CN114114985B - Comprehensive control system - Google Patents
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Abstract
The invention relates to a comprehensive control system which comprises an initialization module, a power-on module, a self-checking module, a communication module, a main control scheduling module, a control module, a power management module and a data storage module, wherein the initialization module is used for initializing a work task, a storage space and a timer and starting the communication module, the control module and the data storage module; and (5) a power-on module: the comprehensive control system reads the address information of the carrier hanger, returns the address information to the carrier through a 1553B bus, and after the carrier and the onboard photoelectric system are confirmed to be normally connected, the comprehensive control system communicates with 3 primary power supplies through RS485 communication, sequentially opens the output of the 3 primary power supplies, and supplies power to the onboard photoelectric system through the power-on module. The integrated control system provided by the invention realizes the implementation of board function scheduling, on-line monitoring, servo control, optical machine control, sensor control, positioning calculation and planned tasks.
Description
Technical Field
The invention relates to a comprehensive control system, and belongs to the technical field of airborne photoelectricity.
Background
The comprehensive control system is a core for controlling, communicating and dispatching the airborne photoelectric system, and has the main functions of carrying out data communication with the avionic system, controlling the states of all sub-systems in the photoelectric system and completing the functions of receiving, processing and distributing information such as optical data, servo data, image data, inertial navigation data, carrier task data and the like in the system.
The existing integrated control system has the following problems:
1) The CPU is a single-chip microcomputer such as PowerPC or DSP, and the multi-core multi-task processing function cannot be realized;
2) The embedded real-time operating system is a foreign operating system such as VxWorks and the like, and the autonomous controllable localization cannot be realized;
3) The servo control module is separated from the comprehensive control system, the light control assembly communication module is separated from the comprehensive control system, the software application layer has more functional modules and is not centralized, and the data interaction has time delay;
4) The servo control module, the light control assembly communication module and the comprehensive control system are composed of three sets of hardware of a singlechip and an FPGA or a CPLD.
Disclosure of Invention
The invention solves the technical problems that: the integrated control system is provided for realizing the implementation of board function scheduling, on-line monitoring, servo control, optical machine control, sensor control, positioning calculation and planned tasks.
The solution of the invention is as follows:
an integrated control system comprises an initialization module, a power-on module, a self-checking module, a communication module, a main control scheduling module, a control module, a power management module and a data storage module,
the initialization module is used for initializing the work task, the storage space and the timer, and starting the communication module, the control module and the data storage module;
and (5) a power-on module: the comprehensive control system reads the address information of the carrier hanger, returns the address information to the carrier through a 1553B bus, and after the carrier and the onboard photoelectric system are confirmed to be normally connected, the comprehensive control system communicates with 3 primary power supplies through RS485 communication, sequentially opens the output of the 3 primary power supplies, and supplies power to the onboard photoelectric system through the power-on module;
and a self-checking module: detecting and processing the fault condition of the comprehensive control system;
and a communication module: the data is received, executed and sent by analyzing the communication protocol;
and the main control scheduling module: the carrier sends a control instruction to the photoelectric system to control the working state, so that the photoelectric system responds to the carrier instruction to complete working mode conversion, target searching, tracking, irradiation, ranging and positioning of the photoelectric system, and the carrier cooperates with a friend machine or a ground department for cooperative combat;
and the control module is used for: the control of azimuth, pitching and rolling movements, the control of the quick reflection mirror and the switching of zoom focusing wave bands are realized;
and a power management module: the system is used for starting up and powering up the photoelectric system, shutting down and powering off the system, restarting the system and alarming and processing power failure;
and a data storage module: and storing the system log and the working parameters into a Flash storage block, and reading the system log and the working parameters in the Flash storage block when playing back the data.
Further, the operation of the alignment unit includes: initializing a sub inertial navigation system, performing a coarse alignment stage and performing a fine alignment stage.
Further, the initializing work of the child inertial navigation includes:
the airborne main inertial navigation system gives an initial speed, an initial position and an attitude array;
testing and calibrating the inertial component;
and carrying out initial alignment of the gesture before entering the navigation working state every time, and realizing transfer alignment by utilizing the processes of taking off, crawling and turning of the carrier, wherein the alignment time is shorter than 5min.
Further, the coarse alignment stage: and (3) carrying out coarse alignment on the sub inertial navigation system at the time tB, binding the sub inertial navigation system by the main control unit through the attitude array, the speed and the position information provided by the main inertial navigation system, taking the binding value as an initial value of the attitude array by the sub inertial navigation system, and carrying out attitude calculation and navigation calculation.
Further, the fine alignment stage: at the time tC, the sub inertial navigation system finishes the take-off of the coarse alignment post-carrier machine, enters the fine alignment stage of the main inertial navigation system and the sub inertial navigation system, and keeps the fine alignment process for a long time until the flight task is finished, and the difference value obtained by comparing the measured value of the Kalman filtering with the current value of the similar output quantity of the main inertial navigation system and the sub inertial navigation system is used as the estimated value of the next moment.
