CN107907892A - A kind of navigation signal simulator based on PXI frameworks, closed loop controller and closed loop test method - Google Patents
A kind of navigation signal simulator based on PXI frameworks, closed loop controller and closed loop test method Download PDFInfo
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- CN107907892A CN107907892A CN201711135210.1A CN201711135210A CN107907892A CN 107907892 A CN107907892 A CN 107907892A CN 201711135210 A CN201711135210 A CN 201711135210A CN 107907892 A CN107907892 A CN 107907892A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Monitoring And Testing Of Transmission In General (AREA)
Abstract
The present invention discloses a kind of navigation signal simulator based on PXI frameworks, closed loop controller and closed loop test method, and navigation signal simulator includes host computer, it is the interface of user's operation, for running NIVERISTAND engineerings；Slave computer, it is connected with host computer cable；Slave computer includes：PXI controllers, run LabVIEW RT operating systems, for producing navigation message carrier frequency, code phase information thereon；FPGA boards, it reads navigation message carrier frequency, code phase information by FPGA FIFO, for producing digital medium-frequency signal；Radio frequency vector generator, it transmits to obtain digital medium-frequency signal by P2P, for digital medium-frequency signal to be adjusted to navigation signal frequency point；Wherein, radio frequency vector generator connection navigation neceiver, navigation neceiver acquisition and tracking location information；In navigation signal simulator insertion closed loop controller, realize closed loop test, there is stronger flexibility, reliability and opening, whole satellite ground closed-loop simulation is more nearly the in-orbit situation of real satellite.
Description
Technical field
The present invention relates to satellite navigation system, and in particular to a kind of navigation signal simulator based on PXI frameworks, closed loop control
Device and closed loop test method processed.
Background technology
Satellite-based navigation receiver provides position and temporal information as attitude control subsystem critical component for whole star, is to ensure to defend
Each subsystem normal work of star completes the premise guarantee of aerial mission, because of the importance of navigation neceiver so that navigation is received
The test job of machine becomes an important ring for the whole attitude control subsystem test of satellite.Navigation signal simulator can analog satellite exist
Rail situation, for testing navigation neceiver, but satellite is influenced during space flight be subject to various external force, its track is not
It is fixed change, in order to preferably simulate the in-orbit situation of real satellite, designs the navigation signal that real-time, high dynamic can interact
Simulator is simultaneously embedded into it in the closed loop test of whole star, becomes the important directions of whole satellite test work.
The test of navigation neceiver includes two aspects, is on the one hand that receiver is tested oneself, is on the other hand to access receiver
System testing in whole satellite system.Traditional navigation signal simulator track profile must be pre-set, it is impossible in real time
Interaction, therefore can be only done navigation neceiver and test oneself work, thus system testing work cannot the real in-orbit situation of analog satellite,
Therefore the system testing of navigation neceiver cannot be completed in the closed loop controller of traditional satellite ground test.
The content of the invention
In order to solve the problems in the existing technology, the present invention provides a kind of navigation signal mould based on PXI frameworks
Intend device, using the real-time and PXI processors of NI VERISTAND, there is the ability that real-time, interactive is carried out with kinetic model,
Receiver is accessed in the system testing of whole star system.
Present invention also offers a kind of closed loop controller based on PXI framework navigation signal simulators, navigation signal simulation
Device is embedded into whole star closed loop controller, the test of whole attitude control subsystem is really realized and is closed closer to the in-orbit state of satellite
Ring test.
Present invention also offers a kind of closed loop test side of the closed loop controller based on PXI framework navigation signal simulators
Method, NI Veristand engineerings carry out data interaction with slave computer, and Custom Device models receive the position of kinetic model
The calculating of speed and time information realization to Satellite Phase and navigation message, and realize that I/Q signal is modulated by FPGA boards, most
Navigation frequency point is converted to by by RF Vector Signal Generator, realizes that true navigation neceiver is added to whole star closed loop surveys
Examination.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of navigation signal simulator based on PXI frameworks, including：
Host computer, it is the interface of user's operation, for running NI VERISTAND engineerings；
Slave computer, it is connected with host computer cable；Wherein, the slave computer includes：
PXI controllers, run LabVIEW RT operating systems, for producing navigation message carrier frequency, code phase thereon
Information；
FPGA boards, it reads navigation message carrier frequency, code phase information by FPGA-FIFO, for producing numeral
Intermediate-freuqncy signal；And
Radio frequency vector generator, it transmits to obtain digital medium-frequency signal by P2P, for digital medium-frequency signal to be adjusted to
On navigation signal frequency point；
Wherein, the radio frequency vector generator connection navigation neceiver, navigation neceiver acquisition and tracking location information.
