CN113110098B - Generalized semi-physical simulation verification system for guidance information fusion algorithm - Google Patents
Generalized semi-physical simulation verification system for guidance information fusion algorithm Download PDFInfo
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Abstract
The invention discloses a generalized semi-physical simulation verification system of a guidance information fusion algorithm, which comprises the following steps: the first simulation computer simulates the first measurement data and sends the first measurement data to the radio frequency signal transmitter; the radio frequency signal transmitter is used for transmitting the first measurement data to the radio frequency signal receiver; the second simulation computer acquires the first measurement data from the radio frequency signal receiver; simulating second measurement data to generate integrated control machine control information; the simulated data and information are sent to a guidance information fusion processing board; the guidance information fusion processing board performs fusion processing on the first measurement data and the second measurement data by using a guidance information fusion algorithm, and sends the fusion data to a second simulation computer; and the second simulation computer also generates a servo control instruction according to the fusion data and executes the servo control instruction so as to simulate new second measurement data and new comprehensive control information according to an execution result. The invention can realize effective verification of the guidance information fusion algorithm in a laboratory stage.
Description
Technical Field
The invention belongs to the technical field of accurate guidance, and particularly relates to a generalized semi-physical simulation verification system of a guidance information fusion algorithm.
Background
With the continuous progress of aviation technology and the development of communication technology between satellites and the ground, an air-space-ground information integrated information acquisition mode gradually becomes a trend for acquiring information in the field of aircraft guidance. In the air-space-ground information integration technology, the fusion of the guidance information of the air, the ground and the sky is a very critical link, and the quality of the fusion algorithm directly influences the guidance accuracy, so that the fusion algorithm needs to be fully tested before being put into use.
In the existing guidance information fusion algorithm test system, the fusion test based on software simulation is usually performed on the measurement data of various sensors carried by an aircraft only under a single platform of one of the air, space and ground, but the single platform test cannot meet the test requirement on the information fusion algorithm under the current air, space and ground information integration trend, the application scene of the information fusion algorithm is limited, and the generalization performance is poor; in addition, in a pure software simulation mode, data transmission is realized in a computer, and the data transmission rate and the algorithm processing real-time performance in real field application cannot be verified.
Therefore, no feasible scheme exists in the prior art for effectively verifying the guidance information fusion algorithm in the laboratory stage.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a generalized semi-physical simulation verification system of a guidance information fusion algorithm.
The technical problem to be solved by the invention is realized by the following technical scheme:
a generalized semi-physical simulation verification system of a guidance information fusion algorithm comprises: the system comprises a first simulation computer, a second simulation computer, a radio frequency signal receiver, a radio frequency signal transmitter and a guidance information fusion processing board; wherein the content of the first and second substances,
the first simulation computer is used for simulating first measurement data and sending the first measurement data to the radio frequency signal transmitter through a first communication interface; the first measurement data comprises at least two of satellite measurement data, scout measurement data and ground radar information network measurement data;
the radio frequency signal transmitter is used for transmitting the first measurement data transmitted by the first simulation computer into a wireless channel for transmission, so that the radio frequency signal receiver receives the first measurement data;
the second simulation computer is used for acquiring the first measurement data from the radio frequency signal receiver through a second communication interface; simulating second measurement data, and simulating the comprehensive control machine to generate comprehensive control information; sending the first measurement data, the second measurement data and the comprehensive controller control information to the guidance information fusion processing board through an Ethernet interface; the second measurement data comprises one or more of radar sensor measurement data, infrared sensor measurement data and laser sensor measurement data;
the guidance information fusion processing board is used for executing configuration operation according to the integrated control information; fusing the first measurement data and the second measurement data by using a guidance information fusion algorithm to be verified, and sending the fused data to the second simulation computer through the Ethernet interface;
and the second simulation computer is also used for simulating the comprehensive control machine to generate a servo control instruction according to the fusion data, simulating a seeker servo system to execute the servo control instruction, simulating new second measurement data according to an execution result and simulating the comprehensive control machine to generate new comprehensive control information.
In one embodiment, the second simulation computer is installed with client software; the client software includes: the device comprises a configuration module, a characteristic data loading module, a simulation module, a first simulation module, a second simulation module and a display module; wherein the content of the first and second substances,
the configuration module is used for configuring simulation parameters; the simulation parameters comprise: environmental parameters, interference types and interference parameters under an external field environment, motion state parameters of an aircraft and a target, and sensor types of a seeker;
the characteristic data loading module is used for loading the characteristic information of the target;
the simulation module is used for simulating the second measurement data based on the simulation parameters and the characteristic information of the target;
the first simulation module is used for simulating a comprehensive control machine to generate the comprehensive control information and the servo control instruction;
the second simulation module is used for simulating a servo system of the seeker to execute the servo control instruction;
and the display module is used for displaying the flight tracks of the aircraft and the target in the terminal guidance process based on the fusion data.
