CN114780142A - Rocket computer of carrier rocket and carrier rocket - Google Patents
Rocket computer of carrier rocket and carrier rocket Download PDFInfo
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- CN114780142A CN114780142A CN202210336109.7A CN202210336109A CN114780142A CN 114780142 A CN114780142 A CN 114780142A CN 202210336109 A CN202210336109 A CN 202210336109A CN 114780142 A CN114780142 A CN 114780142A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30003—Arrangements for executing specific machine instructions
- G06F9/30076—Arrangements for executing specific machine instructions to perform miscellaneous control operations, e.g. NOP
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
- G06F13/4286—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus using a handshaking protocol, e.g. RS232C link
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- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a computer on a carrier rocket and a carrier rocket, wherein the arrow computer comprises: the navigation board card is used for receiving a satellite positioning signal and determining flight navigation information of the carrier rocket based on the satellite positioning signal; the signal board card is connected with each control device in the carrier rocket and used for acquiring time sequence state information fed back by each control device and sending a time sequence control instruction to each control device; and the processor of the control board card adopts a RISC-V core, is connected with the navigation board card and the signal board card, and is used for determining the time sequence control instruction based on the flight navigation information and the time sequence state information. According to the computer on the carrier rocket and the carrier rocket, the processor of the control board card adopts the open-source RISC-V inner core, so that the data safety is improved, the technical risk and the use cost are reduced, and the flight requirement of the carrier rocket can be met.
Description
Technical Field
The invention relates to the technical field of aerospace power, in particular to a computer on a carrier rocket and the carrier rocket.
Background
The electrical system on the launch vehicle includes a power supply and distribution system, a flight control and navigation system, a servo control system, a sequence control system, a telemetry system, etc. The flight control and navigation system is generally realized by adopting an rocket-mounted computer, is a core operation module of the carrier rocket and is responsible for functions of navigation guidance calculation, attitude control and the like of the carrier rocket, so that software and hardware of the flight control and navigation computer have the characteristics of high reliability, high real-time performance and the like.
In the prior art, computers on the launch vehicle mostly adopt a general purpose processor to complete various resolving and control tasks, the technical dependence on the general purpose processor is high, the technical risk is high, and the data safety is poor, so that the design of functional modules of the computers is not matched with the launch vehicle, and the flight requirements of the launch vehicle cannot be met.
Disclosure of Invention
The invention provides a rocket computer of a carrier rocket and the carrier rocket, which are used for solving the technical problems that the rocket computer has high technical dependence on the conventional general processor, high technical risk, poor data safety and unmatched architecture design and the carrier rocket in the prior art.
The invention provides a computer on a carrier rocket, which comprises:
the navigation board card is used for receiving a satellite positioning signal and determining flight navigation information of the carrier rocket based on the satellite positioning signal;
the signal board card is connected with each control device in the carrier rocket and used for acquiring time sequence state information fed back by each control device and sending a time sequence control instruction to each control device;
and the processor of the control board card adopts a RISC-V core, is connected with the navigation board card and the signal board card, and is used for determining the time sequence control instruction based on the flight navigation information and the time sequence state information.
According to the computer on the carrier rocket provided by the invention, the control board card comprises:
the signal processing module is connected with the signal board card and the navigation board card and is used for receiving the time sequence state information and the flight navigation information based on a field programmable gate array circuit and sending the time sequence control instruction to the signal board card;
the storage module is used for storing a flight control program of the carrier rocket and operation data generated by the flight control program;
and the inner core module is connected with the signal processing module and the storage module and used for running the flight control program based on a RISC-V instruction set and determining the time sequence control instruction based on the flight control program, the flight navigation information and the time sequence state information.
According to the computer on the carrier rocket provided by the invention, the control board card further comprises:
and the first bus communication module is connected with the signal processing module and is used for realizing the communication between the signal processing module and each board card and the communication between the signal processing module and each control device in the carrier rocket based on a 1553B bus protocol and/or a CAN bus protocol.
According to the computer on the carrier rocket provided by the invention, the control board card further comprises:
and the second bus communication module is connected with the kernel module and is used for realizing the communication between the kernel module and each board card and the communication between the kernel module and each control device in the carrier rocket based on an RS422 bus protocol and/or an RS485 bus protocol.
