CN202853474U - Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation - Google Patents
Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation Download PDFInfo
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Abstract
The utility model discloses a global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation. The GPS and INS combination guidance system comprises a GPS simulator, a GPS interference detector, a load simulator, a three-axis rotary table and a navigation control computer, wherein the GPS simulator generates a GPS signal through simulation; the GPS interference detector detects whether a GPS receiver suffers interference, judges whether receiving of the GPS signal by the GPS receiver is influenced by the interference and determines the degree of influence; the load simulator simulates load moment which is applied to a steering engine of a guided weapon in a flight process and provides pneumatic energy required by the steering engine; the three-axis rotary table provides three-degree-of-freedom projectile body movement environment, which is similar to actual flight attitude, for a seeker of the guided weapon; and the navigation control computer operates various simulation models to provide test environment, which is substantially real at least in terms of movement, mechanics and target background, for the guided weapon. With the GPS interference detector, the guidance accuracy of the GPS and INS combination guidance system is effectively improved, and the feasibility of a GPS and INS combination guidance scheme is effectively verified.
Description
Technical field
The utility model relates to Semi-Physical Simulation Test System, relates in particular to the Semi-Physical Simulation Test System that combined GPS technology and INS technology are guided.
Background technology
Inertial navigation system (INS) is to utilize the speed of inertial equipment measuring missile motion on the bullet and the system that coordinate forms steering instruction information, generally include an inertia combination (accelerometer and gyroscope) and a navigational computer, its Computer is also mainly exported the time dependent position of guided missile, speed and attitude angle except the measured value and centrifugal force of calculating sensor.The basic principle of INS is: use the inertial acceleration meter and measure the component of acceleration of guided missile centre-of-gravity motion in the direction of three orthogonal axles, and utilize corresponding integrating gear to obtain velocity component and coordinate components; In the known situation of the coordinate of MISSILE LAUNCHING point and initial velocity, calculate guided missile at each velocity amplitude and coordinate figure constantly; Then, these calculated values and programmed value are compared, draw departure correction, so that guided missile is along predetermined motor program target.
INS can satisfy the requirement of short-range missile guidance precision, but can not satisfy the requirement of long-range missile guidance precision, and this is because the guidance precision of INS depends primarily on the precision of inertia device (its spiral shell instrument and accelerometer).The precision of INS is being started working and is being good in short time, but after initial alignment, and the precision of INS will reduce owing to gyrostatic drift error and the accumulation in time of this error.Except the device error, INS also exists alignment error, Initial Alignment Error and motion artifacts error etc.
Global positioning system (GPS) is the Aerospace Satellite navigation positioning system of new generation of U.S.'s land, sea, air tri-service development, main purpose is to provide real-time, round-the-clock and global navigation Service for three large fields, land, sea, air, and be used for some military purposes such as information acquisition, Nuclear detonation monitoring and emergency communication, be the important component part that the U.S. dominates global strategy exclusively.Round-the-clock, high-precision advantage that GPS has, but its limitation is also very obvious, and its major defect is that satellite-signal is blocked lossing signal and affects the location in some place, and positioning accuracy is subjected to the factor affecting such as electronic deception easily.It is closely related to add GPS technology and U.S. national defense, and the U.S. has taked the encryption measures such as selection availability policy (SA) and precision code (P code).Although now the U.S. has cancelled the SA policy, in order to ensure the interests of the U.S., U.S.'s interference gps signal that can take appropriate measures at any time.Therefore, we should not rely on GPS fully and be used for Navigation and localization, especially use in army.
GPS and INS combined guidance system are that the independence that it had both kept the INS system has prevented that again navigation positioning error from accumulating in time take INS as the master, take GPS as auxiliary navigation system.Simultaneously, use Kalman Filter Technology at algorithm, the state variable of combined system is carried out optimal estimation, obtain update information, thereby can further improve navigation accuracy.Since GPS low dynamically, high dynamic, the broadband of narrow bandwidth, high accuracy and SINS, error slow drift behavior form strong complementation, so GPS and INS combined guidance all obtain using more and more widely in various navigation field such as Aeronautics and Astronautics, navigation, land battlebuses.
