CN112559288B - Distributed inertial platform test system based on Ethernet - Google Patents
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Abstract
A distributed inertial platform test system based on Ethernet comprises a test system front end, an Ethernet bus and a test system back end. The front end of the test system is a server end and is used for receiving and processing user operation instructions, performing message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing and realizing intelligent scheduling of test tasks; the rear end of the test system is a client, and the rear end is directly connected with an inertial platform to be tested and is responsible for inertial platform test information interaction, computer hard disk state monitoring, audible and visual alarm device control, power supply control and communication management, inertial navigation data transmission by an external inertial navigation system simulation and optical aiming straight signal transmission by an external optical aiming system simulation; the front end and the back end of the test system realize information interaction through an Ethernet bus. The invention can build a networked inertial platform test system, and realizes the online test of multiple inertial platform systems by matching the front end of the test system with a plurality of distributed rear ends.
Description
Technical Field
The invention relates to a distributed inertial platform test system based on Ethernet, belonging to the field of inertial platform test systems.
Background
With the continuous development of inertial technology, the iterative updating speed of inertial platform products is increasingly accelerated, and the situation that multiple spectrum type inertial platforms are tested simultaneously frequently occurs in production and user use sites. The requirements of different types of inertial platforms on external test interfaces and hardware resources of a test system are different; with the improvement of the digital level of the inertial platform, higher requirements are put forward on the rapid communication capability, the data batch processing capability, the intelligent flow control capability, the fault self-diagnosis capability and the like of the test computer, and the computer resources occupied by the functions are larger and larger. Therefore, the currently widely adopted test system based on a single inertial platform can not meet the requirements of compatible tests and simultaneous online tests of multiple types of inertial platforms. On the other hand, in the actual use process of the inertial platform, information interaction with an external system is needed, comprehensive testing work related to an interface of the external system is needed to be completed in the testing stage of the inertial platform, the equivalent part of the external system in the actual inertial platform testing system is still blank, and the testing coverage of the inertial platform is at a certain risk. At present, an inertial platform test system and an implementation method thereof which integrate functions of an external system equivalent function, a distributed multi-type inertial platform compatible online test function based on a front-end back-end mode, intelligent bus management, intelligent test flow control, fault self-diagnosis and the like.
At present, in the field of inertial platform system testing, no related technical method is realized yet.
Disclosure of Invention
The technical solution of the invention is as follows: the invention provides a distributed inertial platform test system based on an Ethernet bus, which overcomes the defects of the prior art. The system can simulate the information interaction between an external inertial navigation system and an optical aiming system and an inertial platform system, and the real-time inertial platform can test and cover 100% of the external interface. In addition, the inertial platform test system can realize distributed online test of multiple sets and multiple types of inertial platform systems, and the test efficiency of the inertial platform is greatly improved.
The technical solution of the invention is as follows:
An ethernet-based distributed inertial platform test system, comprising: the system comprises a testing system front end, an Ethernet bus and a plurality of testing system rear ends, wherein the testing system rear ends interact information with the testing system front end through the Ethernet, and each testing system rear end corresponds to one inertial platform to be tested;
The front end of the test system is a server end and is used for receiving and processing user operation instructions, carrying out message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
The rear end of the test system is a client and is directly connected with the inertial platform to be tested, and the test system is used for inertial platform test information interaction, computer hard disk state monitoring, audible and visual alarm device control, power supply control and communication state management, simulating the transmission of inertial navigation data by an external inertial navigation system and simulating the transmission of optical aiming straight signals by an external optical aiming system.
