CN114935887A - Distributed signal acquisition device and carrier rocket - Google Patents
Distributed signal acquisition device and carrier rocket Download PDFInfo
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- CN114935887A CN114935887A CN202210875153.5A CN202210875153A CN114935887A CN 114935887 A CN114935887 A CN 114935887A CN 202210875153 A CN202210875153 A CN 202210875153A CN 114935887 A CN114935887 A CN 114935887A
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Abstract
The invention relates to the technical field of aerospace, and provides a distributed signal acquisition device and a carrier rocket, wherein the device comprises a plurality of signal acquisition modules; the signal acquisition modules are dispersedly arranged at each stage of the carrier rocket, are connected with the sensors in each stage and are used for acquiring the measurement signals of the sensors in each stage; the signal acquisition module of the current stage is connected with the signal acquisition module of the previous stage through LVDS, and is used for transmitting the measurement signal acquired by the signal acquisition module of the current stage to the signal acquisition module of the previous stage based on the signal acquisition time, transmitting a time synchronization request to the signal acquisition module of the previous stage, receiving a time synchronization response transmitted by the signal acquisition module of the previous stage, and adjusting the signal acquisition time based on the transmission time and the reception time of the time synchronization request and the transmission time and the reception time of the time synchronization response. The device provided by the invention improves the carrying capacity of the carrier rocket and improves the reliability of signal acquisition of the carrier rocket.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a distributed signal acquisition device and a carrier rocket.
Background
At present, a signal acquisition device on a carrier rocket mostly acquires signals of all sensors in a centralized acquisition mode. Each sensor on the rocket is directly connected with the signal acquisition device through a cable.
Because the arrangement positions of the sensors on the rocket are different, the distance between the sensors and the signal acquisition device is also different. The number of signals to be transmitted is large, the number of cables and the weight of the cables are large, and the carrying capacity of the effective load of the carrier rocket is reduced. In addition, the sensor far away from the signal acquisition device has a long path for transmission through a cable, high signal attenuation and high possibility of being subjected to electromagnetic interference to cause poor signal quality, and the reliability of signal acquisition of the carrier rocket is influenced.
Therefore, how to improve the carrying capacity of the payload of the launch vehicle and improve the reliability of signal acquisition on the launch vehicle become an urgent technical problem to be solved in the industry.
Disclosure of Invention
The invention provides a distributed signal acquisition device and a carrier rocket, which are used for solving the technical problems of improving the carrying capacity of a carrier rocket payload and improving the reliability of signal acquisition on the carrier rocket.
The invention provides a distributed signal acquisition device, which comprises a plurality of signal acquisition modules;
the signal acquisition modules are dispersedly arranged at each stage of the carrier rocket, are connected with the sensors in each stage and are used for acquiring the measurement signals of the sensors in each stage;
the current-stage signal acquisition module is connected with the previous-stage signal acquisition module through LVDS, and is used for sending the measurement signal acquired by the current-stage signal acquisition module to the previous-stage signal acquisition module based on signal acquisition time, sending a time synchronization request to the previous-stage signal acquisition module, receiving a time synchronization response sent by the previous-stage signal acquisition module, and adjusting the signal acquisition time based on the sending time and the receiving time of the time synchronization request, and the sending time and the receiving time of the time synchronization response;
the time synchronization response is determined by the signal acquisition module of the previous stage based on the time synchronization request.
According to the distributed signal acquisition apparatus provided by the present invention, the signal acquisition module at the present stage is specifically configured to:
receiving the receiving time of a time synchronization request and the sending time of a time synchronization response sent by a signal acquisition module at the upper stage;
determining a time difference between the signal acquisition module of the current stage and the signal acquisition module of the previous stage based on the transmission time and the reception time of the time synchronization request and the transmission time and the reception time of the time synchronization response;
and adjusting the signal acquisition time of the current-stage signal acquisition module based on the time difference so as to keep the signal acquisition time of the current-stage signal acquisition module consistent with the signal acquisition time of the previous-stage signal acquisition module.
According to the distributed signal acquisition apparatus provided by the present invention, the signal acquisition module at the present stage is specifically configured to:
acquiring the measuring signals of each sensor connected with the signal acquisition module of the current stage based on the signal acquisition time;
generating a current-stage signal acquisition message based on the measurement signals of the sensors and the operating state of the current-stage signal acquisition module;
and sending the signal acquisition message of the current stage and the received signal acquisition message of each stage below the current stage to a signal acquisition module of the previous stage.