The basic skills that INS and GPS are made up effectively has two kinds, and a kind of is as shown in Figure 1 loose coupling, and another kind is close coupling as shown in Figure 2.Wherein, Kalman filter is the Primary Component of INS and GPS combination, plays the data fusion effect.The main feature of loose coupling is that inertial navigation and GPS work alone, and only utilizes the information aided inertial navigation after making up, to reach the purpose that suppresses the inertial navigation accumulation of error.The advantage of this combination is simple in structure, is convenient to Project Realization, and can satisfy the system higher to requirement of real-time because the amount of calculation of combined system is little.In addition, owing to two sub-systems work alone, institute is so that fault-tolerant processing.The shortcoming of this combination is, position and the velocity information of the output of GPS receiver are crossed through GPS receiver inter-process, general Kalman filter by GPS receiver inside obtains, and this information is often with coloured noise, in junction filter, common Kalman filter can only be processed white noise, so often combined effect is undesirable.
Close coupling adopts a Kalman filter to unify to process pseudorange and range difference and the 5s from the inertia combination～10s renewal error state information once that GPS measures, and acquires a certain degree of difficulty technically.Because system shares a Kalman filter, exists one mutually weigh, optimized design problem coordinated with each other.But owing to pseudorange, pseudorange rates are the raw information of GPS receiver, so do not have the problem of coloured noise.In the combination of the inertial navigation set of GPS and low precision, because the inertial navigation set precision is lower, cause the speed of the accumulation of error that strapdown resolves very fast.When owing to block and cause the visible star number order of sky less than 4 and so that GPS receiver can't normally resolve the Position And Velocity information of carrier time the, (particularly more at shelters such as city or forests when causing gps signal to lose efficacy in short-term, the situation that gps signal lost efficacy often occurs), the error that strapdown resolves is Rapid Accumulation, thereby causes making up unsuccessfully.In tightly coupled combination, because the external observation amount of utilizing is the raw informations such as pseudorange, pseudorange rates, so when visible star number is less than 4, still can make up the too fast situation of the accumulation of error of having avoided inertial navigation to work independently strapdown is resolved.At the associating directtissima weapon (JDAM) of USAF and naval in the works, inertial measurement unit (IMU) just adopts tightly coupled combination with the GPS receiver.The shortcoming of this combination is, because needs carry out loaded down with trivial details ephemeris computation and the delay compensation amount of calculation is larger, reduced the real-time navigation performance, also requires in addition the GPS receiver can provide the raw measurement datas such as pseudorange, pseudorange rates and ephemeris.
The utility model content
In view of this, the purpose of this utility model is to provide a kind of GPS and INS combined guidance system, can realize the higher combined effect of precision with relatively simple combination.
To achieve these goals, the utility model provides a kind of GPS and INS combined guidance system of the Hardware-in-loop Simulation Experimentation for guided weapon, and it comprises: the GPS simulator is used for the gps signal that the simulating GPS receiver can receive; The GPS interference detector, whether be interfered for detection of described GPS receiver, and determine that by frequency analysis, signal capture rate and signal error rate analysis whether suffered interference has caused impact and impact to have much on the normal reception of gps signal at least; Load simulator, the steering wheel that is used for simulating described guided weapon is applied to this moment on the described steering wheel by rudderpost, and provides pneumatic described steering wheel work required pneumatic power at the suffered loading moment of flight course rudder face; Three-axle table provides the body three-degree-of-freedom motion environment true to nature with the practical flight attitude for the target seeker for described guided weapon under laboratory condition; And navigation control computer, all be connected with described GPS simulator, described GPS interference detector, described load simulator, described three-axle table, be used for moving various simulation models exporting the six degree of freedom trajectory of described guided weapon, and control described GPS simulator, described GPS interference detector, described load simulator, described three-axle table with provide to described guided weapon at least aspect motion, mechanics and the target background near real experimental enviroment.
By increasing the GPS interference detector, GPS provided by the utility model and INS combined guidance system when being applied to the Hardware-in-loop Simulation Experimentation of guided weapon, precision that can the Effective Raise guidance.
According to below with reference to accompanying drawing to detailed description of illustrative embodiments, it is clear that further feature of the present utility model and aspect will become.
Description of drawings
The accompanying drawing that is included in the specification and consists of the part of specification shows exemplary embodiment of the present utility model, feature and aspect with specification, and is used for explaining principle of the present utility model.
Fig. 1 is the schematic diagram that the combinatorial principle of GPS and INS loose coupling is shown.
Fig. 2 is the schematic diagram that GPS and the tightly coupled combinatorial principle of INS are shown.
Fig. 3 is the schematic block diagram that the composition of the HWIL simulation total system that comprises GPS provided by the utility model and INS combined guidance system is shown.