Further, the front end of the test system comprises a front end initialization module, a front end bus message management module, a human-computer interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module and a real-time diagnosis and decision processing module;
the front-end initialization module completes the initialization of a man-machine interaction interface and a TCP server end and the creation of a data storage file, and can establish connection with the rear end of the test system after the initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system communicates with the rear end through the front-end bus message management module, the front-end bus message management module examines the message sending queue in real time, when detecting a message to be sent, data are sent to the rear end of the test system through the Ethernet, meanwhile, the message receiving queue is examined in real time, and when detecting that an unprocessed message exists in the message receiving queue, the received message is sent to the message analysis processing module;
The human-computer interface operation module is used for receiving user operation instructions or input information, pressing into a message sending queue and controlling the rear end of the test system to finish corresponding operation through the front-end bus message management module;
the message analysis processing module completes analysis processing of the test information, the processed information is displayed through the interface display module, is stored through the information storage module, completes real-time fault diagnosis through the real-time diagnosis and decision processing module, generates an audible and visual alarm message and a decision processing message when detecting that the test information is abnormal, and is pressed into a message sending queue;
The task intelligent scheduling module is realized by adopting a finite state machine, the working state of the inertial platform to be tested is obtained through the message analysis processing module, the task state transition is completed according to the working state of the inertial platform to be tested or the task execution time, and the ordered operation of the test sequence is ensured to realize the intelligent scheduling of the task;
The platform parameter management module is used for sending and receiving parameters of the inertial platform to be tested, the parameters are sent by pressing parameter information into a sending message queue, and the received parameters are sent to the platform parameter management module through the message analysis processing module.
Further, the rear end of the test system comprises a rear end initialization module, a rear end bus message management module, a power supply control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module;
the back end initialization module completes the initialization of the hardware driver and the initialization of the TCP client, and the TCP is connected to the server end after the initialization is completed, namely the front end of the test system;
the back-end bus message management module is used for completing management of a message sending queue and a message receiving queue, and the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes the program control and data reading of the direct current stabilized voltage power supply through the SCPI control instruction according to the message of the back-end bus message management module;
When the front end of the test system monitors that the test information is abnormal, an alarm control instruction is sent, and after the back end bus message management module receives the alarm control instruction, an audible and visual alarm instruction is sent to the audible and visual alarm module, so that fault alarm prompt is realized;
the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end;
The external aiming system equivalent module outputs an collimation control signal and a collimation pulse signal according to an instruction sent by the front end, so that an optical aiming interface test of an inertial platform to be tested is realized;
the test information interaction module is used for collecting output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, reporting data to the front end of the test system through the back-end message management module, and sending the control instruction of the front end of the test system to the inertial platform through the test information interaction module after the back-end message management module receives the control instruction of the front end of the test system, so as to control the inertial platform to complete corresponding operation.
Furthermore, the back-end bus message management module and the power control and communication management module realize data interaction through Ethernet, the back-end bus message management module is used as a client, the power control and communication management module is used as a server, the power control and communication management module is provided with a communication link self-monitoring function, and reconnection is automatically attempted when the communication link interruption is monitored; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
Furthermore, the front end of the test system completes the coding management of the client socket according to the network address of the rear end of the test system and the type and number information of the inertial platform to be tested obtained by reading back, the front end of the test system realizes the information interaction with the corresponding rear end equipment of the test system and the inertial platform to be tested through different sockets, and the front end of the test system is matched with a plurality of distributed test system rear ends to realize the online test of a plurality of inertial platform systems.
Further, the real-time diagnosis and decision processing module performs fault real-time diagnosis, specifically:
The fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, and when the test data frame received by the real-time diagnosis and decision processing module fails to pass the verification, the current frame of test data does not participate in the subsequent fault diagnosis, and the next frame of test data is continuously received; after the test data passes the verification, the data parameters of the frame are subjected to qualification judgment, if the data are qualified, the next frame of test data is continuously received, if the data have unqualified items, whether the unqualified items are key parameters is judged, if the key parameters are unqualified, protection treatment measures are directly decided to be executed, if the unqualified items are not the key parameters, the continuous fault count value is increased by 1, then whether the continuous fault count value is larger than 5 is judged, if the continuous fault count value is larger than 5, an acousto-optic alarm instruction is sent to a bus message management module, and if the continuous fault count value is smaller than 5, the next frame of data is continuously received; and for the key parameter faults, directly sending a control instruction to the bus message management module to realize the disconnection operation of the control loop and the power supply.