According to the distributed signal acquisition device provided by the invention, under the condition that the current stage is the last substage of the launch vehicle, the signal acquisition module of the last substage is used for:
acquiring signal acquisition messages of all next stages of the last substage;
and determining the measurement signal of each sensor in the carrier rocket and the running state of each signal acquisition module based on the signal acquisition message of each next stage and the measurement signal of the sensor in the last substage.
According to the distributed signal acquisition device provided by the invention, the signal acquisition module of the last sub-stage is connected with the rocket-borne computer of the carrier rocket and used for sending the measurement signals of all sensors in the carrier rocket to the rocket-borne computer so that the rocket-borne computer can control the flight attitude of the carrier rocket based on the measurement signals of all sensors.
According to the distributed signal acquisition apparatus provided by the present invention, the signal acquisition module of the last sub-stage is further configured to:
receiving an external clock signal sent by the rocket-borne computer;
comparing the phase of the external clock signal with the phase of a local clock signal in the signal acquisition module, and determining the phase difference between the local clock signal and the external clock signal;
adjusting the local clock signal based on the phase difference and a set period of the external clock signal to keep the local clock signal consistent with the external clock signal;
and generating a signal acquisition time based on the adjusted local clock signal.
According to the distributed signal acquisition device provided by the invention, the signal acquisition module of the last sub-stage is connected with the telemetering transmitter of the carrier rocket and used for sending the measurement signals of all sensors in the carrier rocket to the telemetering transmitter so that the telemetering transmitter can send the measurement signals of all sensors to the ground measurement and control station.
According to the distributed signal acquisition device provided by the invention, if the sensor with redundancy exists in the current stage of the carrier rocket, the sensor with redundancy is connected with different signal acquisition modules in the current stage.
According to the distributed signal acquisition apparatus provided by the present invention, the signal acquisition module at the present stage is specifically configured to:
and filtering the measurement signals of the sensors in the current stage.
The invention provides a carrier rocket which comprises a carrier rocket body, wherein the carrier rocket body is provided with a distributed signal acquisition device.
The invention provides a distributed signal acquisition device and a carrier rocket.A plurality of signal acquisition modules are dispersedly arranged at each stage of the carrier rocket and used for acquiring measurement signals of sensors in each stage; the current-stage signal acquisition module is connected with the previous-stage signal acquisition module through LVDS and used for transmitting the measurement signal acquired by the current-stage signal acquisition module and adjusting the current-stage signal acquisition time according to the transmission time and the receiving time of the time synchronization request and the transmission time and the receiving time of the time synchronization response; because the signal acquisition modules are arranged at each stage of the carrier rocket in a distributed manner, each sensor is prevented from being directly connected with the signal acquisition device through cables, the using amount of the cables is reduced, the carrying capacity of the effective load of the carrier rocket is improved, meanwhile, the step-by-step time synchronization method is adopted, the acquisition time of each measurement signal is kept consistent, the influence degree of the measurement signal on electromagnetic interference is reduced, the signal acquisition reliability of the carrier rocket is improved, and the control reliability of the carrier rocket is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a distributed signal acquisition apparatus provided in the present invention;
FIG. 2 is a schematic diagram of a time synchronization method provided by the present invention;
fig. 3 is a schematic structural diagram of a launch vehicle provided by the present invention.
The attached drawings are as follows:
100: a distributed signal acquisition device; 110: a signal acquisition module; 300: a launch vehicle body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
It should be noted that the terms "first", "second", etc. in the present invention are used for distinguishing similar objects, and are not necessarily used for describing a particular order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a distributed signal acquisition apparatus provided in the present invention, and as shown in fig. 1, the distributed signal acquisition apparatus 100 includes a plurality of signal acquisition modules 110.
And the signal acquisition modules 110 are dispersedly arranged at each stage of the carrier rocket, are connected with the sensors in each stage, and are used for acquiring the measurement signals of the sensors in each stage.