According to the computer on the carrier rocket provided by the invention, the control board card further comprises:
and the debugging interface module is connected with the kernel module and used for sending a debugging signal to the kernel module based on a JTAG protocol and feeding back a debugging result corresponding to the debugging signal.
According to the computer on the carrier rocket provided by the invention, the storage module comprises a nonvolatile storage submodule and a volatile storage submodule;
the non-volatile storage sub-module is used for storing the flight control program;
the volatile storage submodule is used for storing the operation data generated by the flight control program.
The computer on the carrier rocket provided by the invention also comprises:
and the distribution board card is connected with the navigation board card, the signal board card and the control board card and is used for providing a working power supply for each board card.
According to the computer on the carrier rocket provided by the invention, the power distribution board card is connected with each control device of the carrier rocket and is used for controlling the power supply of each control device to be switched on and off based on the power distribution instruction of the control board card.
According to the computer on the carrier rocket, the power distribution board card is further used for collecting power supply parameters of power supply loops of the control devices and feeding the power supply parameters back to the control board card, so that the control board card determines the power supply state of the control devices based on the power supply parameters.
The invention provides a carrier rocket which comprises a carrier rocket body, wherein the carrier rocket body is provided with a computer on the carrier rocket.
The computer on the carrier rocket and the carrier rocket provided by the invention are characterized in that the navigation board card is used for receiving satellite positioning signals and determining flight navigation information of the carrier rocket; the signal board card is used for acquiring time sequence state information fed back by each control device and sending a time sequence control instruction to each control device; the control board card adopts a processor with a RISC-V kernel and is used for determining a time sequence control instruction based on flight navigation information and time sequence state information; the power distribution board card is used for providing a working power supply for each board card, and as the processor of the control board card adopts an open source RISC-V inner core, the technical dependence on the existing general processor can be eliminated, the data safety is improved, the technical risk and the use cost are reduced, and meanwhile, the structural design of the whole rocket computer is matched with the equipment configuration of a carrier rocket, so that the flight requirement of the carrier rocket can be met.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a computer on a launch vehicle according to one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control board card provided in the present invention;
fig. 3 is a second schematic structural diagram of the control board card provided by the present invention;
fig. 4 is a third schematic structural diagram of the control board provided by the present invention;
fig. 5 is a fourth schematic structural diagram of the control board provided by the present invention;
fig. 6 is a fifth schematic structural diagram of the control board card provided by the present invention;
FIG. 7 is a second schematic view of a computer on a launch vehicle according to the present invention;
fig. 8 is a schematic structural view of a launch vehicle provided by the present invention.
The attached drawings are as follows:
100: a computer on the launch vehicle; 110: a navigation board card; 120: a signal board card; 130: controlling a board card; 140: a power distribution board card; 131: a signal processing module; 132: a storage module; 133: a kernel module; 134: a first bus communication module; 135: a second bus communication module; 136: debugging the interface module; 137 a clock 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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Fig. 1 is a schematic structural diagram of a computer on a launch vehicle according to an embodiment of the present invention, and as shown in fig. 1, a solid line in the diagram indicates a signal connection relationship, the computer 100 on a launch vehicle includes:
the navigation board card 110 is used for receiving satellite positioning signals and determining flight navigation information of the carrier rocket based on the satellite positioning signals;
the signal board card 120 is connected with each control device in the launch vehicle, and is used for acquiring the timing state information fed back by each control device and sending a timing control instruction to each control device;
the control board 130, whose processor uses a Reduced Instruction Set Computer-V (RISC-V) core, is connected to the navigation board 110 and the signal board 120, and is configured to determine a timing control Instruction based on flight navigation information and timing state information.
Specifically, the rocket-mounted computer provided by the embodiment of the invention is suitable for various carrier rockets, and mainly comprises a navigation board card 110, a signal board card 120 and a control board card 130.
