CN115077565A - Fiber-optic gyroscope FPGA closed-loop test method and system based on cosine feedback mechanism - Google Patents
Fiber-optic gyroscope FPGA closed-loop test method and system based on cosine feedback mechanism Download PDFInfo
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Abstract
The invention discloses a fiber optic gyroscope FPGA closed-loop test method and a system based on a cosine feedback mechanism, comprising the following steps: generating cosine data conforming to a cosine function model; performing spike pulse cutting processing on the generated cosine data through the constructed cosine feedback mechanism model to generate gyro angular rate original data conforming to the four-state square wave, and sending the gyro angular rate original data serving as input data to the FPGA of the fiber-optic gyroscope to be tested; modulating received gyro angular rate original data by the to-be-detected fiber optic gyro FPGA to serve as output data; printing txt files containing the gyro angular rate in output data; and when the gyro data are updated in the txt file and the input data and the output data show a nonlinear corresponding relation, performing feedback updating on the gyro data input next time. In the invention, the whole working process of the digital closed-loop test is finished under the unified time sequence control, the fiber-optic gyroscopes with different output time sequences can be tested, and the implementation method is simple and quick and has strong universality.
Description
Technical Field
The invention relates to the technical field of fiber-optic gyroscope software testing, in particular to a fiber-optic gyroscope FPGA closed-loop testing method and system based on a cosine feedback mechanism.
Background
The triaxial fiber optic gyroscope is used for measuring the angular rates of a projectile body, a satellite and an airship and can simultaneously sense the angular rates of 3 orthogonal directions in space. The FPGA software digital system is a unified whole, the work of each part is carried out in a synchronous state, a strict phase relation must be kept, otherwise, the whole system is disordered, and the system cannot work.
At present, a triaxial fiber optic gyroscope FPGA software testing method generally adopts a method of continuously acquiring and modulating original data of a fiber optic gyroscope and then testing output data of the gyroscope. The method has long testing time, needs time sequence alignment, has smooth data, has delay between the time sequence relation of each part and the test data, and cannot intuitively and truly reflect the corresponding relation between the time sequence relation and the test data.
Therefore, a problem to be solved by those skilled in the art is how to provide a fiber-optic gyroscope FPGA closed-loop test method and system based on a cosine feedback mechanism, which enable the whole digital closed-loop test working process to be completed under unified timing control.
Disclosure of Invention
In view of this, the invention provides a fiber-optic gyroscope FPGA closed-loop test method and system based on a cosine feedback mechanism, the whole working process of digital closed-loop test is completed under unified timing control, and fiber-optic gyroscopes with different output timings can be tested, and the implementation method is simple, fast and strong in universality.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fiber optic gyroscope FPGA closed-loop test method based on a cosine feedback mechanism comprises the following steps:
generating cosine data which accords with a cosine function model through Matlab software;
constructing a cosine feedback mechanism Verilog model;
performing spike cutting pulse processing on the generated cosine data through the cosine feedback mechanism Verilog model to generate gyro angular rate original data conforming to four-state square waves, and sending the gyro angular rate original data serving as input data to an FPGA (field programmable Gate array) of the fiber-optic gyro to be tested;
modulating received gyro angular rate original data by the to-be-detected fiber optic gyro FPGA to serve as output data;
printing a Data _ out.txt file containing the gyro angular rate in the output Data;
when the gyro Data are read and updated in the Data _ out.txt file, and the input Data and the output Data show a nonlinear corresponding relation, the updated gyro Data perform feedback updating on the next input gyro Data;
and (3) using Matlab to simulate a four-state square wave modulation algorithm of the fiber-optic gyroscope, inputting the same group of gyroscope original Data for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.txt file, and verifying whether the modulated gyroscope Data output by the FPGA of the fiber-optic gyroscope to be tested meets the gyroscope requirement.
Further, in the foregoing method for testing a fiber optic gyroscope FPGA closed loop based on a cosine feedback mechanism, before generating cosine data conforming to a cosine function model by Matlab software, the method further includes: the X, Y, Z axis of the fiber optic gyroscope is automatically switched.
Further, in the fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism, the method further comprises latching data after receiving the rising edge of the trigger signal, and completing the sending and transmission of all data within 0.5ms after the rising edge.
Further, in the fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism, the cosine feedback mechanism Verilog model adopts four modulation state quantities to replace square wave bias modulation, and has four different bias quantities; the modulation phases of the four offsets are respectively: pi + phi, 0 and pi, and the action time of each offset is half T period; and (3) carrying out excision processing on the spike signal outside the T time of the input cosine data, wherein the frequency of the gating signal is 1/2 modulation cycles, and filtering cosine response pulses under the triggering of the gating signal to obtain the original parameters of the gyro angular rate.
