RU2757856C1 - Device for hardware simulation of laser angular velocity sensor - Google Patents

Abstract

FIELD: gyroscopic instrumentation.

SUBSTANCE: invention relates to the field of gyroscopic instrumentation and can be used for debugging and testing strapdown inertial navigation systems (SINS), made on the basis of laser angular velocity sensors, and navigation and automatic control systems (NACS) of an aircraft (AC), which include SINS data. The device for hardware and software simulation of the laser angular velocity sensor contains the first and second calculators, flash disk, non-volatile memory, first, second and third serial ports, I/O port, programming port, first and second controllers of multiplex data transmission channel, flash controller -disk, nonvolatile memory controller, network port, digital parallel port, expansion bus.

EFFECT: expanding functionality and reducing the cost of creating a gyroscopic channel SINS and NACS as a whole.

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Description

The invention relates to the field of gyroscopic instrumentation and can be used for debugging and testing strapdown inertial navigation systems (SINS) based on laser angular rate sensors (DUS-L), and navigation and automatic control systems (SNAU) of an aircraft (LA), in which include SINS data.

DUS-L is a part of the SINS gyroscopic channel and provides information on the increments of the angles of rotation (angular velocity) of the aircraft to the SINS computer. Functionally, the sensor consists of a sensing element (SE) and an electronic unit (EB).

There are different ways to check the SINS gyroscopic channel. One of them is full-scale tests, in which SNAU and SINS are checked in real conditions of use. The disadvantage of this method is the high material costs. Another method is a software-mathematical simulation of the SINS gyroscopic channel, which allows assessing the accuracy characteristics of the DUS-L and its influence on the operation of the SINS and SNAU as a whole.

Known computer simulators of the SINS gyroscopic channel, which are designed to simulate the readings of "ideal" inertial sensors (Bogdanov ON The technique of coordinated modeling of measurements of inertial sensors, trajectory parameters of an object with an application to the problems of inertial and satellite navigation. Mathematical Sciences, Moscow State University, 2015), based on the integration of the Poisson equation. Also known are mathematical methods for simulating the operation of SINS inertial meters using the Matlab and Simulink environment (Ledovskoy MI Modeling adaptive filtering of errors of SINS inertial meters. Polzunkovsky Bulletin, No. 2/1, 1012; Prasolov A.S. et al. Modeling the algorithm of work strapdown inertial navigation system for monitoring the state of the rail track, "Young Scientist", No. 15 (119), August, 2016).

The advantage of computer (mathematical) simulators is the ability to quickly conduct a large number of virtual experiments and promptly adjust the SINS software based on their results.

The disadvantage of the known computer (mathematical) simulators is the inability to determine the influence of the SINS gyroscopic channel on the performance of individual devices that are part of the SNAU.

Known simulator DUS-L (RF patent No. 2432592 "Modeling complex for checking the control system of an unmanned aerial vehicle", Kamanin V.V., Podoplekin Yu.F. et al., IPC: G05B 13/04, G07C 11/00, publ . 27.10.2011, Bul. No. 30), which is implemented in software in the form of constant scale factors of the sensor. Other passport parameters of DUS-L are absent in the simulator, which significantly reduces the information content of modeling and limits the scope of the complex.

A complex of mathematical modeling of the dynamics of aircraft movement on a computerized simulation stand is known (Ilinykh V.V. et al. Modeling the dynamics of flight of an unmanned aircraft in a computerized simulation stand, FSUE "RFNC-VNIITF" named after Academician EI Zababakhin, UDC 629.13, 2015 ), containing in its composition the program-mathematical model of the DUS-L errors. This complex makes it possible to sufficiently fully simulate the operation of the SINS gyroscopic channel, but it does not have the ability to assess its impact on the performance of individual devices that are part of the SNAU, which significantly limits the scope of the complex.

This complex is selected as the closest analogue to the claimed invention.

The technical problem to be solved by the claimed invention is the creation of a device for hardware and software imitation of a laser angular velocity sensor (PAI DUS-L), which allows you to check (adjust) the SINS gyroscopic channel in laboratory conditions, without carrying out field tests as part of an aircraft.

The technical result to be achieved by the claimed invention is to expand the functionality and reduce the cost of creating a gyroscopic channel SINS and SNAU as a whole.