Fig. 4 is the schematic block diagram that the composition of GPS provided by the utility model and INS combined guidance system is shown.
Fig. 5 is the schematic block diagram that the composition of GPS that the utility model provides and the GPS simulator in the INS combined guidance system is shown.
Fig. 6 is the schematic block diagram that the composition of GPS that the utility model provides and the GPS interference detector in the INS combined guidance system is shown.
Fig. 7 is the schematic flow diagram that the analytic process of GPS that the utility model provides and the GPS interference detector in the INS combined guidance system is shown.
Fig. 8 is the schematic block diagram that the composition of GPS that the utility model provides and the load simulator in the INS combined guidance system is shown.
The specific embodiment
Describe various exemplary embodiment of the present utility model, feature and aspect in detail below with reference to accompanying drawing.The identical same or analogous element of Reference numeral presentation function in the accompanying drawing.
Here special-purpose word " exemplary " means " as example, embodiment or illustrative ".Here needn't be interpreted as being better than or being better than other embodiment as " exemplary " illustrated any embodiment.Although accompanying drawing unless otherwise indicated, needn't be drawn in proportion in the various aspects of embodiment shown in the drawings.
Fig. 3 has represented to comprise the schematic block diagram of composition of the HWIL simulation total system of GPS provided by the utility model and INS combined guidance system.As shown in Figure 3, whole HWIL simulation total system mainly comprises simulation computing system 1A, central control system 1B, steering engine simulated system 1C, light homing Guidance System Simulation 1D, carry target simulator 1E as the sled based on rocket sledge target seeker analogue system, laser-beam riding controlling filed simulator 1F as laser-beam riding controlling filed analogue system, GPS and the INS combined guidance 1H of system, as the missile-borne computer 1I of missile-borne computer analogue system and as the high-speed camera 1J of rocket sledge flight test image tracking system etc., and these systems intercom mutually via real-time optical fiber shared-memory net network.
Wherein, GPS and the INS combined guidance 1H of system mainly comprise again satellite system signals 1H1 and inertia measurement and navigation system 1H2.In other words, the core of GPS and INS combined guidance system is 2 points: the one, and the emulation of quick-connecting inertia measurement and navigation system 1H2, the 2nd, the emulation of satellite system signals 1H1.
Further, quick-connecting inertia measurement and navigation system 1H2 are divided into again 2 points: the one, and the attitude angle motion simulation for angular rate gyroscope provides the attitude angle movement environment, generally adopts the angular speed flight simulation bed to realize; The 2nd, center of mass motion emulation is for linear accelerometer provides the overload environment.Wherein, for center of mass motion emulation, if linear accelerometer can separate with automatic pilot or IMU IMU, can adopt Acceleration simulator to carry out emulation, otherwise can adopt high-accuracy current source injecting scheme.On the other hand, because it is higher that the simulation accuracy of linear accelerometer requires, and inertia measurement and navigation system 1H2 debug finish after, thereby if introduce again outside emulation electric loop can affect linear accelerometer torque current zero-bit and affect the navigation system positional precision, therefore generally adopt now acceleration signal digital signal injection scheme, the examination strapdown algorithm not examine linear acceleration transducer.In addition, because employing MEMS linear acceleration transducer can be so that circuit be more accurate, this is also so that generally can only adopt digital signal injection acceleration signal mode.This shows, preferably reserve emulation interface when development GPS and the INS combined guidance 1H of system (being specially inertia measurement and navigation system 1H2).
For the emulation of satellite system signals 1H1, if having ready conditions, can purchase special-purpose satellite signal simulator, carry out satellite RF signal imitation, the performance of examination reception antenna, receiver.Certainly, also can not examine satellite signal receiver, convert simulation result the output signal form of satellite signal receiver to the satellite receiver signal analogue means, and be sent to the satellite receiver signal input port of GPS and the INS combined guidance 1H of system, to realize combined guidance emulation.