The current-stage signal acquisition module is connected with the previous-stage signal acquisition module through LVDS and used for sending the measurement signal acquired by the current-stage signal acquisition module to the previous-stage signal acquisition module based on the signal acquisition time, sending a time synchronization request to the previous-stage signal acquisition module, receiving a time synchronization response sent by the previous-stage signal acquisition module, and adjusting the signal acquisition time based on the sending time and the receiving time of the time synchronization request and the sending time and the receiving time of the time synchronization response;
the time synchronization response is determined by the signal acquisition module of the previous stage based on the time synchronization request.
Specifically, the distributed signal acquisition device in the embodiment of the invention is applied to a launch vehicle. The device consists of a plurality of signal acquisition modules. The signal acquisition modules are dispersedly arranged at each stage of the carrier rocket and connected with the sensors in the stage, and are used for acquiring the measurement signals of the sensors in each stage. Sensors on the launch vehicle include temperature sensors, vibration sensors, pressure sensors, flow sensors, and the like.
For example, a launch vehicle that employs a three-stage propulsion mode may be divided into a first stage, a second stage, and a third stage from bottom to top. The third stage, also called the last-child stage, is used to carry satellites or spacecraft. A plurality of signal acquisition modules are provided in each stage. The signal acquisition module is connected with the sensors in the stage through cables and is used for acquiring measurement signals of the sensors. The measuring signal can be roughly divided into an analog quantity signal and a digital quantity signal, and correspondingly, a plurality of analog quantity signal input interfaces and a plurality of digital quantity signal input interfaces can be arranged in the signal acquisition module.
In any stage of the launch vehicle, the number of the signal acquisition modules and the installation positions are determined according to the number of the sensors in the stage and the installation positions. For example, there are multiple sensors in any stage, distributed primarily on the left and right sides of the stage. Then, a signal acquisition module can be respectively arranged at the left side and the right side of the stage, so that the installation position of the signal acquisition module is as close as possible to the sensor at one side. Taking the left side as an example, if 12 sensors are distributed on the left side, a minimum circle can be determined according to the installation positions of the sensors, and the circle center of the minimum circle is taken as the installation position of the left signal acquisition module. By adopting the method, the length of the cable for connecting the signal acquisition module and each sensor can be effectively saved.
According to the hierarchical structure of the carrier rocket, each signal acquisition module belongs to different levels respectively. Any one level is taken as the current level, and the signal acquisition module of the current level and the signal acquisition module of the previous level can adopt a communication connection mode. The connection between the signal acquisition module of the current stage and the signal acquisition module of the previous stage does not have a corresponding relationship, and only the cross-stage connection needs to be realized. For the signal acquisition module at the current stage, the nearest signal acquisition module at the previous stage can be selected for communication connection, so as to reduce the length of the communication cable.
For example, with the second stage as the current stage, the signal acquisition module of the current stage is communicatively connected with the signal acquisition module of the previous stage (third stage). During communication connection, the distances between each signal acquisition module in the current stage and each signal acquisition module in the previous stage can be determined one by one, and the signal acquisition module of the current stage and the signal acquisition module of the previous stage are connected on the principle of minimum connection distance.
The signal acquisition modules between different stages may be connected using LVDS. LVDS (Low-Voltage Differential Signaling) is a Differential signal technology with Low power consumption, Low error rate, Low crosstalk and Low radiation, the data transmission speed can reach over 155Mbps, point-to-point or point-to-multipoint connection can be realized, the anti-noise capability is strong, electromagnetic interference can be effectively inhibited, the time sequence positioning is accurate, and the transmission medium can be a copper PCB (printed Circuit Board) connecting line or a balanced cable.
The current-stage signal acquisition module can send the measurement signal acquired by the current-stage signal acquisition module to the previous-stage signal acquisition module according to the signal acquisition time, and finally all the measurement signals are collected to the last-stage signal acquisition module. Through the mode, the step-by-step transmission and data summarization of the measurement signals can be realized.
The signal acquisition time is the time for acquiring signals set in the carrier rocket. For example, in a launch vehicle, signal acquisition is set to occur every 10ms (milliseconds). If the current time is T, the signal acquisition time may be T +10 ms, T +20 ms, T +30 ms, or the like.
Because the signal acquisition time of the signal acquisition modules of each stage may have differences, the signal acquisition time of the signal acquisition modules of each stage can be adjusted by adopting a step-by-step time synchronization method, that is, the signal acquisition module of the current stage and the signal acquisition module of the previous stage are time synchronized.