This result is achieved by the fact that the PAI DUS-L contains the first and second calculators, a flash disk, a non-volatile memory device, the first, second and third serial ports, an input-output port, a programming port, the first and second controllers of the multiplex data transmission channel, a controller flash disk, controller of non-volatile storage device, network port, digital parallel port, expansion bus, while the input of the first controller of the multiplex data transmission channel is the first input of PAI DUS-L, and the output through the expansion bus is connected to the first input of the first calculator, the second input which is connected to the output of the first serial port, the input of which is the second input of PAI DUS-L, the input of the network port is the third input of PAI DUS-L, and the output is connected to the third input of the first calculator, the fourth input of which is the fourth input of PAI DUS-L, the output the flash disk is connected via the flash disk controller to the fifth input of the first calculator, the output of the nonvolatile storage device through the controller of the nonvolatile storage device is connected to the sixth input of the first calculator, the first output of which through the second serial port is connected to the input of the third serial port, the output of which is connected to the first input of the second calculator, the second output of the first calculator through a digital parallel port is connected to the input input-output port, the output of which is connected to the second input of the second calculator, the output of which is connected to the input of the second controller of the multiplex data transmission channel, the output of which is the output of PAI DUS-L, the input of the programming port is the fifth input of PAI DUS-L, and the output is connected to the third input of the second calculator, the fourth and fifth inputs of which are respectively the sixth and seventh inputs of PAI DUS-L.

Expansion of the functionality of PAI DUS-L is achieved in two directions - software and hardware. First, the device simulates in software the deviation of the accuracy characteristics of the DUS-L, which vary during operation, both systematically and randomly, which makes it possible to estimate the errors in the operation of the SINS gyroscopic channel depending on the parameters of a particular sensor. Secondly, the possibility of forming the values of the increments of angles in real time allows in laboratory conditions to debug the operation of individual hardware nodes of the SNAU and the system as a whole.

Reducing the cost of creating a SINS gyroscopic channel (and SNAU as a whole) is achieved due to the ability to quickly conduct a large number of virtual experiments and promptly adjust the SINS and SNAU software based on their results.

In addition, at the stage of development, instead of the expensive and laborious DUS-L in the manufacture, a relatively cheap PAI DUS-L device based on a single-board computer is used.

The figure shows a block diagram of PAI DUS-L.

This device contains the first controller 1 of the multiplexed data transmission channel (MCPD), flash disk 2, non-volatile storage device 3, expansion bus 4, controller 5 of the flash disk, controller 6 of non-volatile storage device, first serial port 7, first computer 8, network port 9, second serial port 10, digital parallel port 11, input-output port 13, programming port 14, second calculator 15, second MCPD controller 16.

The input of the first controller 1 MKPD is the first input of PAI DUS-L, and the output through the expansion bus 4 is connected to the first input of the first calculator 8. The second input of the first calculator 8 is connected to the output of the first serial port 7, the input of which is the second input of PAI DUS-L. The input of the network port 9 is the third input of the PAI DUS-L, and the output is connected to the third input of the first calculator 8. The fourth input of the first calculator 8 is the fourth input of the PAI DUS-L. The output of the flash disk 2 is connected through the controller 5 of the flash disk to the fifth input of the first calculator 8. The output of the nonvolatile memory device 3 is connected through the controller 6 of the nonvolatile memory device to the sixth input of the first calculator 8. The first output of the first calculator 8 is connected to the input of the third serial port 12, the output of which is connected to the first input of the second calculator 15. The second output of the first calculator 8 through the digital parallel port 11 is connected to the input of the input-output port 13, the output of which is connected to the second input of the second calculator 15. The output of the second calculator 15 is connected with the input of the second controller 16 MKPD, the output of which is the output of PAI DUS-L. The input of the programming port 14 is the fifth input of the PAI DUS-L, and the output is connected to the third input of the second calculator 15. The fourth and fifth inputs of the second calculator 15 are, respectively, the sixth and seventh inputs of the PAI DUS-L.

The first calculator 8, the first controller 1 MCPD, flash disk 2, non-volatile storage device 3, controllers for flash disk 5 and non-volatile storage device 6, first 7 and second 10 serial ports, digital parallel port 11, expansion bus 4 and network port 7 form a simulator CHE DUS-L.

The second computer 15, the second controller 16 MCPD, the programming port 14, the input-output port 13 and the third serial port 12 form the BE DUS-L simulator.

The simulated angular velocities of the aircraft flight path and the main passport parameters of the DUS-L are fed to the input of the first controller 1 MCPD from an external device (not shown in the figure) and fed through the expansion bus 4 to the first calculator 8.

The first controller 1 MCPD is designed to receive parcels from an external device and convert the format of the incoming codes. The first MCPD controller 1 can be based on the MCPD terminal connected to the expansion bus 4 (for example, ISA).

The first calculator 8 carries out the functions of processing input data and calculating the accuracy characteristics of the DUS-L according to the passport parameters according to the developed mathematical model. The first calculator 8 can be made on a high-speed central processor and random access memory (RAM).

To the second input of PAI DUS-L (input of the first serial port 7), additional passport parameters of DUS-L are received from an external device. The first serial port 7 can be based on standard serial interfaces (RS-232, RS-422, RS-485).