Preferably, the LabVIEW RT operating systems include Custom Device models and kinetic model, described
Custom Device models and kinetic model carry out data interaction by RT-FIFO；
The kinetic model carries out data interaction by cable and host computer, is used for realization the emulation of space environment；
The Custom Device models receive the artificial intelligence of time of kinetic model, position and speed, and combine
Satellite ephemeris almanac file calculates navigation message carrier frequency, the code phase information of satellite.
Preferably, the slave computer further includes：PXI cabinets, it is by bus and PXI controllers, FPGA boards and penetrates
Frequency vector generator carries out data interaction.
Preferably, the FPGA boards include at least the FPGA and high temperature clock of model Kintex-7XC7K410T.
The purpose of the present invention can also be realized by a kind of closed loop controller based on PXI framework navigation signal simulators,
Including the navigation signal simulator based on PXI frameworks, further include：Data collecting card, electric current output card, Ethernet board, communication
Card and communication interface card.
The purpose of the present invention can also be surveyed by a kind of closed loop of closed loop controller based on PXI framework navigation signal simulators
Method for testing is realized, closed loop test is carried out using the closed loop controller based on PXI framework navigation signal simulators, including：
User is controlled kinetic model by host computer, kinetic model generated time, position and the speed
Artificial intelligence；
The artificial intelligence of Custom Device models receiving time, position and speed, and combine satellite ephemeris almanac file
Calculate navigation message carrier frequency, the code phase information of satellite；
FPGA boards read navigation message carrier frequency, code phase information, produce digital medium-frequency signal；
Radio frequency vector generator is transmitted by P2P and receives digital medium-frequency signal, and digital medium-frequency signal is adjusted to navigation letter
On number frequency point；
Navigation neceiver acquisition and tracking location information simultaneously exports navigation information, and central computer receives navigation information, and will
Navigation information is transmitted back to kinetic model.
Preferably, further include：
Custom Device models and kinetic model are downloaded to PXI controls by user by NI VERISTAND engineerings
In device；
Custom Device are configured and called to FPGA boards and radio frequency vector generator.
Preferably, the central computer receives navigation information by whole star cable grid.
Preferably, the navigation neceiver receives the location information by RF cable or antenna.
The beneficial effects of the invention are as follows：1st, the navigation signal simulator based on PXI frameworks of the invention utilizes NI
The real-time of VERISTAND and the powerful disposal ability of PXI processors, the navigation signal of traditional trapped orbit parameter is simulated
Device is changed into the navigation signal simulator that real-time, interactive can be carried out with kinetic model.2nd, emulation cycle is up to 1ms, is truly realized
In real time, the navigation information simulation that high dynamic can interact.3rd, system is based on PXI frameworks, have stronger flexibility, reliability with
And it is open, it can be embedded among whole star closed loop test that whole satellite ground closed-loop simulation is more nearly real satellite in-orbit
Situation.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of the navigation signal simulator based on PXI frameworks of the present invention.
Fig. 2 is a kind of structure diagram of the closed loop controller of the navigation signal simulator based on Fig. 1 of the present invention.
Fig. 3 is the flow chart of the closed loop test method of the closed loop controller based on Fig. 2 of the present invention.
Embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.
A kind of navigation signal simulator based on PXI frameworks, specific technical solution are as follows：
A kind of navigation signal simulator based on PXI frameworks as shown in Figure 1 includes：
Host computer, it is the interface of user's operation, NI Veristand engineerings is run, in the system for carrying out navigation neceiver
In test process, user by host computer by the PXI controllers of navigation signal simulator download program to PXI closed loop controllers,
User can be transmitted to the location and time information of navigation signal simulator on the interface of host computer with real-time monitored kinetic model,
The pause and continuation of navigation signal simulator are controlled by kinetic model control button at the same time, it is convenient in whole star closed loop test
Debugging and troubleshooting hinder.
Slave computer, it is connected with host computer cable；Wherein, the slave computer includes PXI controllers, FPGA boards and radio frequency
Vector generator.