Further, in the fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism, cosine data conforming to a cosine function model is generated by using the following formula, and the cosine data is stored and used in a cos _ signed.txt form:
Further, in the above method for closed-loop testing of an optical fiber gyro FPGA based on a cosine feedback mechanism, when gyro Data is updated in the Data _ out.txt file, and input Data and output Data of the optical fiber gyro FPGA to be tested exhibit a nonlinear correspondence, feedback updating is performed on gyro Data input next time, including:
when the situation that gyro data are updated and the input data and the output data keep a nonlinear corresponding relation is monitored, carrying out peak clipping feedback processing on gyro angular rate original data output by the cosine feedback mechanism Verilog model at the next time;
outputting a Data error when the input Data and the output Data show a non-corresponding relation, and stopping outputting the Data;
and when the data is detected to stop outputting, carrying out peak cutting processing on the data again until the input data and the output data keep the nonlinear corresponding relation again, and continuing to start data outputting.
Further, in the fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism, a calculation formula of the nonlinearity of the input data and the output data is as follows: k = max | (Data (i +1) -Data (i) -l (i))/| max (ds)) |, i =1,2,3, … …; data is acquired Data, Ds is modulated Data, L is a fitting straight line obtained by performing first-order linear fitting on the modulated Data, and i represents the number of the acquired Data.
The invention also discloses a fiber optic gyroscope FPGA closed loop test system based on the cosine feedback mechanism, which comprises:
the cosine data generation module generates cosine data which accords with a cosine function model through Matlab software;
the spike cutting pulse processing module is used for carrying out spike cutting pulse processing on the generated cosine data through a constructed cosine feedback mechanism Verilog model to generate gyro angular rate original data which accord with four-state square waves and serve as input data to be sent to the FPGA of the fiber optic gyro to be tested;
the file generation module is used for printing a Data _ out.txt file which contains the gyroscope angular rate and is modulated by the fiber optic gyroscope FPGA to be detected in the output Data;
the feedback updating module is used for updating the gyro Data fed back by the updated gyro Data when the gyro Data are read into the Data _ out.txt file and the input Data and the output Data show a nonlinear corresponding relation;
and the verification module is used for simulating a four-state square wave modulation algorithm of the fiber-optic gyroscope by using Matlab, inputting the original Data of the same group of gyroscopes for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.txt file, and verifying whether the modulated gyroscope Data output by the FPGA of the fiber-optic gyroscope to be tested conforms to the gyroscope requirement.
Further, in the above fiber-optic gyroscope FPGA closed-loop test system based on the cosine feedback mechanism, the method further includes:
and the gyro channel control unit is used for automatically switching the X, Y, Z axis of the fiber-optic gyro.
Further, in the above fiber-optic gyroscope FPGA closed-loop test system based on the cosine feedback mechanism, the method further includes:
and the serial port receiving unit is used for latching data after receiving the rising edge of the trigger signal and finishing the sending and transmission of all data within 0.5ms after the rising edge.
Compared with the prior art, the invention discloses and provides the fiber-optic gyroscope FPGA closed-loop test method and system based on the cosine feedback mechanism, and the method and system have the following beneficial effects:
1. according to the invention, data conforming to the four-state square wave is generated through a cosine feedback mechanism Verilog model, the data is updated by continuously compensating the gyro original data input next time through a feedback loop without data acquisition by an external acquisition system, the data real-time performance is good, the acquisition speed is high, the test data is not delayed, the feedback loop can ensure that the input data and the output data keep a nonlinear corresponding relation, and the closed-loop control of gyro data input and output is realized;
2. under the condition of meeting the data standard required by the GJB 2426A-2015 optical fiber gyroscope test method, the method has strong universality, solves the completeness of the software and hardware design of the optical fiber gyroscope closed-loop control FPGA with different output time sequences, is convenient for constructing the time sequences, and realizes the test of a software digital closed-loop system.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a fiber optic gyroscope FPGA closed loop test method based on a cosine feedback mechanism provided by the invention;
FIG. 2 is a testing schematic diagram of a fiber-optic gyroscope FPGA closed-loop testing system based on a cosine feedback mechanism provided by the invention;
FIG. 3 is a diagram of a four-state square wave generated by the cosine feedback mechanism model provided in the present invention;
FIG. 4 is a graph of spike-cutting data processing provided by the present invention;
FIG. 5 is a sample interval of cosine feedback mechanism model data provided by the present invention;
FIG. 6 is a waveform diagram of four-state square wave data output by the cosine feedback mechanism model provided in the present invention;