Further, the specific working process of the main control scheduling module is as follows:
when the carrier flies to the target area, a driver sends a control instruction to the photoelectric system through the control lever controller to control the working state, so that the working mode conversion, target searching, tracking, irradiation, distance measurement or positioning of the photoelectric system are completed, and the carrier cooperates with a friend machine or ground department for cooperative combat;
1) Before the carrier takes off, the photoelectric system is powered on for self-checking and is configured in an initialized state, and normal prompt information of the photoelectric system is given, and at the moment, the photoelectric system is in a collection mode;
2) After the carrier takes off, a navigation instruction is sent to enable the photoelectric system to exit from a collection mode and be in a navigation mode, after initial alignment of carrier parent inertial navigation is completed, an alignment instruction is sent to conduct transfer alignment of a sub inertial navigation system of the photoelectric system, and preparation is made for target point positioning, geographic tracking and waypoint follow-up of the photoelectric system;
3) The carrier enters a cruising state, an operator controls the photoelectric system to enter a manual or automatic searching working mode through the control lever controller to search and monitor, the photoelectric system performs manual or automatic scanning imaging on a certain area, and in the mode, the thermal infrared imager and the visible light camera can be switched between a large field of view, a medium field of view and a small field of view;
4) When an operator finds a target, the target is locked by controlling the aiming line through the control lever, and the photoelectric aiming photoelectric system enters a target automatic tracking mode at the moment, the target is kept in the central area of the field of view all the time, and visible light or infrared is adjusted to be a small field of view for target detailed examination;
when an operator finds that other suspicious targets appear in the field of view, the operator controls the tracking frame to lock a new target while automatically tracking the current target, so as to realize automatic tracking and observation of the new target;
5) When the distance between the target and the carrier is required to be known or the target is positioned, a laser measuring device is used for carrying out distance measurement operation on the target, and then the main control unit calculates the position of the target;
when a target is required to be indicated to a laser guided missile or bomb on a training field or battlefield, the laser measuring device can emit irradiation pulse to lock the target, so as to guide and track;
when ground personnel are matched to emit irradiation light spots to indicate targets, the photoelectric system can lock the light spots to track by the laser tracker, and position and angle information is provided for fire control calculation of the carrier; meanwhile, the photoelectric system laser indicator can emit indication light to perform target searching guidance for ground cooperators, so as to support the ground near air;
6) After the task is completed, an operator sends out a recycling instruction through the control rod controller to control the photoelectric system to enter a collection mode, and the carrier returns.
Furthermore, the communication module realizes the receiving, executing and transmitting of 1553B, ethernet, CAN, RS422, RS485, RS232, IPMB bus and SRIO bus communication by analyzing the communication protocol.
Further, the main control scheduling module realizes that the photoelectric system responds to the carrier instruction and enables the photoelectric system to call a corresponding execution program according to the curing process, and the method specifically comprises the following steps:
the transmission of the carrier and system instructions and data is realized through 1553B; transmitting instructions and data to an interface exchange board, an image processing board and a data storage board through Ethernet communication to realize image processing and data storage; transmitting instructions and data to each imaging sensor assembly, motor driver and controller assembly through CAN communication, so as to realize camera work, motor action and environmental parameter control; transmitting instructions and data to the strapdown inertial navigation assembly through the RS422 to transfer flight information to the satellite receiver; power supply control is carried out through RS 485; realizing health management data transmission through RS 232; the power-on and power-off control of the interface exchange board, the image processing board, the data storage board and other boards is realized through the IPMB bus, and the health information of the boards is detected in real time; and transmitting video image data through the SRIO bus.
Further, the control module comprises a self-checking module, an initializing module, a manual control loop module, a position control loop module, a miss distance loop control module, a speed stabilizing loop module and a collecting module,
the servo system receives an instruction in a serial communication mode under the power-on state; the preparation work of the servo system mainly comprises self-checking and initialization, wherein the self-checking module and the initialization module are used for respectively carrying out self-checking and initialization, returning state information and executing loop control under the condition of no error;
in a manual mode, the servo system calls a manual control loop module to realize stable control, keep the visual axis stable in an inertial space and realize a manual search target;
in the follow-up mode, the geographic tracking mode, the cell searching mode, the automatic searching and target tracking mode, the servo system firstly calls a position control loop module, performs scanning searching of a corresponding field of view according to boundary information given by a main control system, enters a locking mode after a target is found, calls a target-off loop control module and automatically tracks the target;
in a target tracking mode, a speed stabilizing loop module is called, a target in a view field is searched, and after the target is found, the target is automatically tracked;
after the scout search task is executed, the system calls the collection module, so that the stable platform rotates to a collection protection position.