Further, the platform parameter management module realizes the transmission and the reception of the parameters of the inertial platform to be tested, and specifically comprises the following steps:
The platform parameter management module completes the sending and receiving management of the parameters of the inertial platform, wherein the parameters of the platform comprise inertial instrument tool errors, instrument installation errors and instrument temperature coefficients, and comprises three functions of manual parameter programming, automatic parameter programming and parameter downloading management;
The manual parameter programming implementation flow is as follows: reading a local parameter file, displaying data in the parameter file, completing dimension conversion of the data, transmitting uploaded data and a parameter programming instruction to a front-end bus message management module, and after receiving the parameter programming message, the rear end of a test system realizes solidification of parameters through an inertia platform;
the parameter automatic programming implementation flow is as follows: the method comprises the steps that a parameter automatic programming instruction is sent to a front-end bus management module, an inertial platform is controlled to realize automatic updating and solidification of parameters of the platform after the rear end of a test system receives the automatic programming instruction, the solidification mode is that the inertial platform reads data in a data Flash area in the platform, statistical operation is carried out, and a statistical result is solidified into the parameter Flash area;
The parameter download management comprises readback, verification and qualification interpretation of the parameters, and automatically realizes the display and storage of the platform parameters, and the parameter download management flow is as follows: firstly, a platform parameter display interface is emptied, a parameter read-back message is sent through the front end of a test system, platform parameters uploaded by the rear end of the test system are received, qualification interpretation is carried out on the parameters, analysis dimension conversion and platform parameter interface display are carried out on the parameters through the front end of the test system, and parameter files are created to store the platform parameters.
Further, the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end, specifically:
After the rear end of the testing system receives an external inertial navigation control instruction sent by the front end, an external inertial navigation system equivalent module is controlled to send inertial navigation data to the inertial platform to be tested in an online text generation or reading mode, and therefore testing of the external inertial navigation interface function of the inertial platform is achieved.
Compared with the prior art, the invention has the advantages that:
(1) The inertial platform test system constructed by the method can realize the distributed test of the inertial platform system, complete the simultaneous online test of multiple inertial platform systems, realize the unification of the test system resources and effectively reduce the investment of development resources.
(2) The test system can complete the equivalent function of an external system with information interaction with the inertial platform system, and can complete the test of all interfaces of the inertial platform system through one set of test system, thereby realizing 100% coverage of the external interfaces of the inertial platform system.
(3) The inertial platform test flow has strong universality, can automatically realize intelligent control of the platform test flow, can realize separate control of different test flows according to the network address at the rear end of the test system, effectively reduces the requirement of the test process on the number of personnel, and greatly improves the test efficiency.
(4) According to the invention, all peripheral devices of the test system are realized through program control, and the communication link is monitored in real time, so that reconnection can be automatically carried out when the communication link is abnormal, and the communication robustness of the test system is improved.
(5) The test system can realize real-time monitoring of the state of the computer hard disk, test data files are stored in a binary source code mode, key test results are stored in a text file mode, the data storage space is effectively saved, and the test system supports a data playback function.
Drawings
FIG. 1 is a block diagram of the structural components of the present invention;
FIG. 2 is a diagram of the front end components of the test system of the present invention;
FIG. 3 is a diagram of the back end components of the test system of the present invention;
FIG. 4 is a flow chart of the real-time diagnosis and decision making process of the present invention;
FIG. 5 is a flow chart of a platform parameter management implementation of the present invention;
FIG. 6 is a diagram of a front end software interface and switching logic of the present invention;
FIG. 7 is a flow chart of an external inertial navigation equivalent module implementation of the present invention;
FIG. 8 is a diagram of an equivalent module implementation of the optical sighting system of the present invention;
FIG. 9 is a flow chart of the test system of the present invention.
Detailed Description
As shown in fig. 1, the distributed inertial platform test system based on the ethernet provided by the invention comprises a test system front end, an ethernet bus and a plurality of test system rear ends, wherein the test system rear ends interact information with the test system front end through the ethernet, and each test system rear end corresponds to one inertial platform to be tested.
