preferred embodiment, the simulation test equipment 3 is provided with an integrated simulation test interface I309 in such a way that it is possible to facilitate a centralized access of the various buses and/or signals to the satellite 2 to be simulated. Preferably, the integrated simulation test interface I309 may integrate common bus and/or signal interfaces. Preferably, the bus and/or signal Interface may include one or more of a CAN (Controller Area Network), an SPI (Serial Peripheral Interface), a Serial port (including RS422, RS485, and the like), an IIC (Inter-Integrated-Circuit bus) bus, an analog input/output, a digital input/output, a PWM (pulse width modulation) signal, and the like.
Preferably, the satellite 2 to be simulated may be provided with an integrated simulation test interface II310 matching the integrated simulation test interface I309. Preferably, the simulation test device 3can be accessed to the satellite through the integrated simulation test port I309 when the satellite is in a normal operation state or a non-operation state. Preferably, the emulation test device 3can access the satellite through the integrated emulation test port I309 to realize plug and play of the emulation test device 3. Preferably, the integrated simulation test interface I309 and the integrated simulation test interface II310 may also be connected by a metal cable. Through the configuration mode, the simulation testing device 3can utilize the integrated simulation testing interface I309 to centralize all commonly used buses and signals together, so that the simulation testing device 3can conveniently access the integrated simulation testing interface II310 of the satellite 2 to be simulated through the integrated simulation testing interface I309. Meanwhile, the simulation test equipment 3 is connected to the satellite platform through the integrated simulation test interface I309, so that the satellite platform can be prevented from adapting to a corresponding software and hardware structure, and the influence on the normal running state of the satellite can be avoided, and the plug and play of the simulation test equipment 3can be realized, thereby achieving the technical effect of facilitating the installation of the simulation test equipment 3 in the satellite.
Example 2
This embodiment is a further improvement of embodiment 1, and repeated contents are not described again.
The method for performing bidirectional data flow between an upper computer 1 and a satellite 2 to be simulated and between buses of the satellite 2 to be simulated respectively provided by the embodiment comprises the following steps:
s01: the signal acquisition module 301 queries whether a data frame is received from the upper computer 1 and/or the test satellite 2 to be simulated. Preferably, when the signal acquisition module 301 queries that the data is received from the upper computer 1, the signal acquisition module 301 copies the data to the processing buffer of the signal acquisition module 301. Preferably, when the signal acquisition module 301 does not inquire that the data is received from the upper computer 1, the signal acquisition module 301 continues to inquire.
S02: the signal acquisition module 301 searches for the presence of a start flag for the data frame in the process buffer.
Preferably, when the signal acquisition module 301 searches for the start marker, the signal acquisition module 301 moves the start marker and the data after the start marker to the beginning of the processing buffer, and deletes the data before the start marker. Preferably, when the signal acquisition module 301 does not search for the start flag, the signal acquisition module 301 continues the search.
S03: the signal acquisition module 301 queries whether length data exists in the received data frame. Preferably, when the signal acquisition module 301 does not find the length data after querying the received data frame, the signal acquisition module 301 returns to the initial step S01. Preferably, when the signal acquisition module 301 finds length data after querying the received data frame, it continues to determine whether data with a specified length is received. Preferably, when the signal acquisition module 301 does not receive the data with the specified length, the signal acquisition module 301 returns to the initial step S01. Preferably, when the signal acquisition module 301 receives data with a specified length, the signal acquisition module 301 proceeds to the next processing step.
S04: the signal acquisition module 301 checks the currently received data frame.
Preferably, when the signal acquisition module 301 verifies correctly, the next processing step is entered. Preferably, when the signal acquisition module 301 checks the error, the signal acquisition module 301 returns to the initial step S01.
S05: the signal acquisition module 301 processes the sub-block content in the received data frame.
S06: the signal acquisition module 301 determines whether the processing of the content of the subblocks is completed. Preferably, when the content of the sub-block is not processed, the signal acquisition module 301 continues to process the content of the sub-block until all the content of the sub-block is processed. Preferably, when the sub-block content has been processed, the signal acquisition module 301 moves other unprocessed data to the beginning of the processing buffer to prepare for the next data processing.