The signal acquisition module at the current stage may send a time synchronization request to the signal acquisition module at the previous stage according to a preset synchronization time interval. After receiving the time synchronization request, the signal acquisition module of the previous stage feeds back a time synchronization response corresponding to the time synchronization request to the signal acquisition module of the current stage.
The signal acquisition module at the current stage can determine the difference between the signal acquisition time of the signal acquisition module at the current stage and the signal acquisition time of the signal acquisition module at the previous stage according to the sending time and the receiving time of the time synchronization request and the sending time and the receiving time of the time synchronization response, and adjust the signal acquisition time of the signal acquisition module at the current stage according to the difference to reduce the difference, so that the signal acquisition time of the signal acquisition modules at the current stage and the signal acquisition time of the signal acquisition module at the previous stage are kept consistent.
The preset synchronization time interval is greater than the time interval of the signal acquisition time. For example, the time interval of the signal acquisition time may be 10ms, and the preset synchronization time interval may be 100 ms. The signal acquisition module can execute the time synchronization operation without frequently occupying the calculation resource and the communication resource of the signal acquisition module, thereby avoiding the influence on the acquisition and transmission of the measurement signal.
In the distributed signal acquisition device provided by the embodiment of the invention, a plurality of signal acquisition modules are arranged at each stage of a carrier rocket in a distributed manner and are used for acquiring measurement signals of sensors in each stage; the current-stage signal acquisition module is connected with the previous-stage signal acquisition module through LVDS and is used for transmitting the measurement signal acquired by the current-stage signal acquisition module and adjusting the current-stage signal acquisition time according to the transmission time and the receiving time of the time synchronization request and the transmission time and the receiving time of the time synchronization response; the signal acquisition modules are distributed at each stage of the carrier rocket, so that each sensor is prevented from being directly connected with the signal acquisition device through cables, the using number of the cables is reduced, the carrying capacity of the effective load of the carrier rocket is improved, meanwhile, the step-by-step time synchronization method is adopted, the acquisition time of each measurement signal is kept consistent, the influence degree of the measurement signal on electromagnetic interference is reduced, the signal acquisition reliability of the carrier rocket is improved, and the control reliability of the carrier rocket is improved.
Based on the above embodiment, the signal acquisition module at the current stage is specifically configured to:
receiving the receiving time of a time synchronization request and the sending time of a time synchronization response sent by a signal acquisition module at the upper stage;
determining the time difference between the signal acquisition module at the current stage and the signal acquisition module at the previous stage based on the sending time and the receiving time of the time synchronization request and the sending time and the receiving time of the time synchronization response;
and adjusting the signal acquisition time of the current-stage signal acquisition module based on the time difference so as to keep the signal acquisition time of the current-stage signal acquisition module consistent with the signal acquisition time of the previous-stage signal acquisition module.
Specifically, fig. 2 is a schematic diagram of the time synchronization method provided by the present invention, and as shown in fig. 2, a time difference existing between a signal acquisition module at a current stage and a signal acquisition module at a previous stage in signal acquisition time is as follows
. When the signal acquisition module at the current stage and the signal acquisition module at the previous stage carry out signal transmission, the path transmission time of the signal is
。
The signal acquisition module at the current stage sends a time synchronization request to the signal acquisition module at the previous stage, and the sending time is
. The signal acquisition module at the upper stage receives the time synchronization request with the receiving time of
. Receiving time of signal acquisition module of upper stage
Time corresponding to the signal acquisition module of the current stage
. Then there is a temporal relationship
。
The signal acquisition module of the previous stage sends a time synchronization response corresponding to the time synchronization request to the signal acquisition module of the current stage, and the sending time is
. The signal acquisition module at the current stage receives the time synchronization response with the receiving time of
. Sending time of signal acquisition module of upper stage
Time corresponding to signal acquisition module of current stage
. Then there is a temporal relationship
。
Since there is also a temporal relationship
And
then, according to the above time relationship, the following can be obtained by solving:
as can be seen from the above equation, the time of transmission of the request is synchronized at a known time
And receiving time
And the time of transmission of the time synchronization response
And receiving time
In this case, the time difference between the signal acquisition module of the current stage and the signal acquisition module of the previous stage can be obtained
. According to time difference
The signal acquisition time of the signal acquisition module at the current stage can be adjusted to keep the signal acquisition time of the signal acquisition module at the current stage consistent with the signal acquisition time of the signal acquisition module at the previous stage.