The front end of the test system is a server end and is used for receiving and processing user operation instructions, carrying out message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
The rear end of the test system is a client and is directly connected with the inertial platform to be tested, and the test system is used for inertial platform test information interaction, computer hard disk state monitoring, audible and visual alarm device control, power supply control and communication state management, simulating the transmission of inertial navigation data by an external inertial navigation system and simulating the transmission of optical aiming straight signals by an external optical aiming system.
The front end transmits the received user operation instruction to the rear end through the Ethernet bus according to the agreed format, the rear end receives the data and then completes the analysis of the information, the corresponding hardware module is controlled according to the information type to complete the appointed operation, the collected test data is periodically reported to the front end, the front end receives the reporting information and then can complete the analysis, identification and distribution of the information, and the operations of data processing, display, storage, fault diagnosis and the like are completed through the corresponding data processing module.
As shown in fig. 2, the front end of the test system includes a front end initialization module, a front end bus message management module, a man-machine interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module, and a real-time diagnosis and decision processing module;
the front-end initialization module completes the initialization of a man-machine interaction interface and a TCP server end and the creation of a data storage file, and can establish connection with the rear end of the test system after the initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system communicates with the rear end through the front-end bus message management module, the front-end bus message management module examines the message sending queue in real time, when detecting a message to be sent, data are sent to the rear end of the test system through the Ethernet, meanwhile, the message receiving queue is examined in real time, and when detecting that an unprocessed message exists in the message receiving queue, the received message is sent to the message analysis processing module;
The human-computer interface operation module is used for receiving user operation instructions or input information, pressing into a message sending queue and controlling the rear end of the test system to finish corresponding operation through the front-end bus message management module;
The message analysis processing module completes the verification and analysis processing of the test information, the processed information is displayed through the interface display module, is stored through the information storage module, completes the real-time fault diagnosis through the real-time diagnosis and decision processing module, generates an audible and visual alarm message and a decision processing message when the abnormality of the test information is detected, and is pressed into a message sending queue;
The task intelligent scheduling module is realized by adopting a finite state machine, the working state of the inertial platform to be tested is obtained through the message analysis processing module, the task state transition is completed according to the working state of the inertial platform to be tested or the task execution time, and the ordered operation of the test sequence is ensured to realize the intelligent scheduling of the task;
The platform parameter management module is used for sending and receiving parameters of the inertial platform to be tested, the parameters are sent by pressing parameter information into a sending message queue, and the received parameters are sent to the platform parameter management module through the message analysis processing module.
As shown in fig. 3, the rear end of the test system comprises a rear end initialization module, a rear end bus message management module, a power supply control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module.
The back end initialization module completes the initialization of the hardware driver and the initialization of the TCP client, and the TCP is connected to the server end after the initialization is completed, namely the front end of the test system;
the back-end bus message management module is used for completing management of a message sending queue and a message receiving queue, and the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes the program control and data reading of the direct current stabilized voltage power supply through the SCPI control instruction according to the message of the back-end bus message management module;
When the front end of the test system monitors that the test information is abnormal, an alarm control instruction is sent, and after the back end bus message management module receives the alarm control instruction, an audible and visual alarm instruction is sent to the audible and visual alarm module, so that fault alarm prompt is realized;
the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end;
The external aiming system equivalent module outputs an collimation control signal and a collimation pulse signal according to an instruction sent by the front end, so that an optical aiming interface test of an inertial platform to be tested is realized;
the test information interaction module is used for collecting output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, and reporting data to the front end of the test system through the back-end message management module.
The back-end bus message management module and the power control and communication management module realize data interaction through Ethernet, the back-end bus message management module is used as a client, the power control and communication management module is used as a server, the power control and communication management module is provided with a communication link self-monitoring function, and reconnection is automatically attempted when the communication link interruption is monitored; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
The front end of the testing system completes the coding management of the client socket according to the network address of the rear end of the testing system and the type and number information of the inertial platform to be tested obtained through read-back, the front end of the testing system realizes the information interaction with the corresponding rear end equipment of the testing system and the inertial platform to be tested through different sockets, and the front end of the testing system is matched with a plurality of distributed testing systems to realize the online testing of a plurality of inertial platform systems.