The navigation board card 110 is mainly used for receiving a satellite positioning signal sent by a navigation satellite in the flight process of the carrier rocket, and resolving to obtain the flight navigation information of the carrier rocket according to the received satellite positioning signal. The flight navigation information may include flight line, flight speed, flight position, and the like. The navigation board 110 may include a satellite signal receiving unit and a satellite signal processing unit connected to each other. The satellite signal receiving unit can be used for receiving satellite Positioning signals sent by various navigation satellites in real time, and the satellite Positioning signals include Global Positioning System (GPS) satellite navigation signals, Beidou satellite navigation signals and the like. And the satellite signal processing unit is used for calculating the received satellite positioning signal to obtain the actual flight position of the carrier rocket.
The satellite signal processing unit in the navigation board card 110 may also be connected to an inertial navigation device on the launch vehicle, and is configured to receive first flight navigation information such as a position and a speed sent by the inertial navigation device. The satellite signal receiving unit in the navigation board 110 receives a satellite positioning signal. And if the satellite signal processing unit judges that the satellite positioning can be carried out according to the satellite positioning signal, resolving second flight navigation information such as the position and the speed of the carrier rocket. The satellite signal processing unit combines the first flight navigation information and the second flight navigation information, generates combined flight navigation information, and sends the combined flight navigation information to the control board 130.
The signal board card 120 is connected with each control device in the launch vehicle in a wired or wireless manner. The control equipment refers to various devices which are arranged on the carrier rocket and control the flight attitude of the rocket, and comprises an ignition device, an electromagnetic valve, a servo device and the like. The signal board 120 not only needs to obtain the timing state information fed back by each control device, but also needs to send the timing control instruction generated by the control board 130 to each control device. The time sequence state information refers to state information with time marks and is used for representing state parameters of control equipment in a determined time period, such as the working states of all electromagnetic valves on the launch vehicle. The timing control command refers to a control command with a time mark for representing specific operations to be executed by the control equipment in a determined period, such as a starting command of an ignition device on a launch vehicle.
The control board 130 is connected to the navigation board 110 and the signal board 120. The navigation board 110 sends the calculated flight navigation information to the control board 130. The signal board 120 sends the acquired time sequence state information of each control device to the control board 130. The control board 130 can input the flight navigation information and the time sequence state information of each control device into the flight control program of the carrier rocket, and the flight control program calculates to obtain the time sequence control instruction of each control device, and sends the time sequence control instruction to each control device through the signal board 120, so as to control the carrier rocket to complete the flight control functions of ignition, separation, attitude adjustment and the like.
The processor of the control board card adopts RISC-V kernel. The processor employs a RISC-V instruction set. The RISC-V instruction set is an open source instruction set based on the reduced instruction set principle. In contrast to most instruction sets, the RISC-V instruction set is free to be used for any purpose, allowing anyone to design, manufacture and sell RISC-V chips and software.
The RISC-V kernel has the technical characteristics of simplicity, source opening, modularization and expandability, can be subjected to kernel customized cutting design aiming at the task operation characteristics of a carrier rocket, further reduces the kernel power consumption and the chip area, reduces the board size in the design process of a rocket control board, and simultaneously reduces the requirement on heat dissipation in the structural design of a rocket computer.
When the launch vehicle flight control software development is carried out in the RISC-V kernel, a GCC (GNU Compiler Toolchain) RISC-V32 or GCC RISC-V64 cross Compiler and a running library thereof are needed to compile codes so as to realize the running and debugging of the codes on the RISC-V kernel.
In the prior art, when an instruction set or architecture adopted by most general processors is applied to the technical field of aerospace power, the instruction set or architecture is limited by suppliers, the information security is low, the technical risk is high, and the use cost is high. The open source RISC-V instruction set can get rid of the technical dependence on the prior general processor, improve the data security and reduce the technical risk and the use cost.
The computer on the carrier rocket provided by the embodiment of the invention is characterized in that the navigation board card is used for receiving satellite positioning signals and determining flight navigation information of the carrier rocket; the signal board card is used for acquiring time sequence state information fed back by each control device and sending a time sequence control instruction to each control device; the control board card adopts a processor with a RISC-V kernel and is used for determining a time sequence control instruction based on flight navigation information and time sequence state information; because the processor of the control board card adopts an open source RISC-V kernel, the technical dependence on the existing general processor can be eliminated, the data security is improved, the technical risk and the use cost are reduced, and meanwhile, the structural design of the computer on the whole rocket is matched with the equipment configuration of the carrier rocket, so that the flight requirement of the carrier rocket can be met.