Operation LabVIEW RT operating systems on PXI controllers, a kind of real time operating system of LabVIEW RT operating systems,
Controller and the progress of PXI cabinets resource can be made full use of, and data transfer and signal processing, PXI controllers use NI in real time
PXIe-8880 controllers, have high-speed computation ability and the powerful disposal ability of 8 core Core i7 processors, are led for producing
Navigate textual information, and navigation message information includes at least carrier frequency, code phase information.
FPGA boards carry out data interaction by FPGA-FIFO and PXIe-8880 controllers, can read PXIe-8880
Navigation message carrier frequency, the code phase information of controller, the FPGA boards use NIPXIe 7976RFlexRIO, board
Inside includes the FPGA of one piece of Kintex-7XC7K410T model, while against PXI high-speed buses and its inside 40MHz high temperature
Clock and the powerful data-handling capacity of board are by the information processings such as original navigation text carrier frequency, code phase generation intermediate frequency letter
Number.
Radio frequency vector generator is carried out data transmission by P2P and NI PXIe 7976R FlexRIO, receives NI PXIe
The digital medium-frequency signal of 7976R FlexRIO.Radio frequency vector generator is occurred using NI PXIe 5645R radio frequency vector signals
Device, it supports the generation of 65MHz to 6GHz full frequency band radiofrequency signals, its frequency resolution is up to 1Hz, for digital intermediate frequency to be believed
Number accurately it is modulated on navigation information frequency point, while it is up to double constellation navigations that the bandwidth of 60MHz is suitable for BD2 and GPS
The high dynamic associative simulation of information.
Wherein, the NI PXIe 5645R RF Vector Signal Generators forward connection to lead by radio-frequency antenna or antenna
Navigate receiver, and navigation neceiver acquisition and tracking positioning, navigation signal simulator is utilized at real-time and the PXI of NI VERISTAND
Manage device powerful disposal ability, by the navigation signal simulator of traditional trapped orbit parameter be changed into can with kinetic model into
The navigation signal simulator of row real-time, interactive, has been truly realized the navigation information simulation that real-time, high dynamic can interact.
In another embodiment, the LabVIEW RT operating systems include Custom Device models and kinetic simulation
Type, the Custom Device models and kinetic model carry out data interaction by RT-FIFO；The kinetic model leads to
Cross cable and carry out data interaction with host computer, be used for realization the emulation of space environment, artificial intelligence includes time, position and speed
Etc. information；The artificial intelligence of the Custom Device models receiving time, position and speed, and combine satellite ephemeris almanac
File calculates navigation message carrier frequency, the code phase information of satellite.Navigation signal simulator Custom Device models can
It is embedded into as a function module among whole star closed loop controller framework, kinetic model can be run to controlling cycle by it
Foreshorten to and be less than or equal to 1ms, the Custom Device models of navigation signal simulator is accomplished navigation message carrier frequency, code
The real-time generation of the information such as phase, and the real-time, interactive of NI VERISTAND and the powerful disposal ability of PXI controllers are utilized,
Dynamics Simulation Model is coordinated to realize that satellite high dynamic position temporal information is passed among Custom Device models in real time,
Corresponding navigation information is generated via NI FPGA boards IF Modulations and RF Vector Signal Generator frequency conversion, emulation cycle can
Up to 1ms, have in real time, can interact, the advantage such as high dynamic.
In another embodiment, the slave computer further includes：PXI cabinets, it is controlled by the way that PXI/PXIe is trunk mixed with PXI
Device processed, FPGA boards and radio frequency vector generator carry out data interaction, for powered up to each board and by bus below into
Row data set clocking is synchronous.
A kind of closed loop controller based on PXI framework navigation signal simulators, as shown in Fig. 2, including above-described embodiment institute
A kind of navigation signal simulator based on PXI frameworks stated, further includes：NI PXIe-6363 data collecting cards, PS PXI-3381
Electric current output card, 8234 Ethernet boards of NI, NI PXI-8513CAN communication cards, NI PXI-8433/4RS-485/RS-
422RS-485/422 communication interface cards, NI PXI-8432/4RS-232 communication interface cards, navigation signal simulator output navigation
Information is to navigation neceiver, and navigation neceiver exports navigation information to center machine, and navigation information is transmitted to again and navigation neceiver
The central computer of connection, center machine are passed back in PXIe-8880 controllers by actuator via RT-FIFO, can realize by
Navigation signal simulator is embedded into whole star closed loop controller, and real navigation neceiver is linked into the closed loop test of whole star
In, the test of whole attitude control subsystem is improved the test job of this part closer to the in-orbit state of satellite, energy high degree, is made
Problem can expose in ground test in time on star, really realize each component joint closed-loop simulation of attitude control subsystem.