As shown in Figure 4, GPS provided by the utility model and the INS combined guidance 1H of system mainly comprise GPS simulator 100, GPS interference detector 200, load simulator 300, three-axle table 400, navigation control computer 500 etc., and its workflow is roughly as follows: when the three-axle table 400 as motion carrier reappears the attitude motion of carrier according to control instruction, be fixedly attached to gyro in the inertial measuring unit of three-axle table 400 and accelerometer along with motion sensitive angular speed and the rate information of turntable, and navigation control computer 500 collects conditioning and the compensation of at first carrying out signal after these information, then deliver to wherein inertial navigation algoritic module 510 to calculate navigational parameter, these navigational parameters are delivered in the optimum Kalman filter module 520 in the navigation control computer 500 according to certain frequency again, with with navigation control computer 500 in virtual GPS receiver module 530 navigational parameter " true value " that resolves out carry out difference and calculate, optimum Kalman filter module estimates next difference constantly according to the difference before this moment, remove navigational parameter in the feedback modifiers inertial navigation algoritic module with the difference that obtains again, thereby GPS navigation data and SINS data have been carried out optimum fusion.By the input of the communicating circuit between navigation control computer 500 and the main control computer 600 main control computer, main control computer reproduces navigation results to these data analysis by modes such as geometric locuses through the navigational parameter after merging.
The below describes in detail respectively to the module that respectively forms in GPS provided by the utility model and the INS combined guidance system.
The GPS simulator
As shown in Figure 5, GPS simulator 100 mainly comprises mathematical simulation section 110, radiofrequency signal generating unit 120.
Wherein, mathematical simulation section 110 is mainly used in the mathematics real-time simulation of finishing man-machine interaction interface and satellite navigation signals with all kinds of emulated datas of real-time generation, and specific tasks comprise: artificial tasks design, simplation visualizing, the emulation of constellation satellite orbit, satellite clock emulation, space environment effect emulation, user trajectory emulation, navigation message generation and basic observation data generation etc.Preferably, mathematical simulation section 110 mainly is comprised of mathematical simulation software 111 and real time high-speed calculate platform 112.
In addition, 120 of radiofrequency signal generating units are mainly used in according to the BD-2 of mathematical simulation section 110 emulation and GPS emulated data (observation data and navigation message), generate in real time the radio frequency navigation signal based on the receiver antenna actinal surface.Preferably, radiofrequency signal generating unit 120 mainly comprises main control module 121, data processing module 122, intermediate-freuqncy signal generation module 123, up-converter module 124, clock frequency module 125 and the reflective memory network interface card 126 that receives in real time emulated data.
List according to the important technological parameters of the GPS simulator 100 of the utility model one preferred embodiment as follows:
● emulation navigation system: BD2+GPS
● frequency number: 4
● every frequency emulation satellite number: 12 passages
● pseudo-code: BD2:C, P; GPS:C/A
● text: BD2:D1, D2; GPS:C
● RF port number: 2
● relative velocity: ± 10000m/s
Relative acceleration: ± 500m/s
2
Relative acceleration: ± 500m/s
3
● velocity resolution: 1mm/s
Acceleration resolution ratio: 10mm/s
2
Acceleration resolution ratio: 10mm/s
3
● pseudorange precision: ± 0.02m
● pseudorange rate of change precision: ± 0.005m/s
● interchannel uniformity :≤0.1 (code)≤0.001 (carrier wave) m
● Q phase orthogonality :≤3 degree
● phase noise :≤-70@10Hz; ≤-85@1kHz; ≤-90@10kHz dBc/Hz
● clutter :≤-40dBc
● harmonic wave :≤-40dBc
● signal power output area :-160 ± 20dBW
● resolution ratio: 0.2dB
● accuracy: 0.8dB
● multi-path signal number: 〉=4
● minimum time-delay :≤0.5ns
● signal output delay :≤20ms
● receive real-time track frequency: 〉=20Hz
The GPS interference detector
Whether GPS interference detector 200 is interfered mainly for detection of the GPS receiver, and by frequency analysis, signal capture rate and signal error rate analysis etc. determine suffered interference whether on gps signal normal receive impact and affect have much.
As shown in Figure 6, GPS interference detector 200 comprises that mainly 3 functional modules are that parameter arranges management department 210, Interference Detection section 220 and signal processing part 230, and 14 submodules are signal parameter setting module 211, interference parameter setting module 212, white noise interference detection module 221, single carrier interference detection module 222, spread spectrum interference detection module 223, impulse disturbances detection module 224, frequency sweep interference detection module 225, synchronous head generation module 231, signal is caught module 232 soon, smart in section generation module 233, pseudo-code is smart in module 234, duties section generation module 235, symbol demodulation module 236 and signal interpretation module 237.Preferably, can suitably increase the submodule that detects, analyzes for to more other types of interference according to actual conditions and demand.