As shown in fig. 4, the real-time diagnosis and decision processing module may receive the data processed by the message parsing processing module at the front end of the test system. The fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, when the received test data frame fails to pass the verification, the current frame of test data does not participate in the subsequent fault diagnosis, and the next frame of test data is continuously received. And after the test data passes the verification, performing qualification judgment on the frame data parameters, if the data are qualified, continuing to receive the next frame of test data, if the data have unqualified items, judging whether the unqualified items are key parameters, if the key parameters are unqualified, directly deciding to execute protection treatment measures, and if the unqualified items are not the key parameters, adding 1 to the continuous fault count value. And judging whether the continuous fault count value is greater than 5, if the continuous fault count value is greater than 5, sending an audible and visual alarm instruction to the bus message management module, and if the continuous fault count value is less than 5, continuing to receive the next frame of data. The false alarm rate is reduced to a certain extent by the fault real-time diagnosis and decision processing mechanism, and the safety of the test process is ensured. For critical parameter faults, the front end of the test system directly sends a control instruction to the bus message management module, and the disconnection operation of the control loop and the power supply is realized, so that the damage of the faults to the inertia platform, the test place and the testers is reduced.
As shown in FIG. 5, the platform parameter management module completes the sending and receiving management of platform parameters, wherein the platform parameters comprise inertial instrument tool errors, instrument installation errors and instrument temperature coefficients, and the platform parameter management module comprises three functions of manual parameter programming, automatic parameter programming and parameter downloading management. The manual parameter programming implementation flow is to read a local parameter file, display data in the parameter file to a platform parameter management interface, complete dimension conversion of the data, send uploaded data and a parameter programming instruction to a front-end bus message management module, and implement curing of parameters through an inertia platform after the rear end of a test system receives the parameter programming message. The automatic parameter programming is only required to send an automatic parameter programming instruction to the front-end bus management module, the rear end of the testing system can control the inertial platform to realize automatic updating and solidification of parameters of the platform after receiving the automatic parameter programming instruction, the solidification mode is that the inertial platform reads out data in a data Flash area in the platform and carries out statistic operation, and a statistic result is solidified into the parameter Flash area. The parameter downloading management part comprises readback, verification and qualification interpretation of parameters, and can automatically realize the display and storage of platform parameters, wherein the parameter downloading flow comprises the steps of firstly clearing a platform parameter display interface, sending a parameter readback message through the front end of a test system, receiving the platform parameters uploaded by the rear end of the test system, performing qualification interpretation on the parameters, performing analysis dimension conversion on the parameters by the front end of the test system, displaying the platform parameter interface, and creating a parameter file to store the platform parameters.
As shown in FIG. 6, the front end of the testing system has rich man-machine interaction interfaces, and can conveniently and rapidly realize interface switching and sub-window calling operations for different testers. The front end of the test system is provided with two main operation interfaces, namely a designer test interface and a user test interface. The designer test interface can display complete test information, is rich in software functions, is refined in user test interface, is simple and convenient to operate, and can meet the test requirement of the inertial platform. The default of the front-end software of the test system is a user test interface after the front-end software is started, and the software reservation shortcut key can realize convenient switching of the software interface. The designer test interface can realize more test functions, and the sub window triggers the call by clicking a button. The software interface can display the current state of the inertial platform, the operation record and the key test result, and update the interface test information in real time.
As shown in fig. 7, the equivalent function of the external inertial navigation system is realized by matching the front end and the rear end of the test system, the rear end of the test system receives the external inertial output control instruction of the front end, and inertial navigation data is output to the inertial platform to be tested through the equivalent module of the external inertial navigation system. The sub-window of the external inertial navigation equivalent system needs to be called through a designer test main interface, and output modes of fast-changing information, slow-changing information and course synthesis information can be selected in the sub-window, wherein the output modes comprise a fixed value output mode, a sine alternating output mode and a text reading mode, the fast-changing information is gesture information, and the slow-changing information is speed and position information. After the user selects the output mode, a control instruction is sent to the front-end bus message management module through the man-machine interaction interface, and after the rear end of the testing system receives the control instruction, the external inertial navigation system equivalent module is controlled to send inertial navigation data to the inertial platform to be tested in an on-line generation or text reading mode, so that the test of the inertial platform external inertial navigation data interface function is realized, and a convenient way is provided for verifying the inertial platform system transfer alignment, dynamic transposition control function and the like.