In one embodiment, the guidance information fusion processing board includes: the system comprises an Ethernet communication module, a control module, a digital signal processing module and a power supply module; wherein the content of the first and second substances,
the Ethernet communication module is used for communicating with the second simulation computer to realize data interaction;
the control module is used for executing configuration operation according to the comprehensive controller control information and controlling data transmission and reception between the Ethernet communication module and the digital signal processing module;
the digital signal processing module is used for loading a guidance information fusion algorithm to be verified and carrying out fusion processing on the first measurement data and the second measurement data by using the guidance information fusion algorithm;
the power module is used for providing power for the Ethernet communication module, the control module and the digital signal processing module.
In one embodiment, the digital signal processing module includes: a DSP (Digital Signal Processing) chip and a peripheral circuit matched with the DSP chip.
In one embodiment, the first communication interface and the second communication interface are both Universal Serial Bus (USB) interfaces; the Ethernet interface is a gigabit Ethernet interface.
In one embodiment, the radio frequency signal receiver and the radio frequency signal transmitter are both ADALM-PLUTO software defined radio frequency transmitters.
In one embodiment, the data rate at which the second simulation computer simulates the second metrology data is a common divisor of the data rate of the at least one sensor to be simulated.
The generalized semi-physical simulation verification system of the guidance information fusion algorithm provided by the invention has the following beneficial effects:
(1) in the invention, the data processed in the guidance information fusion processing board is isolated from the original simulation data in the first simulation computer and the second simulation computer by hardware; in addition, the data to be processed of the guidance information fusion processing board is transmitted in a wireless channel through the radio frequency signal transmitter and the radio frequency signal receiver; by combining the two points, the invention simulates the data transmission mode in real external field application, thereby verifying the data transmission rate and the real-time performance of algorithm processing. In addition, the second simulation computer and the guidance information fusion processing board are communicated through the Ethernet interface, so that the transmission rate is high, and the real-time performance of the test effect is improved.
(2) The invention uses the first simulation computer to simulate at least two of the satellite measuring data, the reconnaissance aircraft measuring data and the ground radar information network measuring data, can provide original data for the external field environment under any combination of three external field environments of air, sky and earth by simulating different types of first measuring data, and has higher universality. In addition, the invention also uses the second simulation computer to simulate various sensor measurement data of the missile-borne platform where the aircraft is located, so that data support can be further provided for information fusion algorithm verification under the air-space-ground integrated architecture, and the universality of the test system is improved while data acquisition channels are increased; in addition, the invention can select and simulate one or more types of sensor measurement data in the second simulation computer according to the type of the sensor carried by the seeker, namely the second measurement data, thereby further improving the universality of the test system.
(3) In the invention, the guidance information fusion processing board is used as a universal data processing platform to provide a hardware platform for the test of the guidance information fusion algorithm, is suitable for various different guidance information fusion algorithms, has higher universality, and can partially replace an outfield experiment, thereby saving the time period and the cost of the outfield experiment.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a generalized semi-physical simulation verification system of a guidance information fusion algorithm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating coordinates of simulated first metrology data in an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating coordinates of simulated second metrology data in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a guidance information fusion processing board in the embodiment of the invention;
FIG. 5 is a flow chart of an exemplary guided information fusion algorithm;
FIG. 6 is a data flow diagram in an embodiment of the present invention;
FIG. 7 is a schematic of a servo minor loop of an aircraft-mounted sensor.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
In order to realize effective verification of a guidance information fusion algorithm in a laboratory stage, the embodiment of the invention provides a generalized semi-physical simulation verification system of the guidance information fusion algorithm, and as shown in fig. 1, the system comprises: the system comprises a first simulation computer, a second simulation computer, a radio frequency signal receiver, a radio frequency signal transmitter and a guidance information fusion processing board. The first simulation computer is in communication connection with the radio-frequency signal transmitter through the first communication interface, the second simulation computer is in communication connection with the radio-frequency signal receiver through the second communication interface, and the second simulation computer is in communication connection with the guidance information fusion processing board through the Ethernet interface.
The following will describe the components of the system in detail:
the first simulation computer is used for simulating first measurement data and sending the first measurement data to the radio frequency signal transmitter through the first communication interface; the first measurement data comprises at least two of satellite measurement data, scout measurement data and ground radar information network measurement data.
The satellite measurement data can comprise positioning longitude and latitude information of the aircraft, and the reconnaissance aircraft measurement data can comprise radial distance, angle and speed information of the aircraft; ground radar intelligence net metrology data may include radial distance, angle, and velocity information for the aircraft. Wherein, the aircraft can be a rocket, an unmanned aerial vehicle or a missile. Moreover, when the aircraft is an aircraft with a target tracking function, such as a missile or an unmanned aerial vehicle, the satellite measurement data can also comprise positioning longitude and latitude information of the target, the reconnaissance aircraft measurement data can also comprise radial distance, angle and speed information of the target, and the ground radar information network measurement data can also comprise radial distance, angle and speed information of the target.
In practical applications, the measurement data that can be obtained in the existing space-based platform information system may be simulated in the first simulation computer to simulate the satellite measurement data in the embodiment of the present invention, the measurement data that can be obtained in the existing space-based platform information system may be simulated to simulate the scout measurement data in the embodiment of the present invention, and the measurement data that can be obtained in the existing ground-based platform information system may be simulated to simulate the ground radar information network measurement data in the embodiment of the present invention.