The analysis process of GPS interference detector 200 as shown in Figure 7.At first, parameter for example 5000 generates equally distributed random number in accordance with regulations, each random number is repeated pre-determined number and for example adds (spread spectrum) with a C/A code mould two after 1023 times, then the sequence that obtains is carried out difference BPSK modulation, the signal after the modulation enters the GPS receiver with interfering signal.By selected interference type, the parameters such as power, centre frequency, frequency deviation that interfering signal is set carry out signal capture, smart with, carry out mould two with the C/A code and add (despreading), and then to carry out the demodulation computing be demodulation difference BPSK (judgement with cumulative), the decoding that will demodulate at last and original signal relatively judge whether this interference has caused interference to gps signal.
Owing to adopted strict interference judgment condition, can get rid of all interference type that may exist and frequencies.Preferably, in order to improve the signal capture rate and to reduce the bit error rate and false alarm rate, to be further analyzed for the frequency that may have interference, to analyze these dissimilar interference meetings what different impact signal capture be produced.
In addition, suppose that the power level of gps signal is-156dBW, be equivalent to 2.512 * 10
-16W adopts this power can affect the effect of emulation.Therefore, for fear of above-mentioned impact, preferably, the power to gps signal before adding interference and Gaussian noise carries out unit.
● list according to the important technological parameters of the GPS interference detector 200 of the utility model one preferred embodiment as follows:
● frequency number: 8
● every frequency emulation satellite number: 20 passages
● pseudo-code: BD2:C, P; GPS:C/A
● text: BD2:D1, D2; GPS:C
● RF port number: 2
● relative velocity: ± 10000m/s
● relative acceleration: ± 500m/s
2
● relative acceleration: ± 500m/s
3
● velocity resolution: 1mm/s
● acceleration resolution ratio: 10mm/s
2
● acceleration resolution ratio: 10mm/s
3
● pseudorange precision: ± 0.02m
● pseudorange rate of change precision: ± 0.005m/s
● interchannel uniformity :≤0.1 (code)≤0.001 (carrier wave) m
● I, Q phase orthogonality :≤3 degree
● phase noise :≤-70@10Hz; ≤-85@1kHz; ≤-90@10kHz dBc/Hz
● clutter :≤-40dBc
● harmonic wave :≤-40dBc
● signal power output area :-200 ± 20dBW
● resolution ratio: 0.2dB
● accuracy: 0.8dB
● multi-path signal number: 〉=6
● minimum time-delay :≤0.5ns
● signal output delay :≤20ms
● receive real-time track frequency: 〉=20Hz
Load simulator
As shown in Figure 8, load simulator 300 mainly comprises mechanical stage body 310, control part 320, loading section 330, source of the gas section 350 and accessory part 340 etc.Wherein:
The pedestal of machinery stage body 310 fixes on the ground, and steering wheel places stage body central authorities in the simulation process, and the rudder sheet is unloaded, and rudderpost is directly linked to each other with the output shaft of loading section 330 realize that moment loads.
Control part 320 adopts typical upper and lower computer structure, and wherein, host computer 321 can adopt the high-performance industrial computer, and slave computer 322 can adopt high-performance digital signal processor DSP to realize.
Source of the gas section 350 comprises pressure flow control device 351, air compressor and air accumulator 352 and pneumatic console 353.
List according to the important technological parameters of the load simulator 300 of the utility model one preferred embodiment as follows:
● load simulation
Architectural characteristic :+word layout
Load passage: 4
Single channel loading moment scope: 0.01～50Nm
Moment gradient scope: 0.1Nm/ °～2.5Nm/ °
Maximum angle of rudder reflection: ± 25 °
Least-loaded rotary inertia: 5 * 10-6Kgm
2
Angular position measurement precision: 0.01 °
Maximum angular rate: ≮ 200 °/s
Dynamic angle of attack moment tracking frequency characteristic (Hz): 15Hz
Moment static accuracy: 0.01Nm (0.01-1Nm), 1% (1-50Nm)
The response of moment dynamic frequency: phase place lags behind 5 °, amplitude error≤5%, and frequency range is not less than 15Hz
● source of the gas
Air feed way: 2 tunnel
Pressure: 1-8MPa
Pressure controling precision :≤5%
Pressure control lag :≤4ms
Pressure control overshoot :≤10%
Interrupted operating mode working time: 〉=10min
Reservoir tank volume: 1m
3
Three-axle table
It is body three-degree-of-freedom motion environment that three-axle table 400 is used under laboratory condition for the seeker target seeker provides with practical flight attitude environment true to nature.