The time synchronization accuracy is related to the time measurement accuracy. For example, the clock frequency is typically several tens of MHz (megahertz), and therefore the time measurement accuracy is in ns (nanoseconds), and the time synchronization accuracy will also be in ns, which is negligible for the us (microseconds) sampling frequency of the measurement system.
The first stage of the carrier rocket is taken as the current stage, so that the stage-by-stage time synchronization can be realized, and the signal acquisition time of the signal acquisition modules of all stages of the whole carrier rocket is kept consistent.
Based on any of the above embodiments, the signal acquisition module at the current stage is specifically configured to:
acquiring measurement signals of each sensor connected with a signal acquisition module at the current stage based on the signal acquisition time;
generating a current-stage signal acquisition message based on the measurement signals of the sensors and the running state of the current-stage signal acquisition module;
and sending the signal acquisition message of the current stage and the received signal acquisition messages of all stages below the current stage to the signal acquisition module of the previous stage.
Specifically, for the signal acquisition module at the current stage, not only the measurement signal of each sensor connected to the signal acquisition module is transmitted to the signal acquisition module at the previous stage, but also the measurement signal of each sensor at the next stage below the current stage is transmitted to the signal acquisition module at the previous stage. The measurement signal may be sent in the form of a signal acquisition message.
The signal acquisition module at the current stage can acquire the measurement signal of each sensor connected with the signal acquisition module at the current stage at the set signal acquisition time. And integrating the measurement signals of each sensor of the current stage to obtain a signal acquisition message of the current stage. In order to reflect the fault condition of the current stage signal acquisition module in time, the operating state of the current stage signal acquisition module may be added to the current stage signal acquisition message. And finally, sending the generated signal acquisition message of the current stage and the received signal acquisition messages of all stages below the current stage to the signal acquisition module of the previous stage. Here, the respective stages below the current stage include a stage below the current stage, a stage below, and the like.
Based on any of the above embodiments, in the case that the current stage is the last substage of the launch vehicle, the signal acquisition module of the last substage is configured to:
acquiring signal acquisition messages of all next stages of the last sub-stage;
and determining the measurement signal of each sensor in the carrier rocket and the running state of each signal acquisition module based on the signal acquisition message of each next stage and the measurement signal of the sensor in the last sublevel.
Specifically, for a launch vehicle, the last sub-stage is the last stage. The signal acquisition module of the last sub-stage can be used as a central control module of the whole distributed signal acquisition device to analyze all signal acquisition messages sent by the next stage, and determine the measurement signals of all sensors except the last sub-stage in the carrier rocket and the operation states of the signal acquisition modules of other stages. And the measurement signals of the sensors in the last sub-stage are combined, so that the measurement signals of the sensors in the whole carrier rocket and the operation state of each signal acquisition module can be determined.
Based on any of the embodiments, the signal acquisition module at the last sublevel is connected with an rocket-borne computer of the carrier rocket and used for sending the measurement signals of all the sensors in the carrier rocket to the rocket-borne computer so that the rocket-borne computer can control the flight attitude of the carrier rocket based on the measurement signals of all the sensors.
Specifically, the signal acquisition module at the last sub-stage is connected with an rocket-borne computer of the launch vehicle, and the connection mode CAN be based on one of a 1553B protocol, a CAN protocol, an RS422 protocol, an RS485 protocol and an LVDS protocol.
And the rocket-borne computer runs a flight control program, generates a flight control instruction according to the measurement signals of the sensors, and sends the flight control instruction to each control device through the signal board card, so that the carrier rocket is controlled to complete the flight control functions of ignition, separation, attitude adjustment and the like.
Based on any of the above embodiments, the signal acquisition module of the last substage is further configured to:
receiving an external clock signal sent by an rocket-borne computer;
comparing the phases of the external clock signal and a local clock signal in the signal acquisition module to determine the phase difference between the local clock signal and the external clock signal;
adjusting the local clock signal based on the phase difference and the set period of the external clock signal to keep the local clock signal consistent with the external clock signal;
and generating a signal acquisition time based on the adjusted local clock signal.
Specifically, in order to improve the control reliability and control stability of the launch vehicle, the external clock signal (control clock) in the rocket-borne computer may be kept synchronized with the local clock signal (acquisition clock) in the distributed signal acquisition device.