The specific simulation is mainly realized by performing trace point simulation in MATLAB software. For example, referring to FIG. 2, the primary radar of a ground-based radar intelligence net is taken as the origin of a reference coordinate system, OXSThe axial direction is extended in the positive north direction, and the direction pointing to the north is the positive direction; OZSThe axial direction extends along the east direction, and the direction pointing to the east is the positive direction; OYSAxis vertical OXSZSWith the plane facing upwards as positive, OXSYSZSIs a right-handed system; measuring a coordinate system of the tracks of the airplane and the target, regarding the coordinate system as a large coordinate system, and regarding an observation coordinate system of the airborne radar as a small coordinate system; FX5Y5Z5For scout line of sight coordinate system, FX6Y6Z6For a coordinate system of the body, by FX6Y6Z6And the line of the missile eyes under the coordinate system can obtain the observation course angle, the pitch angle and the missile-eye distance of the airborne radar under the body coordinate system.
It will be appreciated that when the first simulation computer transmits the first measurement data to the radio frequency signal transmitter, the first measurement data needs to be encoded and modulated according to the interface protocol of the first communication interface, so that the first measurement data can be transmitted to the radio frequency signal transmitter through the first communication interface.
And the radio frequency signal transmitter is used for transmitting the first measurement data transmitted by the first simulation computer into a wireless channel for transmission so that the radio frequency signal receiver receives the first measurement data.
In an alternative implementation, both the rf signal receiver and the rf signal transmitter may employ an ADALM-PLUTO software defined radio transmitter; here, the ADALM-PLUTO software-defined radio frequency transmitter has a basic hardware circuit structure, and the settings of parameters such as the transmission/reception carrier frequency and the transmission power are defined by the ADALM-PLUTO software.
Alternatively, conventional rf signal receivers and rf signal transmitters may be used in embodiments of the present invention.
The second simulation computer is used for acquiring first measurement data from the radio frequency signal receiver through the second communication interface; simulating second measurement data, and simulating the comprehensive control machine to generate comprehensive control information; sending the first measurement data, the second measurement data and the integrated control machine control information to a guidance information fusion processing board through an Ethernet interface; the second measurement data comprises one or more of radar sensor measurement data, infrared sensor measurement data and laser sensor measurement data.
After the second simulation computer acquires the encoded first measurement data from the radio frequency signal receiver, it needs to demodulate and decode the encoded first measurement data according to the interface protocol of the first communication interface, so as to acquire the decoded first measurement data.
The integrated control machine simulated in the second simulation computer is a module carried on the aircraft. The comprehensive control machine is mainly used for controlling the switching of the working modes of the aircraft in the final guidance stage, and specifically, sending out corresponding comprehensive control information according to the radial distance between the aircraft and a target; for example, whether the minimum action distance of the seeker is reached is judged according to the radial distance; and if the target is not hit after the minimum action distance is reached, sending the integrated control information containing the working mode switching instruction for starting the self-destruction program.
In a preferred implementation, pre-developed client software may be installed on the second simulation computer, and the client software may include: the device comprises a configuration module, a characteristic data loading module, a simulation module, a first simulation module, a second simulation module and a display module.
The configuration module is used for configuring simulation parameters, and the simulation parameters comprise: the environmental parameters, the type and parameters of the disturbance, the motion state parameters of the aircraft and the target, and the type of sensors of the seeker are not limited thereto.
The characteristic data loading module is used for loading characteristic information of the target; here, the feature information of the object includes attribute information of the object, which is usable for identification of the object.
The simulation module is used for simulating second measurement data based on the simulation parameters and the characteristic information of the target; specifically, the simulation module establishes a motion equation of the target and the aircraft according to the configured simulation parameters and the characteristic information of the target; and obtaining the motion tracks of the target and the aircraft according to the motion equations of the target and the aircraft, obtaining corresponding theoretical data such as angles, distances, images and the like according to the motion tracks, and adding measurement errors of the sensors of the selected types in the configuration module to the theoretical data to obtain the measurement data of the target on the sensors, namely obtaining second measurement data.
In practical applications, the simulation of the second measurement data by the simulation module can be realized by performing trace point simulation in MATLAB software. Taking the missile as an example, as shown in fig. 3, taking the position M of the missile at the starting time point of the seeker entering the tail section as the origin of a reference coordinate system, and selecting the longitudinal axis of the shell as the MX axis and the direction pointing to the head of the seeker as the positive direction; MY axis passing through M point, MZ axis perpendicular to MAY plane, MXYZ is right-handed system, X is upward of missile weight line3OZ3Is the horizontal plane of the velocity coordinate system, X6OZ6Is the horizontal plane of the line of sight coordinate system. X3OZ3OX of3Axis and X1OZ1OX of1The included angle of the axes beta is the sideslip angle, OX1The shaft rotates counterclockwise to OX3The axis is positive, otherwise, the axis is negative; beta represents the included angle between the flying direction of the missile and the longitudinal symmetry axis of the missile shell on the horizontal plane. And simulating the second measurement data by using a proportional guidance method for simulating missile flight based on the setting of the coordinates. The proportional guidance method adopts more guidance laws on a self-seeking missile, and means that the change rate of the speed direction of the missile is proportional to the change rate of the sight line of a target in the process of flying the missile to the target. Specifically, a proportional guidance method is used as a guidance law of the original data simulation modeling, a missile and target relative motion equation set used in the original data simulation modeling can be obtained, the relative motion condition of the missile and the target and the coordinates of each moment can be analyzed according to the relative motion equation set, and angle and distance information can be obtained through the coordinates, so that the simulation of the second measurement data is realized.