As shown in FIG. 8, the equivalent function of the optical sighting system is realized by the coordination of the front end and the rear end of the testing system, the sub-window corresponding to the module needs to be called by a designer testing main interface, and the equivalent module of the inertial sighting system comprises two parts of transmitting a collimated pulse signal and transmitting a collimated control current. The front end of the test system can be provided with a transmission interval of a collimated pulse signal, the output mode of the collimated current is adjustable, and the configurable parameters comprise output mode selection, a direct current voltage value, a square wave high level, a square wave low level, alternating current signal frequency, a signal duty ratio and a sinusoidal signal amplitude. After the rear end of the testing system receives an optical aiming system control instruction sent by the front end, a collimation pulse signal and a collimation control current are sent to the inertial platform to be tested according to a specified setting by controlling an equivalent module of the rear end optical aiming system, so that electrical and optical interface testing between the inertial platform and the optical aiming system is completed, and verification work of an optical aiming algorithm and an optical aiming testing flow of the inertial platform system can be assisted.
As shown in fig. 9, the working procedure of the test system in the present invention is as follows: and after the front end of the test system starts to run, automatically completing initialization of each module, starting network monitoring, waiting for the rear end to be connected into a test network, and when the front end monitors that the rear end is connected into the test network, sending a control instruction to acquire model and number information of an inertial platform product corresponding to the rear end, wherein the front end of the test system manages network sockets according to the information, so as to realize mapping management of the sockets and the corresponding platform. After the test is started, a periodic control instruction is automatically or manually sent through the front end, inspection of the test information of the inertial platform product is realized, instruction analysis is completed at the rear end of the test system, the hardware board card is controlled to realize collection of the test information, and the test data is periodically stored in a local storage medium in a source code mode. Meanwhile, the rear end of the test system can periodically upload the collected test data to the front end, and the front end completes analysis, processing and display operation of the source code data. The rear ends of different test systems can be accessed to the front ends of the test systems in a time sharing mode, no influence is generated among the rear ends of the different test systems, and the rear ends of the test systems can be distributed in different test stations. When a certain back end completes the test, the network connection with the front end can be actively disconnected. The testing work of other products is not affected. The front end and the rear end of the test system respectively run, and when the front end does not run, the rear end cannot establish network connection, and at the moment, system test cannot be performed.
The inertial platform test system constructed by the method can realize the distributed test of the inertial platform system, complete the simultaneous online test of multiple inertial platform systems, realize the unification of the test system resources and effectively reduce the investment of development resources.
The parts of the invention not described in detail are common knowledge to a person skilled in the art.
Claims (8)
1. An ethernet-based distributed inertial platform test system, comprising: the system comprises a testing system front end, an Ethernet bus and a plurality of testing system rear ends, wherein the testing system rear ends interact information with the testing system front end through the Ethernet, and each testing system rear end corresponds to one inertial platform to be tested;
The front end of the test system is a server end and is used for receiving and processing user operation instructions, carrying out message interaction with the rear end of the test system, displaying and storing test information, completing real-time diagnosis and decision processing of the test information and realizing test task scheduling;
The rear end of the test system is a client and is directly connected with the inertial platform to be tested, and the test system is used for inertial platform test information interaction, computer hard disk state monitoring, audible and visual alarm device control, power supply control and communication state management, simulating the transmission of inertial navigation data by an external inertial navigation system and simulating the transmission of optical aiming straight signals by an external optical aiming system.