Preferably, the data received by the simulation test device 3 from the upper computer 1 can be analyzed according to the above process. Preferably, the data returned by the simulation test equipment 3 received by the upper computer 1 may also be analyzed according to the same flow. Preferably, the upper computer 1 may also be provided with a signal acquisition module 301 and a signal output module 304.
According to a preferred embodiment, the method for processing the content of the sub-blocks in the received data frame by the signal acquisition module 301 is: the signal acquisition module 301 can invoke one or more of the configuration module 302, the component load data acquisition module 305, the record analysis module 308, the component load simulation module 306, the interference test module 307, and the data transparent transmission forwarding module 303 to process according to different frame types corresponding to the content of the sub-block. Preferably, signal acquisition module 301 may transmit the content of the subblocks to component payload data acquisition module 305. Preferably, the component payload data collection module 305 may parse the contents of the sub-blocks according to the protocol of the components and the payload. Preferably, the signal acquisition module 301 may transmit the content of the sub-blocks to the record analysis module 308. Preferably, the record analysis module 308 can perform statistical recording and analysis on the received data. Preferably, signal acquisition module 301 may transmit the subchunk contents to component payload simulation module 306. Preferably, the component payload simulation module 306 may generate response data for the content of the sub-block according to the protocol of the component and the payload. Preferably, the signal acquisition module 301 may transmit the content of the subblocks to the interference test module 307. Preferably, the interference test module 307 may configure interference data or other simulation data according to actual simulation test requirements. Preferably, the data transparent transmission and forwarding module 303 can directly transmit the data received by the signal acquisition module 301 to a designated port or component through the signal output module 304.
Example 3
This embodiment is a further improvement of embodiment 2, and repeated contents are not described again.
The embodiment provides a method for performing complete physical simulation, non-physical simulation and hybrid simulation based on the satellite simulation test system. Preferably, the components on the satellite that participate in the full physical simulation test are all real components. Preferably, the components participating in the non-physical simulation test on the satellite are all virtual components provided by the upper computer 1. Preferably, a part of the components participating in the hybrid simulation test on the satellite are real components, and another part of the components are virtual components. Preferably, the different simulation test modes can be configured and entered through the upper computer 1.
The complete physical simulation method based on the satellite simulation test system comprises the following steps:
s11: all parts participating in the complete physical simulation test on the satellite 2 to be simulated are real parts;
s12: the signal acquisition module 301 continuously acquires data information between each component and the test satellite 2 to be simulated;
s13: the signal acquisition module 301 forwards the data information to a corresponding module in the simulation test device 3 for processing according to the configuration of the upper computer 1. Preferably, the signal acquisition module 301 may directly forward the acquired data to the data transparent transmission and forwarding module 303 for processing according to the configuration of the upper computer 1. Preferably, the signal acquisition module 301 may forward the acquired data to the component load data acquisition module 305 first and then to the data transparent transmission and forwarding module 303 for processing according to the configuration of the upper computer 1.
S14: the signal output module 304 sends the data information processed by the above modules to the relevant port of the upper computer 1 according to the communication protocol. Preferably, after the data transparent transmission forwarding module 303 processes the data information, the data transparent transmission forwarding module 303 may invoke the signal output module 304 to transmit the data information processed by the above modules to the designated port of the upper computer 1 and/or the satellite 2 to be simulated and tested.
S15: the upper computer 1 performs simulation according to the received data of the real component. Preferably, the upper computer 1 may simulate the received data of the real component through a dynamic model in the upper computer 1.
S16: the upper computer 1 displays the real running state of the satellite 2 to be simulated and tested.
Preferably, the simulation test device 3 may be in a listening mode by default, i.e. only collect signals on the bus and not output signals to the bus, in order to avoid interfering with the normal operation of the satellite.
Through the configuration mode, when the satellite simulation test system is used for carrying out complete physical simulation, the simulation test equipment 3 and the upper computer 1 can only collect data of each bus without sending the data to the related bus, namely only monitor the data sent by the satellite to the component and forward response data returned by the component to the upper computer 1, so that the upper computer 1 can simulate and obtain the real running working condition of the satellite 2 to be simulated and tested.