A kind of closed loop test method of closed loop controller based on PXI framework navigation signal simulators of the present invention, uses
Test method is implemented based on PXI frameworks navigation signal simulator, closed loop controller in above-described embodiment, as shown in figure 3, bag
Include following steps：
User is controlled kinetic model by host computer, and the kinetic model is emulated, and generates satellite
The artificial intelligences such as real-time time, position and speed；
The artificial intelligences such as Custom Device models receiving time, position and speed, and combine existing Satellite clearly
Written matter calculates the information such as the navigation message carrier frequency of the satellite visible nautical star each at that time of satellite, code phase；
NI PXIe 7976R FlexRIO boards read navigation message carrier frequency, code phase information, produce digital intermediate frequency
Signal；
Radio frequency vector generator transmits to obtain digital medium-frequency signal by P2P, and digital medium-frequency signal is adjusted to navigation letter
Cease on frequency point；
Navigation neceiver acquisition and tracking positions and exports navigation information to center machine；Acquisition and tracking is to demodulate navigation letter
Positioning after navigation message in breath is used for is settled accounts；
Central computer receive navigation neceiver transmission navigation information, and by navigation information by actuator via RT-
FIFO is transmitted back to kinetic model.The closed loop test method of the present invention has stronger flexibility, reliability and opening, more
The closely real in-orbit situation of satellite of adjunction, realizes closed loop test.
In another embodiment, the preparation routine before user is controlled kinetic model by host computer is further included,
Including：Custom Device models and kinetic model are downloaded to PXI controllers by user by NI VERISTAND engineerings
In, Custom Device complete NI PXIe-7976RFlexRIO FPGA and NI PXIe 5645R radio frequency vector signals first
The configuration of generator two boards card and calling.Navigation signal simulator must be generated as ability after Custom Device models
Operate under Veristand environment, Custom Device models are together operated under RT systems with kinetic model, model
Input interface includes three shaft positions, three axle speeds and the time under wgs84 coordinate systems, corresponds respectively to dynamic (dynamical) satellite position
Put speed and UTC time output.To ensure the normal operation of whole closed-loop system, the time cycle of kinetic model operation is
1ms, and the cycle of operation of the Customer Device models of navigation signal simulator is then 10ms, navigation signal simulator
Hermite interpolation is carried out to position and speed after the completion of one data sampling period, is ensureing every millisecond of three shaft position of satellite speed
The position and speed deviation brought due to whole closed-loop system clock jitter is avoided while the precision of degree.
In another embodiment, the central computer receives navigation information by whole star cable grid, is wrapped in navigation information
Position, speed, temporal information are included, these information are simultaneously transferred to the gesture stability of the whole star of money control subsystem completion by it.
In another embodiment, the navigation neceiver receives the location information by RF cable or antenna.Connect
The location information of receipts is sent from navigation signal simulator, and navigation message has been modulated in location information, navigation message
Information is then that the position and speed temporal information exported by kinetic model is calculated, and navigation is received after navigation information to fixed
Position information carries out acquisition and tracking and peels off carrier wave and pseudo-code, and above-mentioned navigation message is cleared out finally by frame synchronization and bit synchronization,
And then position clearing and draw the position and speed temporal information that kinetic model is inputted to navigation signal simulator.
The navigation signal simulator and its closed loop test method based on PXI frameworks of the present invention, selects NI Veristand
Software development environment, interacts with kinetic model, receives position and speed and temporal information, utilizes original ephemeris, almanac text
Part realizes the calculating to visible satellite carrier doppler code phase and navigation message, and passes through NI PXIe 7976R FlexRIO
FPGA boards realize that I/Q signal modulation finally upconverts to navigation frequency via NI PXIe 5645R RF Vector Signal Generators
Point, true navigation neceiver is added in whole star closed loop test, greatly the perfect test job of whole attitude control subsystem,
Simultaneously because the LabVIEW RT systems of the controller selection of PXI frameworks, substantially reduce emulation cycle, are truly realized in real time
The navigation signal simulator design work that high dynamic can interact.