2. An ethernet based distributed inertial platform testing system according to claim 1, wherein: the front end of the test system comprises a front end initialization module, a front end bus message management module, a human-computer interface operation module, a message analysis processing module, a task intelligent scheduling module, a platform parameter management module, an interface display module, an information storage module and a real-time diagnosis and decision processing module;
the front-end initialization module completes the initialization of a man-machine interaction interface and a TCP server end and the creation of a data storage file, and can establish connection with the rear end of the test system after the initialization is completed;
the front-end bus message management module completes management of a message sending queue and a message receiving queue, the front end of the test system communicates with the rear end through the front-end bus message management module, the front-end bus message management module examines the message sending queue in real time, when detecting a message to be sent, data are sent to the rear end of the test system through the Ethernet, meanwhile, the message receiving queue is examined in real time, and when detecting that an unprocessed message exists in the message receiving queue, the received message is sent to the message analysis processing module;
The human-computer interface operation module is used for receiving user operation instructions or input information, pressing into a message sending queue and controlling the rear end of the test system to finish corresponding operation through the front-end bus message management module;
the message analysis processing module completes analysis processing of the test information, the processed information is displayed through the interface display module, is stored through the information storage module, completes real-time fault diagnosis through the real-time diagnosis and decision processing module, generates an audible and visual alarm message and a decision processing message when detecting that the test information is abnormal, and is pressed into a message sending queue;
The task intelligent scheduling module is realized by adopting a finite state machine, the working state of the inertial platform to be tested is obtained through the message analysis processing module, the task state transition is completed according to the working state of the inertial platform to be tested or the task execution time, and the ordered operation of the test sequence is ensured to realize the intelligent scheduling of the task;
The platform parameter management module is used for sending and receiving parameters of the inertial platform to be tested, the parameters are sent by pressing parameter information into a sending message queue, and the received parameters are sent to the platform parameter management module through the message analysis processing module.
3. An ethernet based distributed inertial platform testing system according to claim 1, wherein: the rear end of the test system comprises a rear end initialization module, a rear end bus message management module, a power supply control and communication management module, an audible and visual alarm module, an external inertial navigation system equivalent module, an external aiming system equivalent module and a test information interaction module;
the back end initialization module completes the initialization of the hardware driver and the initialization of the TCP client, and the TCP is connected to the server end after the initialization is completed, namely the front end of the test system;
the back-end bus message management module is used for completing management of a message sending queue and a message receiving queue, and the back end of the test system is communicated with the front end of the test system through the bus message management module;
the power control and communication management module completes the program control and data reading of the direct current stabilized voltage power supply through the SCPI control instruction according to the message of the back-end bus message management module;
When the front end of the test system monitors that the test information is abnormal, an alarm control instruction is sent, and after the back end bus message management module receives the alarm control instruction, an audible and visual alarm instruction is sent to the audible and visual alarm module, so that fault alarm prompt is realized;
The external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to the instruction sent by the front end of the test system;
The external aiming system equivalent module outputs an collimation control signal and a collimation pulse signal according to an instruction sent by the front end, so that an optical aiming interface test of an inertial platform to be tested is realized;
the test information interaction module is used for collecting output information of the inertial platform to be tested, sending the output information to the back-end bus message management module, reporting data to the front end of the test system through the back-end message management module, and sending the control instruction of the front end of the test system to the inertial platform through the test information interaction module after the back-end message management module receives the control instruction of the front end of the test system, so as to control the inertial platform to complete corresponding operation.
4. An ethernet based distributed inertial platform testing system according to claim 3, wherein: the back-end bus message management module and the power control and communication management module realize data interaction through Ethernet, the back-end bus message management module is used as a client, the power control and communication management module is provided with a communication link self-monitoring function, and reconnection is automatically attempted when the communication link interruption is monitored; the communication link refers to a link between the back-end bus message management module and the power control and communication management module.
5. An ethernet based distributed inertial platform testing system according to claim 3, wherein: the front end of the testing system completes the coding management of the client socket according to the network address of the rear end of the testing system and the type and number information of the inertial platform to be tested obtained through read-back, the front end of the testing system realizes the information interaction with the corresponding rear end equipment of the testing system and the inertial platform to be tested through different sockets, and the front end of the testing system is matched with a plurality of distributed testing systems to realize the online testing of a plurality of inertial platform systems.