Based on the foregoing embodiment, fig. 2 is a schematic structural diagram of a control board provided by the present invention, and as shown in fig. 2, the control board 130 includes:
the signal processing module 131 is connected with the signal board card 120 and the navigation board card 110, and is configured to receive timing state information and flight navigation information based on a field programmable gate array circuit, and send a timing control instruction to the signal board card;
a storage module 132 for storing a flight control program of the launch vehicle and operational data generated by the flight control program;
and the kernel module 133, connected to the signal processing module 131 and the storage module 132, is configured to run a flight control program based on a RISC-V instruction set, and determine a timing control instruction based on the flight control program, flight navigation information, and timing state information.
Specifically, the control board 130 may include a signal processing module 131, a storage module 132, and a core module 133.
The signal processing module 131 may be implemented by a Field Programmable Gate Array (FPGA), and may include a collecting sub-circuit and a transmitting sub-circuit. A first signal input end of the acquisition sub-circuit is connected with the signal board card 120 and is used for receiving time sequence state information; a second signal input end of the acquisition sub-circuit is connected with the navigation board card 110 and is used for receiving flight navigation information; the signal output end of the acquisition sub-circuit is connected to the kernel module 133, and is configured to transmit the timing state information and the flight navigation signal to the kernel module 133. The signal input end of the sending sub-circuit is connected with the kernel module 133 and is used for receiving a timing control instruction; the signal output end of the transmitting sub-circuit is connected to the signal board 120, and is configured to transmit the timing control instruction to each control device through the signal board 120.
The memory module 132 is used for storing the flight control program of the launch vehicle and the operation data generated by the flight control program. The flight control program for controlling the entire process from the ignition to the flight of the launch vehicle may be stored in the storage module 132 in advance. The memory module 132 is connected to the kernel module 133, so that the kernel module 133 can directly read and execute the flight control program. In addition, the storage module 133 is also used for storing intermediate data and calculation results generated during the operation of the flight control program.
The kernel module 133 reads and runs the flight control program from the memory module 132 using the RISC-V instruction set. The flight control program takes flight navigation information and time sequence state information as input and takes a time sequence control command as output.
According to the computer on the launch vehicle rocket, the flight control program runs through the RISC-V instruction set, and compared with other instruction sets, the computer on the launch vehicle rocket can guarantee high efficiency, low power consumption and stability of the program running.
Based on any of the above embodiments, fig. 3 is a second schematic structural diagram of the control board provided by the present invention, and as shown in fig. 3, the control board 130 further includes:
the first bus communication module 134 is connected to the signal processing module 131, and is configured to implement, based on a 1553B bus protocol and/or a CAN bus protocol, communication between the signal processing module 131 and each board and communication between the signal processing module 131 and each control device in the launch vehicle.
Specifically, each board card and each control device may directly perform data transmission with the signal processing module 131 in a cable connection manner, and may also perform data transmission with the signal processing module 131 in a bus communication manner. Two different data transmission modes are adopted, so that the reliability of data transmission in the carrier rocket can be improved, and the flight safety of the carrier rocket is improved.
The 1553B bus protocol is a centralized time division serial bus protocol, generally adopts a dual redundancy system and has two transmission channels. The 1553B bus has the main characteristics of good real-time performance, high data transmission efficiency and good fault tolerance. A CAN (Controller Area Network) bus protocol is a field bus supporting distributed control, and data communication of each node in the bus Network is strong in real-time performance, high in communication rate and easy to implement.
Each board card or each control device in the launch vehicle may access the signal processing module 131 through the first bus communication module 134 according to the type of bus protocol supported.
Based on any of the above embodiments, fig. 4 is a third schematic structural diagram of the control board provided by the present invention, and as shown in fig. 4, the control board 130 further includes:
the second bus communication module 135 is connected to the kernel module 133, and is configured to implement, based on an RS422 bus protocol and/or an RS485 bus protocol, communication between the kernel module 133 and each board, and communication between the kernel module 133 and each control device in the launch vehicle.