Claims (9)
- A kind of 1. navigation signal simulator based on PXI frameworks, it is characterised in that including：Host computer, it is the interface of user's operation, for running NI VERISTAND engineerings；Slave computer, it is connected with host computer cable；Wherein, the slave computer includes：PXI controllers, run LabVIEW RT operating systems, for producing navigation message carrier frequency, code phase information thereon；FPGA boards, it reads navigation message carrier frequency, code phase information by FPGA-FIFO, for producing digital intermediate frequency Signal；AndRadio frequency vector generator, it transmits to obtain digital medium-frequency signal by P2P, for digital medium-frequency signal to be adjusted to navigate On signal frequency point；Wherein, the radio frequency vector generator connection navigation neceiver, navigation neceiver acquisition and tracking location information.
- 2. the navigation signal simulator as claimed in claim 1 based on PXI frameworks, it is characterised in that the LabVIEW RT Operating system includes Custom Device models and kinetic model, and the Custom Device models and kinetic model lead to Cross RT-FIFO and carry out data interaction；The kinetic model carries out data interaction by cable and host computer, is used for realization the emulation of space environment；The Custom Device models receive the artificial intelligence of time of kinetic model, position and speed, and combine satellite Ephemeris almanac file calculates navigation message carrier frequency, the code phase information of satellite.
- 3. the navigation signal simulator as claimed in claim 2 based on PXI frameworks, it is characterised in that the slave computer also wraps Include：PXI cabinets, it carries out data interaction by bus and PXI controllers, FPGA boards and radio frequency vector generator.
- 4. the navigation signal simulator as claimed in claim 1 or 2 based on PXI frameworks, it is characterised in that the FPGA boards Including at least the FPGA and high temperature clock of model Kintex-7XC7K410T.
- 5. a kind of closed loop controller based on PXI framework navigation signal simulators, it is characterised in that including such as claim 4 institute The navigation signal simulator based on PXI frameworks stated, further includes：Data collecting card, electric current output card, Ethernet board, communication Card and communication interface card.
- A kind of 6. closed loop test method of the closed loop controller based on PXI framework navigation signal simulators, it is characterised in that bag Include：User is controlled kinetic model by host computer, the kinetic model generated time, position and speed it is imitative True information；The artificial intelligence of Custom Device models receiving time, position and speed, and combine satellite ephemeris almanac file and calculate Go out navigation message carrier frequency, the code phase information of satellite；FPGA boards read navigation message carrier frequency, code phase information, produce digital medium-frequency signal；Radio frequency vector generator is transmitted by P2P and receives digital medium-frequency signal, and digital medium-frequency signal is adjusted to navigation signal frequency Point on；Navigation neceiver acquisition and tracking location information simultaneously exports navigation information, and central computer receives navigation information, and will navigation Information is transmitted back to kinetic model.
- 7. the closed loop test method of the closed loop controller as claimed in claim 6 based on PXI framework navigation signal simulators, its It is characterized in that, further includes：User is downloaded to Custom Device models and kinetic model in PXI controllers by NI VERISTAND engineerings；Custom Device are configured and called to FPGA boards and radio frequency vector generator.
- 8. the closed loop test side of the closed loop controller based on PXI framework navigation signal simulators as claimed in claims 6 or 7 Method, it is characterised in that the central computer receives navigation information by whole star cable grid.
- 9. the closed loop test side of the closed loop controller based on PXI framework navigation signal simulators as claimed in claims 6 or 7 Method, it is characterised in that the navigation neceiver receives the location information by RF cable or antenna.
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| CN201710832262 | 2017-09-15 | ||
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| CN112684716A (en) * | 2020-11-25 | 2021-04-20 | 广州斯达尔科技有限公司 | Aviation radio comprehensive test equipment and control method |
| CN113534203A (en) * | 2021-07-12 | 2021-10-22 | 长光卫星技术有限公司 | On-orbit cross radiation calibration method based on AERONET aerosol data |
| CN114050872A (en) * | 2021-11-26 | 2022-02-15 | 长光卫星技术有限公司 | Satellite-borne multi-beam phased-array antenna beam pointing closed-loop test system |
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Application publication date: 20180413 |