Through the network port 9 (LAN type), the control program PAI DUS-L is loaded into the RAM of the first calculator 8.

Any external device with multiple rewritable flash memory can be used as flash disk 2. The controller 5 controls the flash disk 2, from which the real-time operating system (RTOS) is written to the first computer 8 of the SE simulator. Its type is selected based on the performance requirements of PAI DUS-L.

A non-volatile memory 3 is connected to the first calculator 8 through the controller 6, in which the passport parameters of the DUS-L are stored. Non-volatile memory 3 can be implemented on the basis of standard ferroelectric microcircuits.

The second 10 and third 12 serial ports can be implemented on the basis of standard serial interfaces of a personal computer.

Digital parallel port 11 and I / O port 13 are standard multichannel discrete I / O ports on single board computers.

The second computer 15 performs the functions of receiving and transmitting information to the controller of steering drives SNAU, as well as calculating the time parameters of the simulated trajectory of the aircraft. The second calculator 15 can be made on the basis of a digital signal processor.

The second controller 16 MCPD converts and transmits to the external device the calculated values of angular velocities and time parameters of the simulated trajectory of the aircraft. The second controller 16 MCPD can be executed on a microcircuit of the terminal MCPD.

The PAI DUS-L device works as follows.

The RTOS is loaded into the RAM of the first calculator 8, in which the duration of its system cycle is set equal to 50 μs. Then comes the configuration of non-volatile memory microcircuits 3, from which, when the power is turned on, the previous additional and main passport parameters of the DUS-L are automatically read, with which the PAI DUS-L begins to work until the new values are entered through the first serial port 7. Next, the digital parallel port 11 is initialized , controllers MKPD 1 and 16 are configured as a terminal device, set all serial ports 7, 10, 12 to the required data transfer rate. The second calculator 15 generates a timing signal that simulates the output pulses of the angular position sensor DUS-L. This clock signal is fed through the digital parallel port 11 to the first calculator 8 and is used in the control program of the SE simulator to generate the necessary interrupts. Next, the address of the terminal device is read, which is assigned to the PAI DUS-L in the SINS. After that, on the leading edge of the timing signal, the stage of aircraft flight simulation begins. The calculated angular increments are transmitted from the SE simulator via the third serial port 12 to the second computer 15.

The processing of the input information about the trajectory of the aircraft movement, set from an external device, occurs in each period of the angular position sensor signal. In the flight simulation mode, the values of the current and predicted angular velocity along the three axes of the DUS-L are transmitted to the first input of the device through the first controller 1 of the MCPD, and from the output of the second controller 16 MCPD the device gives the values of the increments of the angular rates along the three axes (taking into account the characteristics of the DUS- L) and the values of the time intervals required to construct the simulated flight trajectory of the aircraft. In the control program of the SE simulator, several data streams are created (fed to the input of the network port 9), operating in the RTOS interrupt mode, which makes it possible to achieve an error in measuring time intervals that does not exceed microseconds. During the operation of the DUS-L, the modes of the ring laser perimeter flip and the restoration of the information content of the DUS-L after the completion of the flip mode are also imitated, which makes it possible to work out the control algorithms for the BE and SINS as a whole.

In the software part of the proposed device (mathematical model), the technical characteristics of the DUS-L are represented by the main and additional passport parameters. The main ones include: systematic components of the angular velocity measurement errors, drift coefficients, scale coefficients of the DUS-L sensitivity axes and the matrix of the transition from the sensor coordinate system to the SINS coordinate system. Additional passport parameters of the DUS-L are: instability of scale factors, non-reproducible parts of zero offsets and random components of the angular velocity measurement error.

The systematic components of the angular velocity measurement Δ _sist and the non-reproducible parts of the zero offset μ are calculated for the i-th axis by the formula:

The recalculation of velocities from the SINS coordinate system to the DUS-L coordinate system is carried out in accordance with (2).

where ω _{IZD_i} is the speed of the i-th axis in the SINS coordinate system;

- элементы матрицы А перехода от система координат БИНС в систему координат ДУС-Л.

- elements of the matrix A for the transition from the SINS coordinate system to the DUS-L coordinate system.

The angular velocities for the i-th axis are recalculated from the dimension [rad / s] to [° / h] according to the formula (3):

Next, an additive is introduced, taking into account the predicted speeds, in accordance with the formula:

- текущая и прогнозируемая скорости по i-й оси ДУС-Л соответственно, задаваемые с персонального компьютера;where

- current and predicted speeds along the i-th axis of DUS-L, respectively, set from a personal computer;

t_DUP - time of the current PAI DUS-L call [s];

t_UVM - time of the last call to an external device [s];

T_UVM - period of the MCDT frame [s].