As shown in Figure 4, three-axle table 400 mainly is comprised of mechanical stage body, switch board (built-in control computer) and stube cable, and complete equipment adopts the central controlled electronic mode of computer.Wherein:
The machinery stage body adopts three axles, half closed-in construction usually, is comprised of housing parts, middle members of frame, interior members of frame and base etc.Housing is half frame, the expression course; Center also is half frame, the expression pitching; Inside casing is circular load table, the expression lift-over.
The control computer can be monitored the duty of turntable, and associ-ated motion parameters is set, collecting work state, motion parameter data, and the control turntable is finished all functions operation, and the device security state is carried out Real-Time Monitoring.
In general, three-axle table is provided with three kinds of working methods in program: location status, speed state and simulation status.Under front two states, turntable is that the control computer by turntable itself moves control; And under simulation status, turntable can move according to the signal that outside simulation computer provides, to realize analogue simulation attitude angle function.
List important technological parameters such as following table according to the three-axle table 400 of the utility model one preferred embodiment:
Navigation control computer
Navigation control computer 500 is used for the various simulation models of operation such as missile dynamics/kinematics model, control assembly model, target kinematics model etc., the Real-time Collection product data of participating in the experiment, output guided missile six degree of freedom trajectory, control various simulator emulators and generate Missile Motion, play order relative motion and the work of target background generation simulator, provide near environment such as real motion, mechanics and target backgrounds for the parts of participating in the experiment.
According to a preferred embodiment of the present utility model, navigation control computer 500 is comprised of hardware and software two parts, and wherein, hardware components directly links to each other with the interface of the product of participating in the experiment, and software section is in order to a plurality of parts such as simulant missile and bullet upper-parts.Tool is sayed it, and hardware components provides the operation platform of simulation software and realizes simulation computer and play upper-part (such as missile-borne computer and steering wheel) hardware interface, is connected steering wheel with missile-borne computer with simulation computer and is connected, and can carry out independent emulation.Software section is used for providing development platform to the user, the model of being provided according to project demands and relevant unit by the user, write corresponding software and merge each complete simulation software of hardware interface formation one cover, thereby realize the closed-loop simulation of navigation control computer and participate in the experiment parts and equipment.
According to a preferred embodiment of the present utility model, adopt the ADIrtX simulation computer of the U.S. and software as navigation control computer 500, and be described in detail as follows.
At first, the hardware components of ADIrtX simulation computer comprises:
● the rtXMX-3RM simulation computer: rtXMX type fundamental system, the high-performance AMD2.0pteron processor of two double-cores (4CPUs), 4GB tells internal memory, the high-speed internal memory of 40G, 40GB hard disk.The power supply of high power capacity.The rack system supports 5VPCI slot, network interface, the real time operating system of QNXv6.3Posix compatibility.Can be installed in the cabinet.
● the rtXPCI5565-010:PCI5565 reflective memory, 128Mb, 4kFIFO, the multimode mode supports optical fiber to connect.
● rtXPCIIRIGBIPPM:IRIG provides high precision clock, is used for arranging exactly simulation step length.Also can be used for connecting other instruments in the laboratory, guarantee that whole instruments can be synchronously.
● the rtXPCIGS16AI64SSA-32:32 input channel, 16 parallel A/D, the FIFO buffering of built-in 256k, single pass sampling rate is 200KSPS.Input voltage range: ± 10V, ± 5V, ± 2.5V, 0/+5V, 0/ ± 10V, can arrange by software.
● the rtXPCIUEPD2A032/16:32 passage, 16 parallel D/A, the single channel sampling rate is 100KS/s, input voltage ± 10V; In addition, with 8 road DI, 8 road DO.
● rtXPCINI6509:96 paths numeral I/O module, the two-way TTL/CMOS of 5V has high current drive capability, the input and output electric current of 24mA.
● rtXPCISI04BX:4 passage, RS-232/RS-422/RS-485 serial communication integrated circuit board.Traffic rate can reach 1Mbit/s.
● the rtXIP-CAN:CAN EBI, adopt the Inter82527CAN controller, meet the CAN2.0A/B standard and have the technical grade CAN bus of insulation blocking.
● rtXPCIGigabit: based on the gigabit Ethernet integrated circuit board of PCI.
● the cabinet of SystemRack12U:25 inch (12U) is used for installing rtX fundamental system, expanding system, fault injection system, connected system, power supply, sectional board.