Specifically, each board and each control device may also directly perform bus communication with the core module 133, and may be implemented by the second bus communication module 135.
The second bus communication module 135 uses a UART (Universal Asynchronous Receiver/Transmitter) to convert data to be transmitted between serial communication and parallel communication.
The serial port bus protocol supported by the second bus communication module 135 includes an RS422 bus protocol and an RS485 bus protocol.
Based on any of the above embodiments, fig. 5 is a fourth schematic structural diagram of the control board card provided in the present invention, as shown in fig. 5, the control board card 130 further includes:
and the debug interface module 136 is connected to the kernel module 133, and is configured to send a debug signal to the kernel module 133 based on the JTAG protocol and feed back a debug result corresponding to the debug signal.
Specifically, for a program running in the kernel module 133, debugging may be performed by the debugging interface module 136.
The JTAG (Joint Test Action Group) protocol is a standard Test protocol that is widely supported, and since the debugging is performed by an online programming method, the debugging progress of the program in the kernel module 133 can be greatly improved. The debug interface module 136 may be configured as a 4-wire pin structure supporting the JTAG protocol, TMS (test mode select), TCK (test clock input), TDI (test data input), TDO (test data output), respectively.
The upper computer for program debugging is connected with the kernel module 133 through the debugging interface module 136. The upper computer sends a debugging signal to the kernel module 133, so that the program running in the kernel module 133 feeds back a corresponding debugging result according to the debugging signal. The upper computer determines whether the program in the kernel module 133 is debugged in place or continues to debug according to the received debugging result.
The debugging interface module is arranged in the carrier rocket computer provided by the embodiment of the invention, so that the debugging convenience of the flight control program is improved.
Based on any of the above embodiments, fig. 6 is a fifth schematic structural diagram of the control board card provided by the present invention, and as shown in fig. 6, the control board card 130 further includes:
the clock module 137 is connected to the core module 133, and is configured to generate a clock signal required by the operation of the core module 133.
Specifically, the clock module 137 is connected to the core module 133, and is configured to generate a clock signal, so that each electronic component in the core module 133 can operate synchronously, or different processes in the core module 133 can be synchronized.
The clock module 137 may be a crystal oscillator.
Based on any of the above embodiments, the storage module 132 includes a non-volatile storage sub-module and a volatile storage sub-module;
the non-volatile storage sub-module is used for storing a flight control program;
the volatile storage sub-module is used for storing the operation data generated by the flight control program.
Specifically, during control of the launch vehicle, the flight control program is generally not allowed to change, and should not be deleted after the power is turned off. The operational data generated during the operation of the flight control program is relatively large and is only generated and used during the flight control. To improve data security and reliability, the memory module 132 may be configured to include a nonvolatile memory sub-module and a volatile memory sub-module.
The nonvolatile memory sub-module can be Flash memory, PROM (programmable read only memory), EAROM (electrically rewritable read only memory), EPROM (erasable programmable read only memory), EEPROM (electrically erasable programmable read only memory), and the like.
The volatile Memory sub-module may be a Random Access Memory (RAM).
Based on any of the above embodiments, fig. 7 is a second schematic structural diagram of the computer on a launch vehicle according to the second embodiment of the present invention, as shown in fig. 7, in the diagram, solid lines represent signal connection relationships, dashed lines represent power connection relationships, and the computer 100 on a launch vehicle further includes:
and the distribution board card 140 is connected with the navigation board card 110, the signal board card 120 and the control board card 130, and is used for providing a working power supply for each board card.
Specifically, the arrow computer provided in the embodiment of the present invention further includes a power distribution board 140. The distribution board 140 is connected to the navigation board 110, the signal board 120 and the control board 130, respectively, for providing a working power supply for each board.
The power distribution board 140 may include a power switching unit and a power adapting unit. The power supply input end of the power supply switching unit is connected with a power supply port on the carrier rocket, and the power supply output end of the power supply switching unit is connected with the power supply input end of the power supply adapting unit. The power supply switching unit can be connected with multiple paths of redundant input power supplies, and when one path of power supply fails, the power supply switching unit is quickly switched to the other path of power supply, so that the power supply safety and reliability of the rocket computer are improved. The power output end of the power supply adapting unit is connected with each board card respectively and used for adapting the switched power supply, so that the voltage or the current can meet the power consumption requirement of each board card.