Further, the same kind of output quantity information of the main inertial navigation and the sub inertial navigation comprises: position, attitude, angular velocity, and acceleration information.
Further, the self-checking module comprises a power-on self-checking unit, a platform resetting unit, an alignment unit and a period self-checking unit,
the power-on self-detection unit is used for comprehensively judging and calculating the power-on self-detection results of the imaging sensor assemblies, the motor driver and the controller assembly to realize the self-detection of the comprehensive control system.
Further, the platform resetting unit sends a platform resetting instruction to the control module by the carrier, and the control module controls the platform resetting unit to reset.
Further, the alignment unit: when the carrier flies, the sub inertial navigation system which needs to be aligned on the photoelectric system performs initial alignment by utilizing information provided by the high-precision main inertial navigation system on the carrier so as to establish a space coordinate reference which is needed by navigation.
Further, the cycle self-checking unit: and (3) performing self-checking on the periodicity of the sensor assembly, the motor driver, the controller assembly and the comprehensive control system, uploading the result to the carrier, and performing fault processing.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention relates to a comprehensive control system which is used for realizing the implementation of board card function scheduling, on-line monitoring, servo control, optical machine control, sensor control, positioning calculation and planned tasks;
(2) The invention can adapt the comprehensive control system to domestic antenna, reWorks operating system and foreign VxWorks, helix, INTERGRITY, csLEOS, DEOS, lynuxWorks operating system through interfaces by reasonable module division and data transmission.
Drawings
FIG. 1 is a general block diagram of the hardware of the present invention;
FIG. 2 is a general block diagram of the underlying software of the present invention;
FIG. 3 is a block diagram of an application layer software system of the present invention;
FIG. 4 is a timing sequence of the start of navigation operation of the main inertial navigation system and the sub inertial navigation system of the present invention;
FIG. 5 is a flowchart of the integrated control software of the present invention;
FIG. 6 is a block diagram of a control module according to the present invention;
FIG. 7 is a flow chart of the control software operation of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
An integrated control system, as shown in figure 3, comprises an initialization module, a power-on module, a self-checking module, a communication module, a main control scheduling module, a control module, a power management module and a data storage module,
the initialization module is used for initializing the work task, the storage space and the timer, and starting the communication module, the control module and the data storage module;
and (5) a power-on module: the comprehensive control system reads the address information of the carrier hanger, returns the address information to the carrier through a 1553B bus, and after the carrier and the onboard photoelectric system are confirmed to be normally connected, the comprehensive control system communicates with 3 primary power supplies through RS485 communication, sequentially opens the output of the 3 primary power supplies, and supplies power to the onboard photoelectric system through the power-on module;
the self-checking module (for detecting and processing the fault condition of the comprehensive control system) comprises a power-on self-checking unit, a platform resetting unit, an alignment unit and a period self-checking unit, wherein the power-on self-checking unit is used for comprehensively judging and calculating the power-on self-checking result of each imaging sensor assembly, motor driver and controller assembly to realize the self-checking of the comprehensive control system;
the platform resetting unit sends a platform resetting instruction to the control module by the carrier, and the control module controls the platform resetting unit to reset;
alignment unit: when the carrier flies, the sub inertial navigation system which needs to be aligned on the photoelectric system performs initial alignment by utilizing information provided by the high-precision main inertial navigation system on the carrier so as to establish a space coordinate reference which is needed by navigation;
cycle self-checking unit: the method comprises the steps of performing periodic self-checking on a sensor assembly, a motor driver, a controller assembly and a comprehensive control system, uploading a result to a carrier, and performing fault processing;
and a communication module: the data is received, executed and sent by analyzing the communication protocol;
and the main control scheduling module: the carrier sends a control instruction to the photoelectric system to control the working state, so that the photoelectric system responds to the carrier instruction to complete working mode conversion, target searching, tracking, irradiation, ranging and positioning of the photoelectric system, and the carrier cooperates with a friend machine or a ground department for cooperative combat;
the transmission of the carrier and system instructions and data is realized through 1553B; and transmitting instructions and data to the interface exchange board, the image processing board and the data storage board through Ethernet communication to realize image processing and data storage. And instructions and data are transmitted to each imaging sensor assembly, the motor driver and the controller assembly through CAN communication, so that camera work, motor action and environmental parameter control are realized. And transmitting instructions and data to the strapdown inertial navigation assembly through the RS422 to transfer flight information to the satellite receiver. Power supply control is carried out through RS 485; the health management data transmission is realized through RS232, the power-on and power-off control is realized through the IPMB bus to the interface exchange board, the image processing board and the data storage board, and the health information of the boards is detected in real time; and transmitting video image data through the SRIO bus.