FIG. 7 is a flow chart of the present invention for testing the non-linear correspondence between input data and output data.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention discloses a fiber-optic gyroscope FPGA closed-loop test method based on a cosine feedback mechanism, including:
s1, constructing a cosine feedback mechanism Verilog model;
s2, generating cosine data conforming to a cosine function model through Matlab software;
s3, performing spike cutting pulse processing on the generated cosine data through a cosine feedback mechanism Verilog model to generate gyro angular rate original data which accord with a four-state square wave and serve as input data to be sent to an FPGA (field programmable gate array) of the fiber-optic gyroscope to be detected;
s4, the FPGA of the fiber optic gyroscope to be tested modulates the received gyroscope angular rate original data to be used as output data;
s5, printing Data including Data _ out.txt file of gyro angular rate;
s6, when the gyro Data are read and updated in the Data _ out.txt file, and the input Data and the output Data show a nonlinear corresponding relation, the updated gyro Data perform feedback updating on the next input gyro Data;
s7, using Matlab to simulate a four-state square wave modulation algorithm of the fiber-optic gyroscope, inputting the original Data of the same group of gyroscopes for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.txt file, and verifying whether the modulated gyroscope Data output by the FPGA of the fiber-optic gyroscope to be tested meets the requirements of the gyroscopes.
Specifically, in S6, the gyro data input next time is a value obtained by multiplying the feedback coefficient by the gyro data input last time, where the feedback coefficient is N +1 and N represents the number of feedback times.
In S7, if the error range requirement of the two modulated output data sets satisfies 0.01%, the output gyro data meets the requirement.
In one embodiment, before generating cosine data conforming to a cosine function model by Matlab software, the method further includes: the X, Y, Z axis of the fiber optic gyroscope is automatically switched.
In one embodiment, further comprising: and after the rising edge of the trigger signal is received, latching the data, and completing the sending and transmission of all data within 0.5ms after the rising edge.
The embodiment of the invention uses a Questa Sim simulation tool to carry out modular design, and compiles a Testbench.v/. sv test script which is used for realizing the following functions:
(1) defining an assertion signal or variable;
(2) generating an excitation waveform and clock using initial or always statements;
(3) an example design module (namely an FPGA of the fiber optic gyroscope to be tested);
(4) monitoring and comparing the output responses (i.e., S6);
(5) printing the demodulated gyro Data and saving the gyro Data as a Data _ out.txt file (namely S5);
(6) after a gyro serial port receiving unit inputs a rising edge of a trigger signal (2 KHz square wave), data is latched, and all data is sent and transmitted within 0.5ms after the rising edge;
(7) the gyro channel control unit completes X, Y, Z three-axis gyro channel control;
in one embodiment, in S1, the cosine feedback mechanism Verilog model uses four modulation state quantities instead of square wave bias modulation, and there are four different bias quantities; the modulation phases of the four offsets are respectively: pi + phi, 0 and pi, and the action time of each offset is half T period; and (3) carrying out excision processing on the spike signal outside the T time of the input cosine data, wherein the frequency of the gating signal is 1/2 modulation cycles, and filtering cosine response pulses under the triggering of the gating signal to obtain the original parameters of the gyro angular rate.
As shown in FIG. 3, instead of square wave bias modulation, four modulation state quantities are used, and the interference signal error is set to
And then:
wherein,
indicating fiber Sagnac loop phase shift;
represents the modulation phase; I.C. A 1 A gyro interference signal output during a first tau/2 time representing a modulation period; i is 2 Representing the output of the gyro interference signal within the second tau/2 time; the error amount for the closed-loop feedback loop
The feedback phase shift generated by the four-state square wave in the increasing stage can be changed by using the control quantity to control the four-state square wave generator and changing the step height value of the four-state square wave
And the original angular rate data acquisition of the triaxial fiber-optic gyroscope can be realized by processing the peak cutting of the cosine signal.
In an embodiment, in S2, the cosine data conforming to the cosine function model is generated by using the following formula, and the cosine data is saved and used in the form of cos _ signed.
In a specific embodiment, in S3, cosine data is injected into a register data _ mem with a bit width of 12bit defined in a test script and a depth of 65536, and gyro angular rate original data conforming to a four-state square wave is generated through a cosine feedback mechanism model, as shown in fig. 4, the cosine data is subjected to spike cutting processing, and spike signals outside T time are subjected to spike cutting processing; as shown in fig. 5, the data sampling interval is data within T time; as shown in fig. 6, the step height of the four-state square wave is 1, the amplitude range is 0-FFFF, and the step width is the time constant τ; the working mode of the gyro channel control unit is set to be a four-state square wave feedback signal combination output mode, and the step height is 1.