And the signal acquisition module at the last sublevel in the distributed signal acquisition device is used for realizing the clock signal synchronization process. The external clock signal and the local clock signal are typically represented as pulse signals. The external clock signal may be used as a reference signal and the local clock signal may be used as a signal to be adjusted.
First, the setting period of the local clock signal can be determined according to the setting period of the external clock signal, so that the two clock signals are consistent in period.
Secondly, the phase difference between the local clock signal and the external clock signal can be obtained by comparing the phase of the external clock signal with the phase of the local clock signal. If the phase difference is zero, the two clock signals are synchronous signals, and if the phase difference is not zero, the two clock signals are asynchronous signals.
The signal acquisition module can adjust the output frequency of the local clock signal according to the frequency change value, so that the output frequency of the local clock signal is changed, the output phase is changed, the local clock signal and the external clock signal are kept consistent in phase, and the synchronization of two clock pulses is realized. The frequency variation value and the phase difference are in one-to-one corresponding direct proportion relation.
And finally, generating signal acquisition time according to the adjusted local clock signal. All the signal acquisition time in the distributed signal acquisition device is synchronized by the step-by-step time synchronization method in the embodiment.
Based on any embodiment, the signal acquisition module at the last sublevel is connected with the telemetering transmitter of the carrier rocket and used for sending the measurement signals of all the sensors in the carrier rocket to the telemetering transmitter so that the telemetering transmitter can send the measurement signals of all the sensors to the ground measurement and control station.
Specifically, in the flight control process of the carrier rocket, the flight control program sends various currently collected measuring signals to the ground measurement and control station through the telemetering transmitter on the rocket, and telemetering of the rocket is achieved.
And a tester of the ground measurement and control station can judge the flight state and task completion condition of the carrier rocket through a remote measurement result.
Based on any embodiment, if the sensor with redundancy exists in the current stage of the carrier rocket, the sensor with redundancy is connected with a different signal acquisition module in the current stage.
In particular, in the current stage of the launch vehicle, there may be important measurement signals for the control of the launch vehicle flight. For these measurement signals, the corresponding sensors usually need redundancy, for example, a sensor with double redundancy is used to measure the same signal or a sensor with triple redundancy is used to measure the same signal.
In order to further increase the reliability of the signal acquisition, the data transmission paths for these measurement signals may also be provided as redundant paths, i.e. the redundantly provided sensors may be connected to different signal acquisition modules in the current stage. For example, for a certain flow signal in the current stage, three flow sensors, respectively, a flow sensor 1, a flow sensor 2, and a flow sensor 3, are provided for collection. The signal acquisition module at the current stage comprises a signal acquisition module 1, a signal acquisition module 2, a signal acquisition module 3 and the like. The flow sensor 1 can be connected with the signal acquisition module 1, the flow sensor 2 is connected with the signal acquisition module 2, and the flow sensor 3 is connected with the signal acquisition module 3, so that mutual redundancy in the acquisition and transmission processes of measurement signals is realized, and the reliability of signal acquisition and the reliability of flight control of the carrier rocket are improved.
Based on any of the above embodiments, the signal acquisition module at the current stage is specifically configured to:
and filtering the measurement signals of the sensors in the current stage.
Specifically, the complex electromagnetic environment on the launch vehicle may also interfere with the measurement signals of the sensors, so that a filtering algorithm may be run in the signal acquisition module or a special filtering sub-module may be provided to filter the acquired measurement signals.
The filtering algorithm may be at least one of a second-order low-pass filtering algorithm, a limiting jitter-removing filtering method, a median filtering method, an arithmetic mean filtering method, and the like.
Based on any of the above embodiments, fig. 3 is a schematic structural diagram of the launch vehicle provided in the present invention, and as shown in fig. 3, the launch vehicle body 300 includes the distributed signal acquisition apparatus 100 in the above embodiments.
Specifically, the carrier rocket in the embodiment of the invention adopts a multi-stage propelling structure. Each level is provided with a signal acquisition module. The number of the signal acquisition modules and the installation positions are determined according to the number of the sensors in each stage and the installation positions.
The signal acquisition modules between the stages are connected through LVDS to realize step-by-step signal transmission and step-by-step time synchronization.