Further, the DUS-L errors, which are part of its technical parameters, are added to the given angular velocities:

where Δ _i [° / h] - constant zero offset along the i-th axis of DUS-L, calculated by the formula (1);

σ _i [° / h] ~ random component of the measurement error of the i-th axis of DUS-L. This value changes in each T_DUP period with zero mathematical expectation and normal probability distribution with the standard deviation specified by the operator;

- коэффициент дрейфа нуля i-й оси ДУС-Л;

- coefficient of zero drift of the i-th axis of DUS-L;

T is the time elapsed since the beginning of the simulation of the motion trajectory [s].

Accordingly, the angular increment α _i , measured by the i-th axis of DUS-L during the period of calling PAI DUS-L [s], is calculated by the formula:

The number of information pulses issued by the counter of the i-th axis, corresponding to the increment α _i , is determined in accordance with the formula:

where MK _i is the scale factor of the i-th axis of DUS-L ['' / imp];

γ _i - instability of the scale factor of the i-th axis of DUS-L ['' / imp].

γ _i is a realization of a random variable and changes in each period T_DUP with zero mathematical expectation and normal probability distribution density with standard deviation given by the operator.

Only integer values of N _{i are} taken into account. The remainder of the division by formula (7) is not discarded, but accumulated. When the remainder reaches the value of one (minus one, in the case of a speed with a negative sign), it is reset to zero, and the resulting unit is added (subtracted) to the value of N _i .

When modeling the trajectory of the aircraft, the increments of angular velocities are first read and multiplied by the transition matrix (2). Next, the dimension of the velocities (3) is changed, the linear addition of the velocity (4) is taken into account, the non-reproducible part of the zero offset of the DUS-L is calculated and the systematic error in measuring the angular velocity (1) is added, the total time for simulating the trajectory of motion is calculated, the random error in measuring the angular velocity is added and zero drift of DUS-L with a normal density of the probability distribution (5), the values of the velocities are converted into angular increments (6), which are multiplied by the scale factors (7) taking into account their instability distributed according to the normal law, and the non-integer values of the increments of the angles of rotation are taken into account. The processed information is transmitted to the PAI DUS-L output and further to the SNAU steering drive controller.

The authors have developed a device for hardware and software simulation of a laser angular velocity sensor. The device includes a SE simulator based on a CPC109 microcomputer board with a Vortex86DX central processor, and an EC simulator with a digital signal processor of the 1867VTs5TDD1 type. A personal computer is used as an external device, in which an MKPD bus controller is installed based on the MB26.14 board. The control program for the SE simulator is written in C in the QNX Momentics IDE and runs under the control of the QNX6 RTOS. The control program for the BE simulator was created in the Code Composer Studio software shell also in the C language. The PC applications are written in the C ++ Builder 6 programming environment using the appropriate dynamic link libraries.

The device was tested at the semi-natural simulation stand when checking the hardware responsible for transmitting signals over multiplex data transmission channels from the SINS to the SNAU actuators. The introduction of a device for hardware and software simulation of a laser angular velocity sensor at the development stage made it possible to quickly eliminate a number of shortcomings of the SNAU units, debug the SINS operation algorithm, and reduce the duration and labor costs of testing.

Claims (1)

A device for hardware and software simulation of a laser angular velocity sensor, containing the first and second calculators, flash disk, non-volatile memory, first, second and third serial ports, input-output port, programming port, first and second controllers of multiplex data transmission channel, controller flash disk, controller of nonvolatile storage device, network port, digital parallel port, expansion bus, while the input of the first controller of the multiplex data transmission channel is the first input of the device for hardware and software simulation of the laser angular velocity sensor, and the output through the expansion bus is connected to the first input of the first calculator, the second input of which is connected to the output of the first serial port, the input of which is the second input of the device for hardware and software simulation of the laser angular velocity sensor, the input of the network port is the third input of the device for hardware and software simulation of the laser angular velocity sensor, and the output is connected to the third input of the first calculator, the fourth input of which is the fourth input of the device for hardware and software simulation of the laser angular velocity sensor, the flash disk output is connected via the flash disk controller to the fifth input of the first calculator, the output of the nonvolatile memory device through the controller of the non-volatile memory device is connected to the sixth input of the first calculator, the first output of which through the second serial port is connected to the input of the third serial port, the output of which is connected to the first input of the second calculator, the second output of the first calculator through a digital parallel port is connected to the input of the input-output port , the output of which is connected to the second input of the second calculator, the output of which is connected to the input of the second controller of the multiplex data transmission channel, the output of which is the output of the device for hardware and software simulation of the laser angular velocity sensor d, the programming port input is the fifth input of the device for hardware and software simulation of the laser angular velocity sensor, and the output is connected to the third input of the second calculator, the fourth and fifth inputs of which are, respectively, the sixth and seventh inputs of the device for hardware and software simulation of the laser angular velocity sensor.

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