And the control module is used for: the control of azimuth, pitching and rolling movements, the control of the quick reflection mirror and the switching of zoom focusing wave bands are realized;
and a power management module: the system is used for starting up and powering up the photoelectric system, shutting down and powering off the system, restarting the system and alarming and processing power failure;
and a data storage module: and storing the system log and the working parameters into a Flash storage block, and reading the system log and the working parameters in the Flash storage block when playing back the data.
The operation of the alignment unit includes: initializing a sub inertial navigation system, performing a coarse alignment stage and performing a fine alignment stage. The initialization work of the sub inertial navigation comprises the following steps:
the airborne main inertial navigation system gives an initial speed, an initial position and an attitude array;
testing and calibrating the inertial component;
and carrying out initial alignment of the gesture before entering the navigation working state every time, and realizing transfer alignment by utilizing the processes of taking off, crawling and turning of the carrier, wherein the alignment time is shorter than 5min.
As shown in fig. 4, the coarse alignment stage: and (3) carrying out coarse alignment on the sub inertial navigation system at the time tB, binding the sub inertial navigation system by the main control unit through the attitude array, the speed and the position information provided by the main inertial navigation system, taking the binding value as an initial value of the attitude array by the sub inertial navigation system, and carrying out attitude calculation and navigation calculation.
As shown in fig. 4, the fine alignment stage: at the time tC, the sub inertial navigation system finishes the take-off of the coarse alignment post-carrier machine, enters the fine alignment stage of the main inertial navigation system and the sub inertial navigation system, and keeps the fine alignment process for a long time until the flight task is finished, and the difference value obtained by comparing the measured value of the Kalman filtering with the current value of the similar output quantity of the main inertial navigation system and the sub inertial navigation system is used as the estimated value of the next moment.
The specific working process of the main control scheduling module is as follows:
when the carrier flies to the target area, a driver sends a control instruction to the photoelectric system through the control lever controller to control the working state, so that the working mode conversion, target searching, tracking, irradiation, distance measurement or positioning of the photoelectric system are completed, and the carrier cooperates with a friend machine or ground department for cooperative combat;
1) Before the carrier takes off, the photoelectric system is powered on for self-checking and is configured in an initialized state, and normal prompt information of the photoelectric system is given, and at the moment, the photoelectric system is in a collection mode;
2) After the carrier takes off, a navigation instruction is sent to enable the photoelectric system to exit from a collection mode and be in a navigation mode, after initial alignment of carrier parent inertial navigation is completed, an alignment instruction is sent to conduct transfer alignment of a sub inertial navigation system of the photoelectric system, and preparation is made for target point positioning, geographic tracking and waypoint follow-up of the photoelectric system;
3) The carrier enters a cruising state, an operator controls the photoelectric system to enter a manual or automatic searching working mode through the control lever controller to search and monitor, the photoelectric system performs manual or automatic scanning imaging on a certain area, and in the mode, the thermal infrared imager and the visible light camera can be switched between a large field of view, a medium field of view and a small field of view;
4) When an operator finds a target, the target is locked by controlling the aiming line through the control lever, and the photoelectric aiming photoelectric system enters a target automatic tracking mode at the moment, the target is kept in the central area of the field of view all the time, and visible light or infrared is adjusted to be a small field of view for target detailed examination;
when an operator finds that other suspicious targets appear in the field of view, the operator controls the tracking frame to lock a new target while automatically tracking the current target, so as to realize automatic tracking and observation of the new target;
5) When the distance between the target and the carrier is required to be known or the target is positioned, a laser measuring device is used for carrying out distance measurement operation on the target, and then the main control unit calculates the position of the target;
when a target is required to be indicated to a laser guided missile or bomb on a training field or battlefield, the laser measuring device can emit irradiation pulse to lock the target, so as to guide and track;
when ground personnel are matched to emit irradiation light spots to indicate targets, the photoelectric system can lock the light spots to track by the laser tracker, and position and angle information is provided for fire control calculation of the carrier; meanwhile, the photoelectric system laser indicator can emit indication light to perform target searching guidance for ground cooperators, so as to support the ground near air;
6) After the task is completed, an operator sends out a recycling instruction through the control rod controller to control the photoelectric system to enter a collection mode, and the carrier returns.
The communication module realizes the receiving, executing and transmitting of 1553B, ethernet, CAN, RS422, RS485, RS232, IPMB bus and SRIO bus communication by analyzing the communication protocol.
The main control scheduling module is used for enabling the photoelectric system to respond to the carrier instruction and enabling the photoelectric system to call a corresponding execution program according to the curing process, and specifically comprises the following steps:
the transmission of the carrier and system instructions and data is realized through 1553B; transmitting instructions and data to an interface exchange board, an image processing board and a data storage board through Ethernet communication to realize image processing and data storage; transmitting instructions and data to each imaging sensor assembly, motor driver and controller assembly through CAN communication, so as to realize camera work, motor action and environmental parameter control; transmitting instructions and data to the strapdown inertial navigation assembly through the RS422 to transfer flight information to the satellite receiver; power supply control is carried out through RS 485; realizing health management data transmission through RS 232; the power-on and power-off control of the interface exchange board, the image processing board, the data storage board and other boards is realized through the IPMB bus, and the health information of the boards is detected in real time; and transmitting video image data through the SRIO bus.