In S5, the test script prints out a Data _ out.txt file containing the gyro angular rate by a $ fwrite instruction, and txt information is read in the script by a $ fopen instruction.
In S6, as shown in fig. 7, the process of monitoring and feeding back the input data and the output data includes:
(1) when the situation that the gyro data are updated and the input data and the output data keep nonlinear corresponding relation is monitored, peak clipping feedback processing is carried out on gyro angular rate original data output by a next cosine feedback mechanism Verilog model;
the calculation formula of the nonlinearity of the input data and the output data is as follows:
K=max|（Data(i+1)-Data(i)-L(i))/|Max(Ds)||，i=1,2,3，……；
data is acquired Data, Ds is modulated Data, L is a fitting straight line obtained by performing first-order linear fitting on the modulated Data, and i represents the number of the acquired Data.
(2) When Data updating does not exist in the Data _ out.txt file, or the input Data and the output Data show non-corresponding relation, outputting a Data error, and stopping outputting the Data;
(3) when the data output is detected to stop, the peak cutting processing is carried out on the data again until the input data and the output data keep the nonlinear corresponding relation again, and the data output is continued to be started.
As shown in FIG. 2, the embodiment of the invention also discloses a fiber-optic gyroscope FPGA closed-loop test system based on a cosine feedback mechanism, which comprises
The cosine data generation module generates cosine data which accords with a cosine function model through Matlab software;
the spike cutting pulse processing module is used for carrying out spike cutting pulse processing on the generated cosine data through a constructed cosine feedback mechanism Verilog model to generate gyro angular rate original data which accord with four-state square waves and serve as input data to be sent to the FPGA of the fiber optic gyro to be tested;
the file generation module is used for printing a Data _ out.txt file containing the gyro angular rate in output Data modulated by the fiber optic gyro FPGA to be tested;
the feedback updating module is used for updating the gyro Data when the gyro Data are read in the Data _ out.txt file and the input Data and the output Data show a nonlinear corresponding relation, and performing feedback updating on the next input gyro Data by the updated gyro Data;
and the verification module is used for simulating a four-state square wave modulation algorithm of the fiber-optic gyroscope by using Matlab, inputting the original Data of the same group of gyroscopes for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.txt file, and verifying whether the modulated gyroscope Data output by the FPGA of the fiber-optic gyroscope to be tested conforms to the gyroscope requirement.
In one embodiment, further comprising: and the gyro channel control unit is used for automatically switching the X, Y, Z axis of the fiber-optic gyro.
In another embodiment, the method further comprises:
and the serial port receiving unit is used for latching data after receiving the rising edge of the trigger signal and finishing the sending and transmission of all data within 0.5ms after the rising edge.
The method comprises the steps of using a Questa Sim simulation tool to carry out modular design, compiling a v/. sv test script, generating cosine data by using Matlab software, realizing four-state square wave data input through a cosine feedback mechanism model, finishing X, Y, Z triaxial gyro channel control by a gyro channel control unit, and latching and sending data after a serial port receiving unit receives a rising edge of a trigger signal (2 KHz square wave); the gyro to be tested FPGA reads the received gyro angular rate data, and outputs the gyro data through the serial port receiving unit after modulation; a file generation module in the test script prints and outputs a Data _ out.txt file containing the gyro angular rate through a $ fwrite instruction, and txt information is read through a $ fopen instruction; and when monitoring that the data is updated and the input data and the output data keep a nonlinear corresponding relation, the feedback updating module performs peak cutting feedback processing on the gyroscope angular rate original data output next time.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A fiber optic gyroscope FPGA closed loop test method based on a cosine feedback mechanism is characterized by comprising the following steps:
constructing a cosine feedback mechanism Verilog model;
generating cosine data which accords with a cosine function model through Matlab software;
performing spike cutting pulse processing on the generated cosine data through the cosine feedback mechanism Verilog model to generate gyro angular rate original data conforming to four-state square waves, and sending the gyro angular rate original data serving as input data to an FPGA (field programmable Gate array) of the fiber-optic gyro to be tested;
modulating received gyro angular rate original data by the to-be-detected fiber optic gyro FPGA to serve as output data;
printing a Data _ out.txt file containing the gyro angular rate in the output Data;
when the gyro Data are read and updated in the Data _ out.txt file, and the input Data and the output Data show a nonlinear corresponding relation, the updated gyro Data perform feedback updating on the next input gyro Data;
and (3) using Matlab to simulate a four-state square wave modulation algorithm of the fiber-optic gyroscope, inputting the original Data of the same group of gyroscopes for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.