And the first simulation module is used for simulating the comprehensive control machine to generate comprehensive control information and a servo control instruction.
And the second simulation module is used for simulating the servo control finger executed by the servo system of the guide head.
And the display module is used for displaying the flight tracks of the aircraft and the target in the terminal guidance process based on the fusion data. It can be understood that the fused data includes the coordinates of the aircraft and the target at each moment, so that the flight trajectories of the aircraft and the target can be displayed according to the fused data.
It will be appreciated that based on the client software, a user can simulate a variety of different field environments and load various featured objects on a second simulation computer, thereby increasing the versatility of the system.
In addition, when the second simulation computer simulates the second measurement data, the data rate during simulation can be reasonably set by setting a proper simulation step length so as to conveniently obtain data which accords with the sampling rate of each sensor; preferably, the data rate at which the second simulation computer simulates the second metrology data is a common divisor of the data rate of the at least one sensor to be simulated.
The guidance information fusion processing board is used for executing configuration operation according to the integrated control information; and performing fusion processing on the first measurement data and the second measurement data by using a guidance information fusion algorithm to be verified, and sending the fusion data to a second simulation computer through an Ethernet interface.
As shown in fig. 4, the guidance information fusion processing board includes: the device comprises an Ethernet communication module, a control module, a digital signal processing module and a power supply module.
And the Ethernet communication module is used for communicating with the second simulation computer to realize data interaction. The Ethernet communication module mainly comprises an Ethernet protocol chip and a peripheral circuit thereof, wherein the Ethernet protocol chip converts data in the form of Ethernet protocol into common parallel data and sends the common parallel data to the control module, receives the parallel data from the control module, converts the parallel data into the data in the form of Ethernet protocol and returns the data to the second simulation computer.
And the control module is used for executing configuration operation according to the comprehensive controller control information and controlling data transmission and reception between the Ethernet communication module and the digital signal processing module. The control module is composed of a high-performance FPGA (Field Programmable Gate Array) chip and a peripheral configuration circuit thereof, and the control module internally includes a Memory controller and a dual-port RAM (Random Access Memory) and has a temporary data storage function.
And the digital signal processing module is used for receiving the measured data of each sensor distributed by the control module, processing the data by using an information fusion related algorithm, and then sending the processed fused data to the control module. The digital signal processing module consists of a high-performance DSP chip and a peripheral configuration circuit thereof, and the selection of the DSP chip is reasonably selected according to the data rate and the processing speed of the sensor.
And the power supply module consists of a switching power supply and a power supply management chip. For example, the input of the switching power supply can be set to 220V ac, and the output is stable 5V dc, and the power management chip is responsible for converting the standard 5V dc input into the working voltage required by the core chip in the ethernet communication module, the control module and the information fusion processing module.
In the guidance information fusion processing board, after the second simulation computer sends data to the Ethernet communication module, the Ethernet communication module receives a data packet from the second simulation computer according to the respective data rate of the sensors and sends the data to the control module. Meanwhile, the FPGA chip in the control module inquires the FULL signal of the Ethernet protocol chip; the FULL signal represents the Buffer state of the chip; if the FPGA chip detects that the FULL signal of the Ethernet protocol chip is valid, starting data reception; then, the FPGA chip extracts various sensor measurement data from the data packet, and temporarily stores the data of different types of sensors in different internal RAMs; and after subpackaging is finished, the FPGA chip generates timing interruption according to the data rate of each sensor and informs a core DSP chip of a digital signal processing module connected with the control module through a bus to fetch data. When the DSP of the control module is received by the digital signal processing module and is interrupted in a timing mode, an interrupt service subprogram is entered, sensor measurement data from the control module are received, and different sensor data are responded by different interrupts due to different data rates of the sensors; next, the digital signal processing module performs information fusion processing on the received sensor data; specifically, fig. 5 exemplarily shows a flow of a guidance information fusion algorithm. It should be noted that the system provided in the embodiment of the present invention is a system for testing a guidance information fusion algorithm, and details of fusion processing of the algorithm itself are not limited in the embodiment of the present invention. The program of the information fusion processing algorithm in the DSP chip can be downloaded on line or written in peripheral FLASH of the DSP chip; and the programming program of the guidance information fusion algorithm is changed, so that different guidance information fusion algorithms can be tested, and the generalization of a hardware platform is realized.
After the data are fused by the digital signal processing module, the data to be sent to the second simulation computer are written into the RAM in the FPGA chip of the control module by the DSP chip in the digital signal processing module, and then the data are written into a certain specific address; after detecting the action, the FPGA chip in the control module receives data into its internal FIFO (First Input First output), and when detecting the FULL signal of its FIFO, starts data transmission to the ethernet communication module.