The control module comprises a self-checking module, an initializing module, a manual control loop module, a position control loop module, a miss distance loop control module, a speed stabilizing loop module and a collecting module,
the servo system receives an instruction in a serial communication mode under the power-on state; the preparation work of the servo system mainly comprises self-checking and initialization, wherein the self-checking module and the initialization module are used for respectively carrying out self-checking and initialization, returning state information and executing loop control under the condition of no error;
in a manual mode, the servo system calls a manual control loop module to realize stable control, keep the visual axis stable in an inertial space and realize a manual search target;
in the follow-up mode, the geographic tracking mode, the cell searching mode, the automatic searching and target tracking mode, the servo system firstly calls a position control loop module, performs scanning searching of a corresponding field of view according to boundary information given by a main control system, enters a locking mode after a target is found, calls a target-off loop control module and automatically tracks the target;
in a target tracking mode, a speed stabilizing loop module is called, a target in a view field is searched, and after the target is found, the target is automatically tracked;
after the scout search task is executed, the system calls the collection module, so that the stable platform rotates to a collection protection position.
The same kind of output quantity information of the main inertial navigation and the sub inertial navigation comprises: position, attitude, angular velocity, and acceleration information.
Examples
The hardware adopts a minimum system module of a multi-core processor (such as FT-2000/4), an FPGA module, an external interface module, an on-board power supply, a clock and other circuits, wherein the external interface module comprises: RS422 communication interface, RS232 communication interface, CAN communication interface, IMPI communication interface, ARINC429 bus interface, 1553B bus interface, PWM interface, AD acquisition, discrete quantity interface and debugging interface, and the hardware overall block diagram is shown in figure 1; the embedded real-time operating system adopts ReWorks or VxWorks, the airborne equipment needs to adopt an operating system meeting ARINC653 standard, such as a weather system or a VxWorks653 system, and bottom software such as Boot and BSP is correspondingly matched with the operating system, and the general block diagram of the bottom software is shown in figure 2; the software application layer mainly comprises an initialization module, a power-on module, a self-checking module, a communication module, a main control scheduling module, a power management module and a data storage module, and the general block diagram of the software application layer is shown in fig. 3.
The embedded real-time operating system adopts a unified microkernel to realize the basic functions of kernels such as task management, task scheduling, space management, synchronous mutual exclusion, time management, interrupt/exception management and the like in a multi-core operating environment, and realizes a real-time process module in a single application configuration mode and an ARINC653 support module in a multi-application configuration mode. The partition scheduling is realized according to the determined main time frame, the priority preemption-based process scheduling and periodic process are supported, the mutual exclusion, the semaphore, the buffering, the blackboard and the event are adopted to realize the intra-partition synchronization/communication mechanism, the health monitoring mechanism is realized, the faults can be detected, positioned, classified and processed, and the fault step by step reporting is realized.
Time performance index (multi-core processor, dominant frequency 2.2 GHz) in multi-core operating environment: the number of the maximum configurable partitions is 255, the number of the maximum configurable processes in the partitions is 1024, the number of the maximum configurable sampling ports in the partitions and the number of the queue ports are 512, the number of the maximum configurable buffers, the number of the semaphores and the number of the events in the partitions are 512, the number of the maximum supportable partition scheduling tables is 256, the task context switching time is less than or equal to 6 microseconds, the partition switching time is less than or equal to 18 microseconds, and the interrupt response time is less than or equal to 2 microseconds.
When the system is powered on, the main equipment performs self-checking work and enters a preparation state and a use state.
After the main control software is subjected to data analysis and calculation, state information such as target height, target latitude, target longitude, self-checking result, laser ranging value, stable platform roll angle, photoelectric device pitch angle, photoelectric system working state, photoelectric system state and the like is required to be reported back to the airborne task system.
Transfer alignment refers to a method for carrying out initial alignment on a sub inertial navigation system which needs to be aligned on a photoelectric system by utilizing information provided by a main inertial navigation system with high precision on a carrier when the carrier flies. The purpose of the initial alignment is to establish the spatial coordinate reference required for navigation. The aircraft inertial navigation is used as main inertial navigation, and the photoelectric system inertial navigation is used as sub inertial navigation.
Firstly, initializing sub inertial navigation, which comprises the following steps:
1) The airborne main inertial navigation system directly gives an initial speed, an initial position and an attitude array;
2) Testing and calibrating the inertial component. If the performance of the inertial device is stable, the starting is not necessarily carried out every time;
3) The initial alignment of the gesture (including the initial alignment of the mathematical platform) is carried out before entering the navigation working state every time of starting, and the transfer alignment is realized by utilizing the flight processes of taking off, crawling, turning and the like of the airplane as much as possible, and the alignment time is required to be shorter than 5min.