2. The method of claim 1, wherein before generating the cosine data conforming to the cosine function model by Matlab software, the method further comprises: the X, Y, Z axis of the fiber optic gyroscope is automatically switched.
3. The fiber-optic gyroscope FPGA closed-loop testing method based on the cosine feedback mechanism as claimed in claim 1, further comprising: and after the rising edge of the trigger signal is received, latching the data, and completing the sending and transmission of all data within 0.5ms after the rising edge.
4. The fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism as claimed in claim 1, characterized in that the cosine feedback mechanism Verilog model adopts four modulation state variables to replace square wave bias modulation, and has four different bias variables; the modulation phases of the four offsets are respectively: pi + phi, 0 and pi, and the action time of each offset is half T period; and (3) carrying out excision processing on the spike signal outside the T time of the input cosine data, wherein the frequency of the gating signal is 1/2 modulation cycles, and filtering cosine response pulses under the triggering of the gating signal to obtain the original parameters of the gyro angular rate.
5. The fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism as claimed in claim 1, wherein the cosine data conforming to the cosine function model is generated by using the following formula, and the cosine data is stored and used in a cos _ signed.txt form:
6. The fiber-optic gyroscope FPGA closed-loop testing method based on the cosine feedback mechanism as claimed in claim 1, wherein when the gyro Data is updated in the Data _ out.txt file which is read and the input Data and the output Data of the fiber-optic gyroscope FPGA to be tested show a nonlinear corresponding relationship, the feedback updating of the gyro Data input next time is performed, comprising:
when the situation that gyro data are updated and the input data and the output data keep a nonlinear corresponding relation is monitored, carrying out peak clipping feedback processing on gyro angular rate original data output by the cosine feedback mechanism Verilog model at the next time;
outputting a Data error when the input Data and the output Data show a non-corresponding relation, and stopping outputting the Data;
and when the data output is detected to be stopped, carrying out peak clipping processing on the data until the input data and the output data keep the nonlinear corresponding relation again, and continuing to start data output.
7. The fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism as claimed in claim 6, wherein the calculation formula of the nonlinearity of the input data and the output data is as follows: k = max | (Data (i +1) -Data (i) -l (i))/| max (ds)) |, i =1,2,3, … …; data is acquired Data, Ds is modulated Data, L is a fitting straight line obtained by performing first-order linear fitting on the modulated Data, and i represents the number of the acquired Data.
8. A fiber-optic gyroscope FPGA closed-loop test system based on a cosine feedback mechanism, which is suitable for the fiber-optic gyroscope FPGA closed-loop test method based on the cosine feedback mechanism according to any one of claims 1-7, and is characterized by comprising:
the cosine data generation module generates cosine data which accords with a cosine function model through Matlab software;
the spike cutting pulse processing module is used for carrying out spike cutting pulse processing on the generated cosine data through a constructed cosine feedback mechanism Verilog model to generate gyro angular rate original data which accord with four-state square waves and serve as input data to be sent to the FPGA of the fiber optic gyro to be tested;
the file generation module is used for printing a Data _ out.txt file which contains the gyroscope angular rate and is modulated by the fiber optic gyroscope FPGA to be detected in the output Data;
the feedback updating module is used for updating the gyro Data fed back by the updated gyro Data when the gyro Data are read into the Data _ out.txt file and the input Data and the output Data show a nonlinear corresponding relation;
and the verification module is used for simulating a four-state square wave modulation algorithm of the fiber-optic gyroscope by using Matlab, inputting the original Data of the same group of gyroscopes for modulation, comparing the modulated gyroscope Data output by Matlab with the Data _ out.txt file, and verifying whether the modulated gyroscope Data output by the FPGA of the fiber-optic gyroscope to be tested conforms to the gyroscope requirement.
9. The fiber-optic gyroscope FPGA closed-loop test system based on the cosine feedback mechanism as claimed in claim 8, further comprising:
and the gyro channel control unit is used for automatically switching the X, Y, Z axis of the fiber-optic gyro.
10. The fiber-optic gyroscope FPGA closed-loop test system based on the cosine feedback mechanism as claimed in claim 8, further comprising:
and the serial port receiving unit is used for latching data after receiving the rising edge of the trigger signal and finishing the sending and transmission of all data within 0.5ms after the rising edge.
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