Secondly, the software section of ADIrtX simulation computer comprises:
● AdvantageforRTCL: be used for providing mutual, real-time simulation and open loop, closed loop semi-hardware type simulation test, comprise AdvangtageDE, SIMplotter, AdvantageVI, AltiaFacePlate, GNUC/C++ compiler (basic module).
Wherein:
The ADvantageDE module provides item development environment, allows the user to use the WindowsPC machine to carry out the test of software in the loop as target platform.Software by selecting real-time emulation system RTS or rtX, seamlessly switches to open-loop test, the hardware test in the loop etc. behind loop-around test.
AdvantageVI provides main runnable interface for analogue system.Allow any on the SCN subscriber connection network to put very system and carry out artificial or mutual automatically with it, for the user provides powerful comprehensively instrument, satisfy the user and carry out software/hardware in all requirements of loop-around test, the system integration and virtual system integrated experimentation chamber.
● ADvantageGP: be used for providing desirable collaborative simulation and the software environment of test, allow modeled subsystem and easily be integrated together based on the embedded code of model, thereby the verification system behavior, the analytical system integration problem, and extremely carry out requirement checking in verification.GP desktop target machine can allow and use the simulation model of different modeling tool exploitations to carry out synchronously repeatably emulation at WindowsPC or SUN work station.
What need statement is that above-mentioned utility model content and the specific embodiment only are intended to prove the practical application of technical scheme that the utility model provides, and should not be construed as the restriction to the utility model protection domain.Those skilled in the art are in spirit of the present utility model and principle, when doing various modifications, being equal to and replacing or improve.Protection domain of the present utility model is as the criterion with appended claims.
Claims (10)
1. a GPS and INS combined guidance system are used for the Hardware-in-loop Simulation Experimentation of guided weapon, comprising:
The GPS simulator is used for the gps signal that the simulating GPS receiver can receive;
The GPS interference detector, whether be interfered for detection of described GPS receiver, and determine that by frequency analysis, signal capture rate and signal error rate analysis whether suffered interference has caused impact and impact to have much on the normal reception of gps signal at least;
Load simulator, the steering wheel that is used for simulating described guided weapon is applied to this moment on the described steering wheel by rudderpost, and provides pneumatic described steering wheel work required pneumatic power at the suffered loading moment of flight course rudder face;
Three-axle table provides the body three-degree-of-freedom motion environment true to nature with the practical flight attitude for the target seeker for described guided weapon under laboratory condition; And
Navigation control computer, all be connected with described GPS simulator, described GPS interference detector, described load simulator, described three-axle table, be used for moving various simulation models exporting the six degree of freedom trajectory of described guided weapon, and control described GPS simulator, described GPS interference detector, described load simulator, described three-axle table with provide to described guided weapon at least aspect motion, mechanics and the target background near real experimental enviroment.
2. GPS according to claim 1 and INS combined guidance system is characterized in that, described GPS simulator comprises:
Mathematical simulation section is used for the mathematics real-time simulation of finishing man-machine interaction interface and satellite navigation signals with all kinds of emulated datas of real-time generation; And
The radiofrequency signal generating unit is used for observation data and navigation message according to the emulation of described mathematical simulation section, generates in real time the radio frequency navigation signal based on the Antenna aperture of described GPS receiver.
3. GPS according to claim 1 and INS combined guidance system is characterized in that, described GPS interference detector comprises:
Parameter arranges management department, is used for setting and managing the various parameters that comprise at least signal parameter and interference parameter;
Interference Detection section, be used for based on described parameter the described various parameters that management department sets and manages being set, come described gps signal is detected and analyze the various noises that comprise that at least white noise interference, single carrier interference, spread spectrum interference, impulse disturbances, frequency sweep are disturbed; And
Signal processing part, management department is set and is connected Interference Detection section and all is connected with described parameter, be used for based on the detection analysis result of described Interference Detection section output to described gps signal comprise at least that synchronous head generates, signal is caught soon, smart with section generate, the smart various processing with, duties section generation, symbol demodulation and signal interpretation of pseudo-code.
4. GPS according to claim 1 and INS combined guidance system is characterized in that the testing process of described GPS interference detector is as follows:
Parameter generates equally distributed random number in accordance with regulations,
Make each described random number repeat to carry out spread spectrum behind the pre-determined number,
The sequence that spread spectrum obtains is carried out difference BPSK modulation,
Make the signal after the modulation after the interfering signal addition, input the GPS simulator,
Carry out signal capture, smart in, despreading by selected interference type, parameter that interfering signal is set,
Signal after the despreading is carried out the demodulation computing, and
The decoding and the original signal that demodulate are compared, whether described gps signal has been caused interference to judge this interference.