The working time sequence of the onboard main inertial navigation and the sub inertial navigation on the photoelectric system is shown in fig. 4.
Transfer alignment is divided into two phases, coarse alignment and fine alignment:
1) Coarse alignment stage:
coarse alignment is carried out by the inertial navigation of the photoelectric system at the time tB. The main control computer system uses information such as a gesture array, speed, position and the like provided by the onboard main inertial navigation to bind the sub inertial navigation, the sub inertial navigation uses the binding value as an initial value of the gesture array and starts gesture resolving and navigation resolving, and the dynamic matching process of main inertial navigation parameters and sub inertial navigation parameters is avoided.
2) Fine alignment stage:
and taking off the aircraft after the coarse alignment of the sub inertial navigation of the photoelectric system is finished at the time tC, and entering a main inertial navigation fine alignment stage. The fine alignment process is maintained for a long period of time until the end of the flight mission. The Kalman filtering quantity is formed by comparing the same-class output quantity of the main inertial navigation with the sub inertial navigation. Depending on the metrology information used (compared navigation parameters), there may be different transfer alignment algorithms. The photoelectric system transmits navigation information of airborne main inertial navigation in the alignment system: position, attitude, angular velocity, and acceleration (specific force).
When the carrier flies to the target area, a driver sends a control instruction to the photoelectric system through the control lever controller to control the working state, so that the working mode conversion, target searching, tracking, irradiation, distance measurement or positioning of the photoelectric system are completed, and the carrier can also cooperate with the friend machine or ground department to perform a combat in a cooperative manner.
1) Before the carrier takes off, the system is powered on for self-checking and is configured in an initialized state, and normal prompt information of the operation of the photoelectric system is given, and at the moment, the photoelectric system is in a collection mode;
2) After the carrier takes off, a navigation instruction is sent to enable the photoelectric system to exit from a collection mode and be in a navigation mode, after initial alignment of carrier parent inertial navigation is completed, an alignment instruction is sent to conduct transfer alignment of sub inertial navigation of the photoelectric system, and preparation is made for target point positioning, geographic tracking and waypoint follow-up of the photoelectric system;
3) The carrier enters a cruising state, an operator controls the photoelectric system to enter a manual or automatic searching working mode through the control lever controller to search and monitor, and the photoelectric system scans and images a certain area manually or automatically. In the mode, the thermal infrared imager and the visible light camera can switch between a large field of view, a medium field of view and a small field of view;
4) When an operator finds a target, the target is locked by controlling the aiming line through the control lever, and the photoelectric aiming photoelectric system enters a target automatic tracking mode at the moment, so that the target is kept in the central area of the field of view all the time, and visible light/infrared light can be adjusted to be a small field of view for target detailed examination; when an operator finds that other suspicious targets appear in the field of view, the operator can control the tracking frame to lock a new target while automatically tracking the current target, so as to realize automatic tracking and observation of the new target;
5) When the distance between the target and the carrier is required to be known or the target is positioned, a laser measuring device is used for carrying out distance measurement operation on the target, and then the main control unit calculates the position of the target; when a target is required to be indicated to a laser guided missile or bomb on a training field or battlefield, the laser measuring device can emit irradiation pulse to lock the target, so as to guide and track; when ground personnel are matched to emit irradiation light spots to indicate targets, the photoelectric system can lock the light spots to track by the laser tracker, and position and angle information is provided for fire control calculation of the carrier; meanwhile, the photoelectric system laser indicator can emit indication light to perform target searching guidance for ground cooperators, so as to support the ground near air;
6) After the task is completed, an operator sends out a recycling instruction through the control rod controller to control the photoelectric system to enter a collection mode, and the carrier returns.
The flow of the integrated control software is shown in fig. 5.
The control software is the brain of the servo system, the control software collects the measurement data of the speed and position feedback elements, and the corresponding control actions are completed according to the servo motion control of the photoelectric system under different working modes.
The control module is shown in FIG. 6.
And according to the information exchange design of the system, the servo system receives the control instruction and controls the stable platform to work. According to the design of the system working mode, the servo system mainly works in a speed stabilizing loop, a manual control loop, a position control loop and a target-off quantity control loop. The optical sensor is enabled to search and track the target, and the functions of reconnaissance, imaging, irradiation, ranging and the like of the system are achieved.