6. An ethernet based distributed inertial platform testing system according to claim 2, wherein: the real-time diagnosis and decision processing module performs fault real-time diagnosis, and specifically comprises the following steps:
The fault diagnosis and decision processing module sets a continuous fault count value, the initial value of the count value is 0, and when the test data frame received by the real-time diagnosis and decision processing module fails to pass the verification, the current frame of test data does not participate in the subsequent fault diagnosis, and the next frame of test data is continuously received; after the test data passes the verification, the data parameters of the frame are subjected to qualification judgment, if the data are qualified, the next frame of test data is continuously received, if the data have unqualified items, whether the unqualified items are key parameters is judged, if the key parameters are unqualified, protection treatment measures are directly decided to be executed, if the unqualified items are not the key parameters, the continuous fault count value is increased by 1, then whether the continuous fault count value is larger than 5 is judged, if the continuous fault count value is larger than 5, an acousto-optic alarm instruction is sent to a bus message management module, and if the continuous fault count value is smaller than 5, the next frame of data is continuously received; and for the key parameter faults, directly sending a control instruction to the bus message management module to realize the disconnection operation of the control loop and the power supply.
7. An ethernet based distributed inertial platform testing system according to claim 2, wherein: the platform parameter management module realizes the transmission and the reception of the parameters of the inertial platform to be tested, and specifically comprises the following steps:
The platform parameter management module completes the sending and receiving management of the parameters of the inertial platform, wherein the parameters of the platform comprise inertial instrument tool errors, instrument installation errors and instrument temperature coefficients, and comprises three functions of manual parameter programming, automatic parameter programming and parameter downloading management;
The manual parameter programming implementation flow is as follows: reading a local parameter file, displaying data in the parameter file, completing dimension conversion of the data, transmitting uploaded data and a parameter programming instruction to a front-end bus message management module, and after receiving the parameter programming message, the rear end of a test system realizes solidification of parameters through an inertia platform;
the parameter automatic programming implementation flow is as follows: the method comprises the steps that a parameter automatic programming instruction is sent to a front-end bus management module, an inertial platform is controlled to realize automatic updating and solidification of parameters of the platform after the rear end of a test system receives the automatic programming instruction, the solidification mode is that the inertial platform reads data in a data Flash area in the platform, statistical operation is carried out, and a statistical result is solidified into the parameter Flash area;
The parameter download management comprises readback, verification and qualification interpretation of the parameters, and automatically realizes the display and storage of the platform parameters, and the parameter download management flow is as follows: firstly, a platform parameter display interface is emptied, a parameter read-back message is sent through the front end of a test system, platform parameters uploaded by the rear end of the test system are received, qualification interpretation is carried out on the parameters, analysis dimension conversion and platform parameter interface display are carried out on the parameters through the front end of the test system, and parameter files are created to store the platform parameters.
8. An ethernet based distributed inertial platform testing system according to claim 3, wherein: the external inertial navigation system equivalent module sends speed and attitude test data to the inertial platform to be tested according to an instruction sent by the front end of the test system, and specifically comprises the following steps:
After the rear end of the testing system receives an external inertial navigation control instruction sent by the front end, an external inertial navigation system equivalent module is controlled to send inertial navigation data to the inertial platform to be tested in an online text generation or reading mode, and therefore testing of the external inertial navigation interface function of the inertial platform is achieved.
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| CN113411410B (en) * | 2021-08-19 | 2021-11-23 | 北京中天星控科技开发有限公司 | Inertial navigation equipment testing method, communication server, communication device and storage medium |
| CN114020070B (en) * | 2021-10-15 | 2023-03-31 | 北京航天控制仪器研究所 | Temperature control system for compatible two-type inertial platform |
| CN114563017B (en) * | 2022-02-10 | 2024-01-26 | 中科禾华(扬州)光电科技有限公司 | Navigation performance test system and method for strapdown inertial navigation device |
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