The non-physical simulation method based on the satellite simulation test system comprises the following steps:
s21: all parts participating in the non-physical simulation test on the satellite 2 to be simulated are virtual parts;
s22: the corresponding data of the components are provided by simulation test software and/or a dynamic model of the upper computer 1;
s23: the upper computer 1 sends the corresponding data to each module in the simulation test equipment 3 for processing.
Preferably, the simulation test mode can be used when the satellite early-stage development verifies that the part is lack of real objects. Preferably, the signal acquisition module 301 may forward the acquired data to the component load simulation module 306 according to the configuration of the upper computer 1, and the data is processed by the component load simulation module 306. Preferably, the signal acquisition module 301 may forward the acquired data to the interference test module 307 according to the configuration of the upper computer 1, and the interference test module 307 processes the acquired data. With this arrangement, real components can be simulated by the component load simulation module 306 and/or the interference test module 307 and corresponding data returned to each associated port of the satellite. Preferably, the signal acquisition module 301 may directly forward the acquired data to the data transparent transmission and forwarding module 303 for processing according to the configuration of the upper computer 1. Preferably, the signal acquisition module 301 may forward the acquired data to the component load data acquisition module 305 first and then to the data transparent transmission and forwarding module 303 for processing according to the configuration of the upper computer 1.
S24: the signal output module 304 sends the data information processed by the above modules to the relevant ports of the satellite 2 to be simulated and/or the upper computer 1 according to the communication protocol. Preferably, after the data transparent transmission forwarding module 303 processes the data information, the data transparent transmission forwarding module 303 may call the signal output module 304 to transmit the data information processed by the above modules to a designated port of the test satellite 2 to be simulated and/or the upper computer 1.
Preferably, the signal acquisition module 301 may also forward an instruction or the like sent by the satellite to the relevant component to the upper computer 1. Preferably, the upper computer 1 dynamic model can update the dynamic model according to the data instruction. Preferably, the upper computer 1 dynamics model may send the updated dynamics model data to the simulation test device 3. With this arrangement, the next time the satellite requests part data, the dynamics model provides updated data to form a simulation test closed loop. By this configuration, the simulation test device 3can both collect bus data and send data to each bus of the satellite.
The hybrid simulation test method based on the satellite simulation test system comprises the following steps:
s31: one part of the components participating in the hybrid simulation test on the satellite 2 to be simulated is a real component, and the other part of the components is a virtual component;
s32: the real part is simulated according to the complete physical simulation method, and the virtual part is simulated according to the non-physical simulation method.
Preferably, the upper computer 1 can configure any one of the components to adopt a complete physical simulation method. Preferably, the upper computer 1 may also configure any one of the components to adopt a non-physical simulation method. Preferably, the number of real components and virtual components can be flexibly set according to the requirements of actual simulation test work. For example, two satellite sensors are configured on the satellite platform, in which case one of the satellite sensors may adopt complete physical simulation, and the other satellite sensor may adopt non-physical simulation. Through the configuration mode, the simulation test system can support complete physical closed-loop simulation, semi-physical closed-loop simulation and full-virtual closed-loop simulation, namely, a real component can be completely used, a dynamic model can be completely used for simulating a virtual component, and the combination of the real component and the virtual component can be used. Meanwhile, the simulation test system can also support any type and/or any number of dynamic combination configurations of real physical components and virtual components.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of this disclosure, may devise various solutions which are within the scope of this disclosure and are within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not intended to be limiting on the claims. The scope of the invention is defined by the claims and their equivalents.