The servo system receives instructions in a serial communication mode in an electrified state. The preparation work of the servo system mainly comprises self-checking and initialization, which are respectively carried out through a self-checking module and an initialization module, and returns state information, and loop control is executed under the condition of no error. In the manual mode, the servo system calls the manual control loop module to realize stable control, keep the visual axis stable in the inertial space and realize the manual target searching function. In the follow-up mode, the geographic tracking mode, the cell searching mode, the automatic searching and target tracking mode, the servo system firstly calls a position control loop module, performs scanning searching of a corresponding field of view according to boundary information given by the main control system, enters a locking mode after a target is found, calls a target-off quantity loop control module and automatically tracks the target. And in the target tracking mode, calling a speed stabilizing loop module, searching for a target in the field of view, and automatically tracking the target after the target is found. After the scout search task is executed, the system calls the collection module, so that the stable platform rotates to a collection protection position.
The control module software workflow is shown in fig. 7.
The integrated control system provided by the invention realizes the implementation of board function scheduling, on-line monitoring, servo control, optical machine control, sensor control, positioning calculation and planned tasks.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (13)
1. The comprehensive control system is characterized by comprising an initialization module, a power-on module, a self-checking module, a communication module, a main control scheduling module, a control module, a power management module and a data storage module,
the initialization module is used for initializing the work task, the storage space and the timer, and starting the communication module, the control module and the data storage module;
and (5) a power-on module: the comprehensive control system reads the address information of the carrier hanger, returns the address information to the carrier through a 1553B bus, and after the carrier and the onboard photoelectric system are confirmed to be normally connected, the comprehensive control system communicates with 3 primary power supplies through RS485 communication, sequentially opens the output of the 3 primary power supplies, and supplies power to the onboard photoelectric system through the power-on module;
and a self-checking module: detecting and processing the fault condition of the comprehensive control system;
and a communication module: the data is received, executed and sent by analyzing the communication protocol;
and the main control scheduling module: the carrier sends a control instruction to the photoelectric system to control the working state, so that the photoelectric system responds to the carrier instruction to complete working mode conversion, target searching, tracking, irradiation, ranging and positioning of the photoelectric system, and the carrier cooperates with a friend machine or a ground department for cooperative combat;
and the control module is used for: the control of azimuth, pitching and rolling movements, the control of the quick reflection mirror and the switching of zoom focusing wave bands are realized;
and a power management module: the system is used for starting up and powering up the photoelectric system, shutting down and powering off the system, restarting the system and alarming and processing power failure;
and a data storage module: storing the system log and the working parameters into a Flash storage block, and reading the system log and the working parameters in the Flash storage block when playing back data;
the control module comprises a self-checking module, an initializing module, a manual control loop module, a position control loop module, a miss distance loop control module, a speed stabilizing loop module and a collecting module,
the servo system receives an instruction in a serial communication mode under the power-on state; the preparation work of the servo system mainly comprises self-checking and initialization, wherein the self-checking module and the initialization module are used for respectively carrying out self-checking and initialization, returning state information and executing loop control under the condition of no error;
in a manual mode, the servo system calls a manual control loop module to realize stable control, keep the visual axis stable in an inertial space and realize a manual search target;
in the follow-up mode, the geographic tracking mode, the cell searching mode, the automatic searching and target tracking mode, the servo system firstly calls a position control loop module, performs scanning searching of a corresponding field of view according to boundary information given by a main control system, enters a locking mode after a target is found, calls a target-off loop control module and automatically tracks the target;
in a target tracking mode, a speed stabilizing loop module is called, a target in a view field is searched, and after the target is found, the target is automatically tracked;
after the scout search task is executed, the system calls the collection module, so that the stable platform rotates to a collection protection position.
2. An integrated control system according to claim 1, wherein the operation of the alignment unit comprises: initializing a sub inertial navigation system, performing a coarse alignment stage and performing a fine alignment stage.
3. An integrated control system according to claim 2, wherein the initialization of the child inertial navigation comprises:
the airborne main inertial navigation system gives an initial speed, an initial position and an attitude array;
testing and calibrating the inertial component;
and carrying out initial alignment of the gesture before entering the navigation working state every time, and realizing transfer alignment by utilizing the processes of taking off, crawling and turning of the carrier, wherein the alignment time is shorter than 5min.
4. An integrated control system according to claim 2, characterized by a coarse alignment stage: and (3) carrying out coarse alignment on the sub inertial navigation system at the time tB, binding the sub inertial navigation system by the main control unit through the attitude array, the speed and the position information provided by the main inertial navigation system, taking the binding value as an initial value of the attitude array by the sub inertial navigation system, and carrying out attitude calculation and navigation calculation.
5. An integrated control system according to claim 2, characterized by a fine alignment stage: at the time tC, the sub inertial navigation system finishes the take-off of the coarse alignment post-carrier machine, enters the fine alignment stage of the main inertial navigation system and the sub inertial navigation system, and keeps the fine alignment process for a long time until the flight task is finished, and the difference value obtained by comparing the measured value of the Kalman filtering with the current value of the similar output quantity of the main inertial navigation system and the sub inertial navigation system is used as the estimated value of the next moment.