In addition, the speed of processing data by the digital signal processing module is far higher than the data transmission rate of each sensor; therefore, in the embodiment of the present invention, each time the digital signal processing module sends the processed fused data to the ethernet communication module, the control module forcibly controls the ethernet communication module to send the data to the second simulation computer. And when the Ethernet communication module receives the data and sends the converged data, the control module controls the Ethernet communication module to send the converged data preferentially.
And the second simulation computer is also used for simulating the comprehensive control machine to generate a servo control instruction according to the fusion data, simulating the seeker servo system to execute the servo control instruction, simulating new second measurement data according to an execution result and simulating the comprehensive control machine to generate new comprehensive control information.
When the second simulation computer simulates the comprehensive control machine to work, the information of the direction, the distance, the speed and the like of the target contained in the fusion data is sent to a relative motion equation of the aircraft and the target, so that the conductivity is selected to control the flight of the aircraft, and a tracking angle error signal contained in the fusion data adjusts the rotation direction and the speed of a motor of the aircraft to drive the sensor to move within a certain angle range, so that the sensor is aligned with the tracking target or scans within a certain angle range at a certain speed; the process is realized by generating different servo control instructions and new integrated control information; meanwhile, a new round of simulation of the second measurement data is continued according to the execution result of the servo control command.
In practical application, satellite measurement data, scout measurement data and/or ground radar information network measurement data in first measurement data simulated by a first simulation computer respectively comprise corresponding time delay, and the first simulation computer periodically transmits the first measurement data to a second simulation computer through a wireless channel; the second simulation computer integrates the first measurement data sent by the first simulation computer, the second measurement data simulated by the second simulation computer and the control information of the integrated control computer, packs the integrated data according to an Ethernet communication protocol, sets a sending time interval, and sends a frame of data to the guidance information fusion processing board for fusion processing according to different data rates of different sensors; after the fusion processing is finished, the second simulation computer receives fusion data from the guidance information fusion processing board; the simulation comprehensive control machine generates a servo control instruction according to the fusion data, drives a simulation module in the client software to perform data simulation and integration of the next round, continuously packs the data of the new round and sends the data to a guidance information fusion processing board, and the like, and circularly performs closed-loop data simulation and transmission; and during each simulation, a display module in client software installed on the second simulation computer displays the motion tracks of the aircraft and the target in real time, and stores the received first measurement data, the fusion data and the simulated second measurement data so as to provide quantitative test criteria for the subsequent test result of the information fusion algorithm.
The generalized semi-physical simulation verification system of the guidance information fusion algorithm provided by the embodiment of the invention has the following beneficial effects:
(1) in the embodiment of the invention, the data processed in the guidance information fusion processing board is isolated from the original simulation data in the first simulation computer and the second simulation computer by hardware; in addition, the embodiment of the invention transmits the data to be processed of the guidance information fusion processing board in a wireless channel through the radio frequency signal transmitter and the radio frequency signal receiver; by combining the two points, the embodiment of the invention simulates the data transmission mode in real external field application, thereby verifying the data transmission rate and the real-time performance of algorithm processing. In addition, the second simulation computer and the guidance information fusion processing board communicate through the Ethernet interface, the transmission rate is high, and the real-time performance of the test effect is improved.
(2) The embodiment of the invention uses the first simulation computer to simulate at least two of the satellite measuring data, the reconnaissance aircraft measuring data and the ground radar information network measuring data, can provide original data for the external field environment under any combination of three external field environments of air, sky and earth by simulating different types of first measuring data, and has higher universality. In addition, the embodiment of the invention also uses the second simulation computer to simulate various sensor measurement data of the missile-borne platform where the aircraft is located, so that data support can be further provided for information fusion algorithm verification under the aerospace-ground integrated architecture, and the universality of the test system is improved while data acquisition channels are increased; in addition, the embodiment of the invention can select and simulate one or more types of sensor measurement data in the second simulation computer according to the type of the sensor carried by the seeker, namely the second measurement data, thereby further improving the universality of the test system.
(3) In the embodiment of the invention, the guidance information fusion processing board is used as a universal data processing platform to provide a hardware platform for the test of the guidance information fusion algorithm, is suitable for various guidance information fusion algorithms, has high universality, and can partially replace an outfield experiment, thereby saving the time period and the cost of the outfield experiment.
In an optional implementation manner, the first communication interface and the second communication interface are both USB interfaces, and the ethernet interface is a gigabit ethernet interface.
It can be understood that the USB interface and the ethernet interface are general interfaces of the computer, and the gigabit ethernet interface is used to implement communication between the second simulation computer and the guidance information fusion processing board, so that the data transmission rate of the two can be increased, and the real-time performance of the system can be improved.