The navigation board card 110, the signal board card 120, the control board card 130 and the power distribution board card 140 may be detachably connected by using a board connector, or a processor, a circuit and the like in each board card may be integrally disposed on the same board card.
Based on any one of the above embodiments, the power distribution board card is connected with each control device of the launch vehicle, and is used for controlling the power supply of each control device to be connected and disconnected based on the power distribution instruction of the control board card.
Specifically, the power distribution board card can be further connected with each control device on the carrier rocket and used for providing a working power supply for each control device. A circuit breaker may be provided on the power supply circuit of each control device.
The power input end and the power output end of the circuit breaker are connected with a power supply loop of the control equipment, and the control input end of the circuit breaker is connected with the control panel card. And the circuit breaker controls the connection and disconnection of the power supply of each control device according to the power distribution instruction of the control board card.
Based on any of the above embodiments, the power distribution board is further configured to collect power parameters of power supply loops of the control devices, and feed the power parameters back to the control board, so that the control board determines the power supply state of each control device based on the power parameters.
In particular, the power supply parameter comprises a voltage or a current. Corresponding voltage sensors and/or current sensors can be arranged in the power distribution board card for power supply loops of the control devices, and the power distribution board card is used for collecting power parameters of the power supply loops and feeding the power parameters back to the control board card, so that the control board card can determine power supply states of the control devices.
For example, for inertial navigation equipment, the power distribution board card can acquire the real-time voltage of a power supply loop of the inertial navigation equipment and send the real-time voltage to the control board card. And the control board card compares the real-time voltage with a preset voltage threshold, and when the real-time voltage is smaller than the preset voltage threshold, the power supply state of the inertial navigation equipment is determined to be power loss, and a power loss alarm signal is sent out.
According to the computer on the carrier rocket provided by the embodiment of the invention, the power supply parameters of the power supply loop of each control device are acquired through the power distribution board card, so that the power supply state of each control device is monitored, and the running safety and reliability of the carrier rocket are improved.
Based on any of the above embodiments, fig. 8 is a schematic structural view of the launch vehicle provided in the present invention, and as shown in fig. 8, a launch vehicle computer 100 is disposed on a launch vehicle body 300.
In particular, the on-board computer 100 provided by embodiments of the present invention may be used to perform testing and launching tasks of the launch vehicle 300.
The running process of the carrier rocket 300 comprises four steps of powering on the rocket computer 100, distributing power to each control device on the rocket, testing each system on the rocket, flying the rocket after launching and the like.
The powering on the rocket computer 100 specifically includes:
(1) the power distribution board card acquires a main power supply from an rocket power supply of the carrier rocket and then provides power for the control board card, the navigation board card, the signal board card and the like;
(2) after the control board card is electrified, starting a RISC-V processing core, carrying a flight control program from a nonvolatile storage sub-module in a storage module of the control board card to a memory of the processing core, and starting to execute the flight control program;
(3) the flight control program initializes various interfaces, buses and other peripherals, establishes connection with other equipment on the rocket and ground equipment through a 1553B bus interface or other bus interfaces, and enters a state to be tested.
Each controlgear distribution on arrow specifically includes:
(1) the flight control program realizes power supply for rocket servo equipment, inertial navigation equipment and the like through the power distribution board card according to the self-defining step or the ground instruction requirement;
(2) and the flight control program acquires the power supply state of each device and judges whether the voltage, the current and the like are normal after power distribution.
The test of each system on the arrow specifically comprises:
(1) the flight control program executes test instructions, including inertial navigation equipment test, servo test, initiating explosive device test and the like, on each control device on the rocket according to the self-defining step or the ground test instruction;
(2) the flight control program judges the equipment state according to the feedback of the target equipment and sends the result to the ground equipment;
(3) after the devices on the rocket are tested, the ground or flight control program controls the ignition of the rocket, and the rocket carries out a flight control stage.