According to the carrier rocket provided by the embodiment of the invention, the signal acquisition modules are distributed at each stage of the carrier rocket, so that each sensor is prevented from being directly connected with the signal acquisition device through cables, the use amount of the cables is reduced, and the carrying capacity of the effective load of the carrier rocket is improved.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A distributed signal acquisition device is characterized by comprising a plurality of signal acquisition modules;
the signal acquisition modules are dispersedly arranged at each stage of the carrier rocket, are connected with the sensors in each stage and are used for acquiring the measurement signals of the sensors in each stage;
the current-stage signal acquisition module is connected with the previous-stage signal acquisition module through LVDS, and is used for sending the measurement signal acquired by the current-stage signal acquisition module to the previous-stage signal acquisition module based on signal acquisition time, sending a time synchronization request to the previous-stage signal acquisition module, receiving a time synchronization response sent by the previous-stage signal acquisition module, and adjusting the signal acquisition time based on the sending time and the receiving time of the time synchronization request, and the sending time and the receiving time of the time synchronization response;
the time synchronization response is determined by the signal acquisition module of the previous stage based on the time synchronization request.
2. The distributed signal acquisition apparatus of claim 1, wherein the current-stage signal acquisition module is specifically configured to:
receiving the receiving time of a time synchronization request and the sending time of a time synchronization response sent by a signal acquisition module at the upper stage;
determining a time difference between the signal acquisition module of the current stage and the signal acquisition module of the previous stage based on the transmission time and the reception time of the time synchronization request and the transmission time and the reception time of the time synchronization response;
and adjusting the signal acquisition time of the current-stage signal acquisition module based on the time difference so as to keep the signal acquisition time of the current-stage signal acquisition module consistent with the signal acquisition time of the previous-stage signal acquisition module.
3. The distributed signal acquisition apparatus of claim 1, wherein the current-stage signal acquisition module is specifically configured to:
acquiring measurement signals of each sensor connected with the signal acquisition module at the current stage based on the signal acquisition time;
generating a current-stage signal acquisition message based on the measurement signals of the sensors and the operating state of the current-stage signal acquisition module;
and sending the signal acquisition message of the current stage and the received signal acquisition messages of all stages below the current stage to a signal acquisition module of the previous stage.
4. A distributed signal acquisition apparatus as claimed in claim 3, wherein in the case where the current stage is the last substage of the launch vehicle, the signal acquisition module of the last substage is configured to:
acquiring signal acquisition messages of all next stages of the last sub-stage;
and determining the measuring signal of each sensor in the carrier rocket and the running state of each signal acquisition module based on the signal acquisition message of each next stage and the measuring signal of the sensor in the last sublevel.
5. The distributed signal acquisition device as recited in claim 4, wherein the signal acquisition module of the last sub-stage is connected with an onboard computer of the launch vehicle and is used for sending the measurement signals of the sensors in the launch vehicle to the onboard computer so that the onboard computer can control the flight attitude of the launch vehicle based on the measurement signals of the sensors.
6. The distributed signal acquisition apparatus of claim 5, wherein the signal acquisition module of the last substage is further configured to:
receiving an external clock signal sent by the rocket-borne computer;
comparing the phase of the external clock signal with the phase of a local clock signal in the signal acquisition module, and determining the phase difference between the local clock signal and the external clock signal;
adjusting the local clock signal based on the phase difference and a set period of the external clock signal to keep the local clock signal consistent with the external clock signal;
and generating a signal acquisition time based on the adjusted local clock signal.
7. The distributed signal acquisition device of claim 4, wherein the signal acquisition modules of the last substage are connected with the telemetry transmitter of the launch vehicle, and are used for sending the measurement signals of the sensors in the launch vehicle to the telemetry transmitter, so that the telemetry transmitter can send the measurement signals of the sensors to a ground measurement and control station.
8. The distributed signal acquisition apparatus of claim 1 wherein if there are redundant sensors in a current stage of the launch vehicle, the redundant sensors are connected to different signal acquisition modules in the current stage.
9. The distributed signal acquisition apparatus of claim 1, wherein the current-stage signal acquisition module is specifically configured to:
and filtering the measurement signals of the sensors in the current stage.
10. A launch vehicle comprising a launch vehicle body having a distributed signal acquisition apparatus as claimed in any one of claims 1 to 9 disposed thereon.
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