FIG. 6 is a diagram schematically illustrating a data flow in the generalized semi-physical simulation verification system according to an embodiment of the present invention. Referring to fig. 6, a first simulation computer simulates the satellite measurement data of the space-based information system, the scout measurement data of the space-based information system and the ground radar information network measurement data of the ground-based information system; the first simulation computer encodes and modulates simulated first measurement data and then sends the first measurement data to the radio frequency signal transmitter, the radio frequency signal transmitter sends the first measurement data to the radio frequency signal receiver, the radio frequency signal receiver sends the first measurement data to the second simulation computer through the USB interface, the second simulation computer demodulates and decodes the received first measurement data, simulates radar sensor measurement data, infrared sensor measurement data and laser sensor measurement data, namely simulates second measurement data, and simulates the comprehensive control machine to generate comprehensive control information; then, the second simulation computer packs the first measurement data, the second measurement data and the comprehensive control information into a data packet according to an Ethernet communication protocol and sends the data packet to the guidance information fusion processing board; in the guidance information fusion processing board, the Ethernet communication module converts the data packet into common parallel data; sending a FULL signal to the control module when the Ethernet communication module is fully written; after detecting the FULL signal of the Ethernet communication module, the control module starts data receiving, starts to read the data in the Ethernet communication module and stores the data in a self dual-port RAM; here, if the clock of the ethernet communication module is different from the clock of the information fusion processing module, a dual-port RAM may be used to solve the problem; the control module stores the data in the data packet in different dual-port RAMs according to different contents; for example, there are radar sensor measurement data RAM, infrared sensor measurement data RAM, laser sensor measurement data RAM, satellite measurement data, scout measurement data RAM, ground radar information network measurement data, and integrated control information. After the control module finishes unpacking, triggering the DSP of the digital signal processing module to interrupt according to the timing information of the data rate of each sensor, and informing the DSP to fetch data; and the DSP of the digital signal processing module performs information fusion processing after the interrupt service subprogram obtains the data, and directly writes the obtained fusion data into a corresponding double-port RAM in the FPGA of the control module through a bus. After the writing is finished, the DSP of the digital signal processing module adopts a mode of writing data into a specific address of the FPGA of the control module to inform the control module that the fused data is ready, after the FPGA of the control module detects the message, whether a storage area for receiving the fused data in the Ethernet communication module is empty is firstly detected, if the storage area is empty, the data is sent, and if the storage area is not empty, the fused data of the previous round is sent after being taken away by a second simulation computer; after the Ethernet communication module retrieves the fusion data, the parallel fusion data are converted according to the Ethernet communication protocol and then immediately sent to a second simulation computer; at this time, if the second simulation computer just sends a data packet, the ethernet communication module sends the fused data to the second simulation computer first, and then receives the data packet from the second simulation computer. After receiving the fusion data from the Ethernet communication module, the second simulation computer simulates the comprehensive control machine to generate a servo control instruction and simulates a seeker servo system to execute the servo control instruction so as to drive the antenna of each sensor to move; if the minimum guidance distance is not reached, the second simulation computer records the fusion data and displays the flight tracks of the aircraft and the target through the display module based on the fusion data, so that the tracking effect is more visually expressed, and a primary large loop process of data processing is completed; and then, continuously simulating new first measurement data by the second simulation computer, continuously simulating new second measurement data by the second simulation computer according to the execution result of the previous round of fused data, simulating the comprehensive control machine to generate new comprehensive control information, and continuously carrying out a new round of large loop process.
In addition, as shown in fig. 7, each physical sensor in the aircraft has its own small servo loop and is controlled by the guidance information fusion processing board. Specifically, in the embodiment of the invention, the guidance information fusion processing board sends the fusion data to the second simulation computer, the second simulation computer forms a servo control instruction to control an executing mechanism of the aircraft, such as an engine and the like, to change the flight direction, relative motion occurs between the aircraft and the target, the direction and the distance of the target measured in the sensor are changed, new sensor measurement data are formed, the new sensor measurement data form a new servo control instruction after fusion processing of the guidance information fusion processing board, the optical axis of the sensor always points to the target in the tracking stage, the second simulation computer changes the flight of the missile in the large loop according to the new fusion data, and the aircraft can accurately track or hit the target under the control of the large loop of missile flight and the small servo loop of the sensor.
Next, specific contents and formats of data transmitted between the second simulation computer and the guidance information fusion processing board in the embodiment of the present invention are illustrated. The second simulation computer and the guidance information fusion processing board are communicated through an Ethernet interface, the communication protocol is a UDP protocol, the data format is eight-bit unsigned number, if the data is more than eight bits, the data is represented by two bytes of data, the lower eight bits are in front, and the upper eight bits are in back. In the guidance information fusion algorithm to be verified, the second measurement data to be fused includes two types of measurement data of a radar sensor and measurement data of an infrared sensor.
The content and format of the data packet sent by the second simulation computer to the guidance information fusion processing board can be seen in table 1:
TABLE 1
| Number of bytes | Content providing method and apparatus | Explanation of the invention | Type of data | Unit of |
| 1～6 | Integrated control machine data | |||
| 7～30 | Radar sensor measurement data | |||
| 31～94 | Data measured by infrared sensor | |||
| 95～118 | Satellite measurement data | |||
| 119～142 | Scout survey data | |||
| 143～166 | Ground radar information network measurement data |
Because the data rates of different sensors are different, when there is no measurement data of a certain sensor at a certain time, the data of the sensor in the data packet can be completely set to zero.
In table 1, the content and format of the integrated control machine data can be seen from table 2:
TABLE 2
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Control word | Integrated control machine control information | ||
| 2 | Binding search orientation center | 0.1mrad (milliradian) | -45°～+45° | |
| 3 | Binding search azimuth Range | 0.1mrad | -45°～+45° |
Each bit of the integrated control information indicates the meaning as shown in table 3, and the data bit is active high, i.e. the data position "1" is the valid data. For example, when the data bit of D15 is set to "1", it indicates that the integrated control machine has issued a control command for test reset.
