靶场实时测控软件系统现状与发展趋势

实时测控软件系统是航天测控系统的信息处理中心,在航天任务中担负着实时信息处理、设备数字引导、指挥显示和安全控制等任务。随着计算机与通信技术的飞速发展,实时测控软件系统向信息融合、分布处理、高可靠性和逼真的多媒体显示等方向发展。本文介绍了实时测控软件在航天任务中的地位厦作用,详细阐明了实时测控软件系统的发展历程、系统组成、功能特点和未来的发展趋势。     

单轴航空涡扇发动机数学模型辨识

依据某型单轴航空涡扇发动机试车数据辨识建立了发动机的全包线、全工况实时动态数学模型。由于试车数据所含噪声较大,辨识方法采用了先建立稳态模型,进而建立实时动、静态数学模型的方法,这种方法可以通过辨识稳态点来消除噪声。验模表明,所建模型精确度很高,且能准确反映发动机性能,并满足实时性需求。     

一种新型实时总线协议及其FPGA设计

对于小规模总线型测控系统,目前国内还没有形成一个完整的通讯规范,因此建立一种完善的实时总线体系结构及其通讯标准就成为一个重要的研究课题;考虑到数据链路层协议对网络的实时特性有重要影响,借鉴工业现场总线Profibus和802.4协议,提出了一种适合小型化控制系统的新型令牌总线模型;详细阐述了这种总线模型数据链路层协议的令牌环生成和维护方式、令牌传递方式以及数据收发方式,介绍了基于FPGA技术实现该协议的具体方法,给出了信息传输时间的理论最大值和实际测试结果;实验结果表明这种低成本、小规模测控网满足了系统实时性要求,达到了预期效果,具有一定的实用性和推广价值。     

三维实时动画技术在运载火箭飞行视景仿真中的应用

介绍了三维实时动画技术实现飞行器视景仿真的基本原理,并介绍了如何在SGI图形工作站及OPenGL图形库支持下开发运载火箭飞行视景仿真软件,重点介绍了三维实时动画技术在该系统中的软件实现。     

一种顾及轨道误差的实时GPS钟差估计方法

为了提高实时卫星钟差估计的精度和稳定性,提出了一种顾及轨道误差的实时GPS钟差估计方法。基于超快速轨道产品,分析了轨道标准差与绝对轨道误差的相关性。通过线性插值获得实时轨道误差信息,以优化先验残差的随机模型。基于先验轨道标准差阈值,采用分段方式剔除实时轨道异常卫星对应的观测值。实验结果表明：轨道标准差和轨道误差的相关性高达0.82。与常用的高度角相关的随机模型相比,GPS卫星钟差估计精度最大提高了15.2%,平均提高了8.1%,钟差误差的时间序列更加平稳,所有GPS卫星的平均钟差STD均在0.15ns以内。因此,超快速轨道产品中提供的轨道标准差与绝对轨道误差表现出较强相关。采用顾及轨道误差的实时钟差估计方法可提高GPS卫星钟差估计精度,准确识别并剔除GPS实时轨道异常的卫星,从而提高GPS实时钟差估计的稳定性。     

GNSS多系统RTK授时性能分析

RTK授时不依赖实时精密星历,精度高、实现简单,在短距离精密授时与时间同步中具有突出的应用潜力。针对城域环境下单系统RTK授时可能面临可用卫星数量较少、收敛时间较长等问题,验证分析了GNSS多系统RTK授时性能。基于中国科学院国家授时中心时间频率资源和3个GNSS跟踪站的BDS-3、GPS和Galileo观测数据开展多系统RTK授时试验,涉及动态、静态和固定站坐标3种模式,并从授时精度、收敛时间和稳定度3个方面展开分析。两条基线的试验结果表明：与光纤双向时间频率传递结果相比,动态模式下,多系统单频授时差异STD较GPS单系统分别提高9.13%和9.01%,静态模式分别提高6.09%和11.76%,固定站坐标模式分别提高3.04%和5.79%,多系统单频RTK授时的授时结果差异STD优于0.25 ns,双频优于0.15 ns;多系统融合使得RTK授时的收敛时间与GPS单系统相比至少缩短25%以上,静态模式下双频RTK收敛时间缩短最多,两条基线分别缩短66.9%和67.8%;3种模式多系统站间钟差的万秒稳均进入10^-15量级,动态模式和静态模式下短期稳定度相比GPS单...     