6. The integrated control system of claim 1, wherein the master control scheduling module specifically works as follows:
when the carrier flies to the target area, a driver sends a control instruction to the photoelectric system through the control lever controller to control the working state, so that the working mode conversion, target searching, tracking, irradiation, distance measurement or positioning of the photoelectric system are completed, and the carrier cooperates with a friend machine or ground department for cooperative combat;
1) Before the carrier takes off, the photoelectric system is powered on for self-checking and is configured in an initialized state, and normal prompt information of the photoelectric system is given, and at the moment, the photoelectric system is in a collection mode;
2) After the carrier takes off, a navigation instruction is sent to enable the photoelectric system to exit from a collection mode and be in a navigation mode, after initial alignment of carrier parent inertial navigation is completed, an alignment instruction is sent to conduct transfer alignment of a sub inertial navigation system of the photoelectric system, and preparation is made for target point positioning, geographic tracking and waypoint follow-up of the photoelectric system;
3) The carrier enters a cruising state, an operator controls the photoelectric system to enter a manual or automatic searching working mode through the control lever controller to search and monitor, the photoelectric system performs manual or automatic scanning imaging on a certain area, and in the mode, the thermal infrared imager and the visible light camera can be switched between a large field of view, a medium field of view and a small field of view;
4) When an operator finds a target, the target is locked by controlling the aiming line through the control lever, and the photoelectric aiming photoelectric system enters a target automatic tracking mode at the moment, the target is kept in the central area of the field of view all the time, and visible light or infrared is adjusted to be a small field of view for target detailed examination;
when an operator finds that other suspicious targets appear in the field of view, the operator controls the tracking frame to lock a new target while automatically tracking the current target, so as to realize automatic tracking and observation of the new target;
5) When the distance between the target and the carrier is required to be known or the target is positioned, a laser measuring device is used for carrying out distance measurement operation on the target, and then the main control unit calculates the position of the target;
when a target is required to be indicated to a laser guided missile or bomb on a training field or battlefield, the laser measuring device can emit irradiation pulse to lock the target, so as to guide and track;
when ground personnel are matched to emit irradiation light spots to indicate targets, the photoelectric system can lock the light spots to track by the laser tracker, and position and angle information is provided for fire control calculation of the carrier; meanwhile, the photoelectric system laser indicator can emit indication light to perform target searching guidance for ground cooperators, so as to support the ground near air;
6) After the task is completed, an operator sends out a recycling instruction through the control rod controller to control the photoelectric system to enter a collection mode, and the carrier returns.
7. The integrated control system of claim 1, wherein the communication module implements 1553B, ethernet, CAN, RS422, RS485, RS232, IPMB bus, SRIO bus communications reception, execution, and transmission by parsing the communication protocol.
8. The integrated control system according to claim 7, wherein the master control scheduling module is configured to implement response of the optoelectronic system to the carrier command, and to cause the optoelectronic system to call the corresponding execution program according to the curing procedure, and specifically includes:
the transmission of the carrier and system instructions and data is realized through 1553B; transmitting instructions and data to an interface exchange board, an image processing board and a data storage board through Ethernet communication to realize image processing and data storage; transmitting instructions and data to each imaging sensor assembly, motor driver and controller assembly through CAN communication, so as to realize camera work, motor action and environmental parameter control; transmitting instructions and data to the strapdown inertial navigation assembly through the RS422 to transfer flight information to the satellite receiver; power supply control is carried out through RS 485; realizing health management data transmission through RS 232; the power-on and power-off control of the interface exchange board, the image processing board and the data storage board card is realized through the IPMB bus, and the health information of the board card is detected in real time; and transmitting video image data through the SRIO bus.
9. The integrated control system of claim 5, wherein the same type of output information of the main and sub inertial navigation comprises: position, attitude, angular velocity, and acceleration information.
10. The integrated control system of claim 1, wherein the self-test module comprises a power-on self-test unit, a platform reset unit, an alignment unit, and a cycle self-test unit,
the power-on self-detection unit is used for comprehensively judging and calculating the power-on self-detection results of the imaging sensor assemblies, the motor driver and the controller assembly to realize the self-detection of the comprehensive control system.
11. The integrated control system of claim 10, wherein the platform reset unit is configured to send a platform reset command to the control module by the carrier, and the control module controls the platform reset unit to reset.
12. The integrated control system of claim 10, wherein the alignment unit: when the carrier flies, the sub inertial navigation system which needs to be aligned on the photoelectric system performs initial alignment by utilizing information provided by the high-precision main inertial navigation system on the carrier so as to establish a space coordinate reference which is needed by navigation.
13. The integrated control system of claim 10, wherein the periodic self-test unit: and (3) performing self-checking on the periodicity of the sensor assembly, the motor driver, the controller assembly and the comprehensive control system, uploading the result to the carrier, and performing fault processing.
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