TABLE 3
The content and format of the measured data of the radar sensor are shown in table 4:
TABLE 4
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Radar data frame header | |||
| 2 | Radar antenna servo status information | |||
| 3 | Number of targets | |||
| 4 | Target 1 azimuth | 0.1mrad | ||
| 5 | Target 1 distance | m | 0～65535 | |
| 6 | Target 1 signal-to-noise ratio | 0.01dB | ||
| 7 | Azimuth of target 2 | 0.1mrad | ||
| 8 | Target 2 distance | m | 0～65535 | |
| 9 | Target 2 signal-to-noise ratio | 0.01dB | ||
| 10 | Target 3 azimuth | 0.1mrad | ||
| 11 | Target 3 distance | m | 0～65535 | |
| 12 | Target 3 signal-to-noise ratio | 0.01dB |
It can be seen that the radar sensor measurement data includes the number of targets detected by the radar and the measurement data of each target, and includes the servo state information of the radar antenna, which includes the antenna pointing information of the radar, etc.
The infrared sensor measurement data refers to attribute values of a target, such as pixel number, circularity, mean contrast, complexity and the like, obtained after image preprocessing is performed on an image signal detected by an infrared sensor; the content and format of the measured data of the infrared sensor are shown in table 5.
TABLE 5
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of | Range |
| 1 | Infrared data frame head | |||
| 2 | Subsystem operating conditions | |||
| 3 | Angle signal between course optical axis and elastic axis | 0.1mrad | ||
| 4 | Number of targets | |||
| 5 | Target number of pixels 1 | |||
| 6 | Target 1 course angle | 0.1mrad | ||
| 7 | Target 1 pitch angle | 0.1mrad | ||
| 8 | Target 1 complexity | |||
| 9 | Target 1 circularity | |||
| 10 | Target 1 mean contrast | |||
| 11 | Target number of 2 pixels | |||
| 12 | Target 2 course angle | 0.1mrad | ||
| 13 | Target 2 pitch angle | 0.1mrad | ||
| 14 | Target 2 complexity | |||
| 15 | Target 2 circularity | |||
| 16 | Target 2 mean contrast | |||
| 17 | Target number of 3 pixels | |||
| 18 | Target 3 course angle | 0.1mrad | ||
| 19 | Target 3 pitch angle | 0.1mrad | ||
| 20 | Target 3 complexity | |||
| 21 | Target 3 circularity | |||
| 22 | Target 3 mean contrast | |||
| 23～32 | Retention |
In addition, the infrared sensor can also inform the state information of the guidance information fusion processing board by the control word information of the working state, which can be seen from table 6:
TABLE 6
The individual data bits shown in table 6 are active high.
The content and format of the fusion data sent by the guidance information fusion processing board to the second simulation computer can be seen in table 7:
TABLE 7
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Work information | |||
| 2 | Fused target azimuth | 0.1mrad | ||
| 3 | Target distance after fusion | m | 0-65535 | |
| 4 | Radar locked target azimuth | 0.1mrad | ||
| 5 | Radar time-aligned post-filter azimuth | 0.1mrad | ||
| 6 | Azimuth angle required by radar antenna servo system | 0.1mrad | ||
| 7 | Radar 16-position azimuth search center | 0.1mrad | ||
| 8 | Radar 16 bit position search Range (half-cycle) | 0.1mrad | ||
| 9 | Infrared subsystem control instruction | |||
| 10 | Course optical axis automatic identification scanning center position | 0.1mrad | ||
| 11 | Course optical axis automatic identification scanning range | 0.1mrad | ||
| 12 | Infrared locked post-filtering target azimuth angle | 0.1mrad |
In table 7, the first item of work information can be seen in table 8:
TABLE 8
The contents and format of the satellite metrology data can be seen in table 9:
TABLE 9
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Space-based data frame header | |||
| 2 | Operating state of space-based information system | |||
| 3 | Number of targets | |||
| 4 | Target 1X coordinate | 10m | ||
| 5 | Target 1Y coordinate | 10m | ||
| 6 | Target 1Z coordinate | 10m | ||
| 7 | Target 2X coordinate | 10m | ||
| 8 | Target 2Y coordinate | 10m | ||
| 9 | Target 2Z coordinate | 10m | ||
| 10 | Target 3X coordinate | 10m | ||
| 11 | Target 3Y coordinate | 10m | ||
| 12 | Target 3Z coordinate | 10m |
The contents and format of scout survey data can be seen in table 10:
watch 10
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Null-based data frame header | |||
| 2 | Operating state of air-based information system | |||
| 3 | Number of targets | |||
| 4 | Target 1 azimuth | 0.1mrad | ||
| 5 | Target 1 distance | m | 0～65535 | |
| 6 | Target 1 signal-to-noise ratio | 0.01dB | ||
| 7 | Azimuth of target 2 | 0.1mrad | ||
| 8 | Target 2 distance | m | 0～65535 | |
| 9 | Target 2 signal-to-noise ratio | 0.01dB | ||
| 10 | Target 3 azimuth | 0.1mrad | ||
| 11 | Target 3 distance | m | 0～65535 | |
| 12 | Target 3 signal-to-noise ratio | 0.01dB |
The contents and format of the ground radar intelligence net metrology data can be seen in table 11:
TABLE 11
| Number of words | Content providing method and apparatus | Explanation of the invention | Accuracy of measurement | Range |
| 1 | Foundation data frame header | |||
| 2 | Operating conditions of ground based information system | |||
| 3 | Number of targets | |||
| 4 | Target 1 azimuth | 0.1mrad | ||
| 5 | Target 1 distance | m | 0～65535 | |
| 6 | Target 1 signal-to-noise ratio | 0.01dB | ||
| 7 | Azimuth of target 2 | 0.1mrad | ||
| 8 | Target 2 distance | m | 0～65535 | |
| 9 | Target 2 signal to noise ratio | 0.01dB | ||
| 10 | Target 3 azimuth | 0.1mrad | ||
| 11 | Target 3 distance | m | 0～65535 | |
| 12 | Target 3 signal-to-noise ratio | 0.01dB |