The present specification includes a plurality of inventive concepts, and the applicant reserves the right to apply divisional applications according to each inventive concept. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
Claims (8)
1. A multifunctional satellite simulation test system at least comprises an upper computer (1) and a satellite (2) to be simulated and tested, wherein the upper computer (1) is configured to be at least used for simulating and/or testing the satellite (2) to be simulated and tested,
the simulation test system is characterized in that data transfer is performed between the upper computer (1) and the satellite (2) to be simulated and tested through simulation test equipment (3), and the simulation test equipment (3) at least comprises:
a signal acquisition module (301) configured to be able to acquire at least data information from the ports of the upper computer (1) and/or of a test satellite (2) to be simulated;
a signal output module (304) which is configured to be capable of outputting at least the data information acquired by the signal acquisition module (301) to the ports of the upper computer (1) and/or the test satellite (2) to be simulated;
wherein, under the condition that the signal acquisition module (301) and/or the signal output module (304) can at least communicate with the upper computer (1) according to a communication protocol,
the communication protocol at least comprises subblock contents used for representing each part and/or simulation test information according to a mode that each part and/or simulation test information of the satellite (2) to be simulated can be abstracted so that hardware and software of the upper computer (1) do not need to be correspondingly modified along with the change of the satellite (2) to be simulated;
the signal acquisition module (301) and/or the signal output module (304) are configured to be capable of performing transmission of a data frame with the upper computer (1) at least according to a communication protocol, wherein the communication protocol at least includes a frame type of the data frame in a manner of being capable of representing at least a path condition of data received by the signal acquisition module (301) to be transmitted;
the method for respectively carrying out bidirectional data flow between the upper computer (1) and the satellite (2) to be simulated and between the buses of the satellite (2) to be simulated comprises the following steps: the signal acquisition module (301) inquires whether a data frame is received from the upper computer (1) or the to-be-simulated test satellite (2); the signal acquisition module (301) searches its own processing buffer area for the presence of the start flag of the data frame; the signal acquisition module (301) inquires whether the received data frame has length data; the signal acquisition module (301) checks a currently received data frame; the signal acquisition module (301) processes the content of the subblocks in the received data frame; and the signal acquisition module (301) judges whether the content of the subblocks is processed.
2. The satellite simulation test system according to claim 1, wherein the simulation test device (3) is further provided with a configuration module (302), wherein the configuration module (302) is configured to configure a data flow matrix at least according to the data frame of the upper computer (1) received by the signal acquisition module (301), and the data flow matrix is used for representing the path condition of the data frame to be transmitted.
3. The satellite simulation test system according to claim 2, wherein the method for configuring the data flow matrix by the configuration module (302) according to the data frame of the upper computer (1) is as follows: the configuration module (302) is capable of configuring the data stream matrix according to a frame type of a data frame received by the signal acquisition module (301).
4. The satellite simulation test system according to claim 3, characterized in that the simulation test equipment (3) is provided with a component load data acquisition module (305) in such a way that the component and load data received by the signal acquisition module (301) can be resolved at least according to the component and load protocol of the satellite (2) to be simulated.
5. Satellite simulation test system according to claim 4, characterized in that the simulation test equipment (3) is provided with a component load simulation module (306) in such a way that it is capable of generating response data at least from the component and load protocols of the satellite (2) to be simulated and based on the data frames received by the signal acquisition module (301).
6. The satellite simulation test system according to claim 5, wherein the simulation test device is provided with an interference test module in a manner that interference data and/or simulation data can be generated at least according to the data frame configuration of the upper computer.
7. The satellite simulation test system according to claim 6, characterized in that the simulation test device (3) is provided with a recording and analyzing module (308) in such a way that it is able to perform a corresponding recording and/or analysis of the data frames received by the signal acquisition module (301).
8. The satellite simulation test system of claim 7, wherein the signal acquisition module (301) processes the content of the subblocks in the received data frame by: the signal acquisition module (301) can call one or more modules of a configuration module (302), a data transparent transmission forwarding module (303), a signal output module (304), a component load data acquisition module (305), a component load simulation module (306), an interference test module (307) and a record analysis module (308) according to different frame types corresponding to the content of the subblocks for processing.
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Denomination of invention: A multifunctional satellite simulation testing system Effective date of registration: 20231204 Granted publication date: 20220722 Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch Pledgor: SPACETY Co.,Ltd. (CHANGSHA) Registration number: Y2023980069087 |
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