The rocket after launching specifically comprises:
(1) the flight control program interacts with the navigation board card in real time to acquire flight navigation information determined by the navigation board card based on the satellite positioning signal and the inertial navigation equipment;
(2) the flight control program acquires flight navigation information and time sequence state information fed back by each control device, and calculates a time sequence control command according to the flight control model;
(3) the time sequence control instruction of the servo system is sent to the servo system through a 1553B bus and the like on the control board card to control the output of the servo system;
(4) sequential control instructions such as ignition, separation, electromagnetic valves and the like are directly sent to corresponding equipment through a signal board card to realize control;
(5) and the flight control program receives the states of various equipment such as servo equipment, ignition equipment, electromagnetic valves and the like in real time, and judges the execution state of the flight control program until the flight task is finished.
(6) In the flight control process, the flight control program sends various currently collected time sequence state information to the ground through the rocket telemetering equipment, and the rocket telemetering is realized.
(7) And the ground equipment and the tester judge the rocket flight state and the task completion condition through the remote measurement result.
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 this 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 may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several commands for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various 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, and 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 launch vehicle computer, comprising:
the navigation board card is used for receiving a satellite positioning signal and determining flight navigation information of the carrier rocket based on the satellite positioning signal;
the signal board card is connected with each control device in the carrier rocket and used for acquiring time sequence state information fed back by each control device and sending a time sequence control instruction to each control device;
and the processor of the control board card adopts a RISC-V core, is connected with the navigation board card and the signal board card, and is used for determining the time sequence control instruction based on the flight navigation information and the time sequence state information.
2. The launch vehicle computer of claim 1 wherein said control board comprises:
the signal processing module is connected with the signal board card and the navigation board card and is used for receiving the time sequence state information and the flight navigation information based on a field programmable gate array circuit and sending the time sequence control instruction to the signal board card;
the storage module is used for storing a flight control program of the carrier rocket and operation data generated by the flight control program;
and the inner core module is connected with the signal processing module and the storage module and is used for running the flight control program based on a RISC-V instruction set and determining the time sequence control instruction based on the flight control program, the flight navigation information and the time sequence state information.
3. The launch vehicle computer of claim 2 wherein said control board further comprises:
and the first bus communication module is connected with the signal processing module and is used for realizing communication between the signal processing module and each board card and communication between the signal processing module and each control device in the carrier rocket based on a 1553B bus protocol and/or a CAN bus protocol.
4. The launch vehicle computer of claim 2 wherein said control board further comprises:
and the second bus communication module is connected with the kernel module and is used for realizing the communication between the kernel module and each board card and the communication between the kernel module and each control device in the carrier rocket based on an RS422 bus protocol and/or an RS485 bus protocol.
5. The launch vehicle computer of claim 2 wherein said control board further comprises:
and the debugging interface module is connected with the kernel module and used for sending a debugging signal to the kernel module based on the JTAG protocol and feeding back a debugging result corresponding to the debugging signal.
6. The launch vehicle computer of claim 2 wherein said storage module comprises a non-volatile storage submodule and a volatile storage submodule;
the non-volatile storage sub-module is used for storing the flight control program;
the volatile storage submodule is used for storing the operation data generated by the flight control program.
7. The launch vehicle computer of any one of claims 1 to 6, further comprising:
and the power distribution board card is connected with the navigation board card, the signal board card and the control board card and is used for providing a working power supply for each board card.
8. The launch vehicle computer of claim 7 wherein the power distribution board is coupled to the control devices of the launch vehicle for controlling the power to be turned on and off to the control devices based on power distribution instructions from the control board.
9. The launch vehicle computer of claim 8, wherein the power distribution board is further configured to collect power parameters of power supply loops of the respective control devices and feed the power parameters back to the control board, so that the control board determines the power supply status of the respective control devices based on the power parameters.
10. A launch vehicle comprising a launch vehicle body having the computer of any one of claims 1 to 9 disposed thereon.
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| CN202210336109.7A CN114780142A (en) | 2022-04-01 | 2022-04-01 | Rocket computer of carrier rocket and carrier rocket |
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| CN202210336109.7A CN114780142A (en) | 2022-04-01 | 2022-04-01 | Rocket computer of carrier rocket and carrier rocket |
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| US12006067B2 (en) | 2019-05-30 | 2024-06-11 | Launch On Demand Corporation | Launch on demand |
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Application publication date: 20220722 |