Some of the tables are provided with redundant data bits to facilitate subsequent addition of new content. It should be noted that the data content and format shown above are only examples, and do not limit the embodiments of the present invention, and in practical applications, the format and content of the data may be defined according to the type of the sensor mounted on the seeker.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the specification, reference to the description of the term "one embodiment", "some embodiments", "an example", "a specific example", or "some examples", etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. A generalized semi-physical simulation verification system of a guidance information fusion algorithm is characterized by comprising the following steps: the system comprises a first simulation computer, a second simulation computer, a radio frequency signal receiver, a radio frequency signal transmitter and a guidance information fusion processing board; wherein the content of the first and second substances,
the first simulation computer is used for simulating first measurement data and sending the first measurement data to the radio frequency signal transmitter through a first communication interface; the first measurement data comprises at least two of satellite measurement data, scout measurement data and ground radar information network measurement data;
the radio frequency signal transmitter is used for transmitting the first measurement data transmitted by the first simulation computer into a wireless channel for transmission, so that the radio frequency signal receiver receives the first measurement data;
the second simulation computer is used for acquiring the first measurement data from the radio frequency signal receiver through a second communication interface; simulating second measurement data, and simulating the comprehensive controller to generate control information of the comprehensive controller; sending the first measurement data, the second measurement data and the comprehensive controller control information to the guidance information fusion processing board through an Ethernet interface; the second measurement data comprises one or more of radar sensor measurement data, infrared sensor measurement data and laser sensor measurement data;
the guidance information fusion processing board is used for executing configuration operation according to the integrated control information; fusing the first measurement data and the second measurement data by using a guidance information fusion algorithm to be verified, and sending the fused data to the second simulation computer through the Ethernet interface;
the second simulation computer is also used for simulating the comprehensive control machine to generate a servo control instruction according to the fusion data, simulating a seeker servo system to execute the servo control instruction, simulating new second measurement data according to an execution result and simulating the comprehensive control machine to generate new comprehensive control information;
the second simulation computer is provided with client software; the client software includes: the device comprises a configuration module, a characteristic data loading module, a simulation module, a first simulation module, a second simulation module and a display module; wherein the content of the first and second substances,
the configuration module is used for configuring simulation parameters; the simulation parameters comprise: environmental parameters, interference types and interference parameters under an external field environment, motion state parameters of an aircraft and a target, and sensor types of a seeker;
the characteristic data loading module is used for loading the characteristic information of the target;
the simulation module is used for simulating the second measurement data based on the simulation parameters and the characteristic information of the target;
the first simulation module is used for simulating a comprehensive control machine to generate the comprehensive control information and the servo control instruction;
the second simulation module is used for simulating a servo system of the seeker to execute the servo control instruction;
and the display module is used for displaying the flight tracks of the aircraft and the target in the terminal guidance process based on the fusion data.
2. The system according to claim 1, wherein the guidance information fusion processing board includes: the system comprises an Ethernet communication module, a control module, a digital signal processing module and a power supply module; wherein the content of the first and second substances,
the Ethernet communication module is used for communicating with the second simulation computer to realize data interaction;
the control module is used for executing configuration operation according to the comprehensive controller control information and controlling data transmission and reception between the Ethernet communication module and the digital signal processing module;
the digital signal processing module is used for loading a guidance information fusion algorithm to be verified and carrying out fusion processing on the first measurement data and the second measurement data by using the guidance information fusion algorithm;
the power module is used for providing power for the Ethernet communication module, the control module and the digital signal processing module.
3. The system of claim 2, wherein the digital signal processing module comprises: DSP chip and with the peripheral circuit of DSP chip matching.
4. The system of claim 1, wherein the first communication interface and the second communication interface are both Universal Serial Bus (USB) interfaces; the Ethernet interface is a gigabit Ethernet interface.
5. The system of claim 1, wherein the radio frequency signal receiver and the radio frequency signal transmitter are both ADALM-PLUTO software defined radio frequency transmitters.
6. The system of claim 1, wherein the second simulation computer simulates the second metrology data at a data rate that is a common divisor of a data rate of the at least one sensor to be simulated.
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