Effect of biases in integrity monitoring for RTK positioning

In road transport, continuous high-accuracy positioning is required in real time. To ensure the proper functioning and safety of vehicular applications, integrity monitoring (IM) is needed to protect from the positioning errors under a certain alert limit (AL) with a pre-defined probability of misleading information (MI). In this study, a detailed threat model is developed for real-time kinematic (RTK) positioning application of short baselines. The model distinguishes between ambiguity-float and -fixed scenarios, and considers the influences of phase and code multipath as well as between-receiver atmospheric residuals. With the float ambiguities temporally constrained, the bias contribution that propagates with time-updated ambiguities was studied analytically for the horizontal protection level (HPL) in IM. Based on real data from both static and kinematic experiments, HPL was computed along the direction of the semi-major axis of the horizontal error ellipse. In ambiguity-float and -fixed cases, the HPL was mostly several meters and decimetres, respectively. It was found that time-propagated biases play a dominant role in the ambiguity-float HPL, and among them, phase and code multipath had in general the largest contributions. For ambiguity-fixed case, the phase multipath was found to play a dominant role in the HPL. This shows the importance of considering the biases in the RTK IM for both the ambiguity-float and -fixed scenarios. Given a horizontal alert limit (HAL) of 5 m, the availabilities of ambiguity-float solutions were low, i.e., below 50% for the static roof tests and below 5% for the kinematic road tests. For the ambiguity-fixed scenario, with HAL at 0.5 m, integrity availability was nearly 100% for the static roof tests and above 85% for the kinematic road tests.     

Real-time solution of nonlinear potential flow equations for lifting rotors

Analysis of rotorcraft dynamics requires solution of the rotor induced flow field.Often,the appropriate model to be used for induced flow is nonlinear potential flow theory(which is the basis of vortex-lattice methods).These nonlinear potential flow equations sometimes must be solved in real time––such as for real-time flight simulation,when observers are needed for controllers,or in preliminary design computations.In this paper,the major effects of nonlinearities on induced flow are studied for lifting rotors in low-speed flight and hover.The approach is to use a nonlinear statespace model of the induced flow based on a Galerkin treatment of the potential flow equations.     

A pre-generated matrix-based method for real-time robotic drilling chatter monitoring

Currently, due to the detrimental effects on surface finish and machining system, chatter has been one crucial factor restricting robotic drilling operations, which improve both quality and efficiency of aviation manufacturing. Based on the matrix notch filter and fast wavelet packet decomposition, this paper presents a novel pre-generated matrix-based real-time chatter monitoring method for robotic drilling. Taking vibration characteristics of robotic drilling into account, the matrix notch filter is designed to eliminate the interference of spindle-related components on the measured vibration signal. Then, the fast wavelet packet decomposition is presented to decompose the filtered signal into several equidistant frequency bands, and the energy of each sub-band is obtained. Finally, the energy entropy which characterizes inhomogeneity of energy distribution is utilized as the feature to recognize chatter on-line, and the effectiveness of the presented algorithm is validated by extensive experimental data. The results show that the proposed algorithm can effectively detect chatter before it is fully developed. Moreover, since both filtering and decomposition of signal are implemented by the pre-generated matrices, calculation for an energy entropy of vibration signal with 512 samples takes only about 0.690 ms. Consequently, the proposed method achieves real-time chatter monitoring for robotic drilling, which is essential for subsequent chatter suppression.     

分布式仿真系统实体节点分配问题实时求解算法

分布式仿真系统中,如何使计算节点彼此间通信量尽可能小,是实体节点分配问题研究的内容。针对该问题提出一种基于规则的启发式两阶段实时求解算法。第一阶段构建最小期望事件数量的目标分配模型并进行求解,即根据连通图理论将原问题分解为多个子问题,结合缓存、分治和过滤优选策略,设计递归算法求解子问题,最后得到覆盖所有实体的事件最小集。第二阶段实现分箱算法,将最小集中单个事件关联的实体尽量分配至相同计算节点,最终得到实体节点分配关系。实际应用表明,相比常见的顺序分配策略,该算法能显著减小分布式仿真系统的跨节点网络通信,从而提升仿真效率。该算法还能在秒级耗时生成分配方案,特别适用于包含大量实体的复杂场景分布式仿真。