5. GPS according to claim 4 and INS combined guidance system is characterized in that, before with the signal after the described modulation and interfering signal addition, the signal after the described modulation are carried out power unit.
6. GPS according to claim 1 and INS combined guidance system is characterized in that described load simulator comprises:
The machinery stage body, its pedestal fixes on the ground, and described steering wheel places described mechanical stage body central;
Loading section, its output shaft directly links to each other with described rudderpost, so that described moment is applied on the described steering wheel;
Accessory part, it comprises that position servo detects caliberating device;
Source of the gas section, it comprises pressure flow control device, air compressor and air accumulator and pneumatic console, and is used for providing pneumatic described steering wheel work the required high-pressure pneumatic energy; And
Control part, it adopts the upper and lower computer structure, and is used for controlling described mechanical stage body, described loading section, described accessory part and described source of the gas section.
7. GPS according to claim 6 and INS combined guidance system, it is characterized in that, described loading section comprises four independently control channels, and the charger of each described control channel comprises connecting axle, body torsion bar, photoelectric encoder, torque sensor, position slide unit and angle position turntable.
8. GPS according to claim 7 and INS combined guidance system is characterized in that, described angle position turntable comprises servomotor, photoelectric encoder, roller bearing.
9. GPS according to claim 1 and INS combined guidance system is characterized in that described three-axle table comprises:
The machinery stage body, it adopts three axles, half closed-in construction, and comprises members of frame in half frame of the half frame housing parts that represents course, expression pitching, represents the desk-top inside casing parts of circular load and the base of lift-over; And
Switch board, it is connected with described mechanical stage body via cable, and be built-in with the control computer, carry out Real-Time Monitoring with duty and safe condition to described mechanical stage body, associ-ated motion parameters is set, gather the various data that comprise at least duty, kinematic parameter, control described mechanical stage body and finish various operations.
10. GPS according to claim 9 and INS combined guidance system is characterized in that, described three-axle table has three kinds of working methods, i.e. location status, speed state and simulation status, and
Under described location status and described speed state, described mechanical stage body is according to the instruction campaign from described control computer; And
Under described simulation status, described mechanical stage body is according to the instruction campaign from the outside.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102620605A (en) * | 2012-03-31 | 2012-08-01 | 林德福 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN104253728A (en) * | 2013-06-27 | 2014-12-31 | 上海新跃仪表厂 | Communication device for seeker tests |
| CN104460348A (en) * | 2014-11-24 | 2015-03-25 | 成都盛军电子设备有限公司 | Separation structure of signal simulator |
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| CN102620605A (en) * | 2012-03-31 | 2012-08-01 | 林德福 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN102620605B (en) * | 2012-03-31 | 2014-07-02 | 北京理工大学 | Global positioning system (GPS) and inertial navigation system (INS) combination guidance system for semi-physical simulation |
| CN104253728A (en) * | 2013-06-27 | 2014-12-31 | 上海新跃仪表厂 | Communication device for seeker tests |
| CN104460348A (en) * | 2014-11-24 | 2015-03-25 | 成都盛军电子设备有限公司 | Separation structure of signal simulator |
| CN105974442A (en) * | 2016-05-04 | 2016-09-28 | 广东工业大学 | Satellite navigation system hardware-in-the-loop real-time simulation test platform and method thereof |
| CN105974442B (en) * | 2016-05-04 | 2018-09-04 | 广东工业大学 | Satellite navigation system hardware-in-the-loop simulation test platform and its method |
| CN107388904A (en) * | 2017-06-13 | 2017-11-24 | 河北汉光重工有限责任公司 | Laser signal resolves and servo control integrated processing system |
| CN110095993A (en) * | 2018-01-30 | 2019-08-06 | 沃尔沃汽车公司 | The method of collaborative simulation system and control collaborative simulation system with delay compensation |
| CN110095993B (en) * | 2018-01-30 | 2022-03-29 | 沃尔沃汽车公司 | Collaborative simulation system with delay compensation and method for controlling collaborative simulation system |
| CN110702144A (en) * | 2019-10-25 | 2020-01-17 | 江西洪都航空工业集团有限责任公司 | Method for verifying strapdown inertia and GPS satellite integrated navigation system by mounting aircraft |
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