A flight measurement and control system based on serial port expandability

Abstract

The present application discloses an expandable flight measurement and control system based on a serial port, comprising a parameter uploading module, a function testing module, a flight parameter binding module, a terrain data binding module, an airborne serial port data processing module and a flight control module, wherein the parameter uploading module is used for receiving system parameters and software upgrade parameters for parsing and storage; the function testing module is used for receiving test instructions for function testing; the flight parameter binding module is used for obtaining flight parameter binding to complete flight parameter binding; the terrain data binding module is used for obtaining terrain data to complete terrain data binding; the airborne serial port data processing module is used for obtaining serial port data of airborne equipment to complete classification conversion; the flight control module is used for analyzing received data and obtaining control parameters to control the action of the servo; the system of the present invention can shorten the development cycle of the measurement and control system, reduce production costs, and has the characteristics of low cost, simple structure, easy expansion, high development efficiency, etc.

Description

Technical Field

[0001] The present application relates to the field of flight measurement and control technology, and more specifically, to a flight measurement and control system that is expandable based on a serial port. Background Art

[0002] At present, the flight measurement and control system is mainly used to test the function of the flying object before flight and control the flight of the flying object. With the development of flight measurement and control technology and the increasingly diversified functional requirements, coupled with the continuous changes in flight environment conditions, higher requirements are placed on the development cycle and cost control of the flight measurement and control system. At the same time, as the control functions become more and more abundant, higher requirements are also placed on the scalability of the flight measurement and control system.

[0003] Therefore, it is very necessary to develop a modular flight measurement and control system based on serial port expandability, which plays a significant role in shortening the development cycle, reducing costs, facilitating expansion and simplifying the structure. Summary of the invention

[0004] In response to at least one defect or improvement need in the prior art, the present invention provides a flight measurement and control system based on a serial port that can be expanded, which can shorten the development cycle of the measurement and control system, reduce production costs, and achieve a flight measurement and control system with low cost, simple structure, easy expansion, high development efficiency, and integrated testing and control of the control system.

[0005] To achieve the above-mentioned object, according to a first aspect of the present invention, a serial port-based scalable flight measurement and control system is provided, characterized in that it includes a parameter uploading module, a function testing module, a flight parameter binding module, a terrain data binding module, an airborne serial port data processing module and a flight control module, wherein:

[0006] The parameter upload module is used to receive system parameters and software upgrade parameters sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, parse and store them, and send the system parameters to the flight control module;

[0007] The functional test module is used to receive a test instruction sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, perform a functional test according to the test instruction, and send the test result after the functional test to the ground measurement / transmission control device in the form of a serial port data frame;

[0008] The flight parameter binding module is used to obtain the flight parameter sent by the ground measurement / transmission control equipment serial port through the scalable serial communication protocol, write the flight parameter into the storage area after parsing to complete the flight parameter binding, and send the flight parameter to the flight control module;

[0009] The terrain data binding module is used to obtain terrain data sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, write the terrain data into the storage area after parsing to complete terrain data binding, and send the terrain data to the flight control module;

[0010] The airborne serial port data processing module is used to process the serial port data interaction between the parameter upload module, the function test module, the flight parameter binding module, the terrain data binding module and the flight control module and the airborne equipment; and complete the information interaction between the airborne equipment and the ground measurement / launch control equipment based on the extensible serial port communication protocol;

[0011] The flight control module is used to analyze the received system parameters, the flight parameters, the terrain data and the airborne serial port data to obtain control parameters to control the action of the servo.

[0012] Furthermore, the parameter upload module includes a parameter processing unit, a software upgrade unit and a serial port data processing unit, wherein:

[0013] The serial port data processing unit is used to perform data interaction with ground measurement / transmission control equipment based on the serial port communication protocol, and is used to perform serial port data interaction with airborne equipment;

[0014] The parameter processing unit is used to receive the system parameters sent by the ground measurement / transmission control device through the serial port data processing unit, write them into the corresponding storage interval on the flying body, and send them to the flight control module;

[0015] The software upgrade unit is used to receive software upgrade data sent by the ground measurement / transmission control equipment through the serial port data processing unit, parse and cache the software upgrade data through the memory, verify the software upgrade data, and write the successfully verified software upgrade data into the corresponding memory in the flying body.

[0016] Furthermore, the software upgrade unit caches the software upgrade data through a memory and verifies the software upgrade data, specifically including:

[0017] First, cache the data in the first storage area of ​​the memory, calculate the cumulative sum of the received data in the first storage area, and compare the cumulative sum of the received data in the first storage area with the calculated cumulative sum. After verification, perform an erasing operation on the second storage area. After the erasing is successful, perform a writing operation on the second storage area. After the writing is successful, read the data in the second storage area for a second verification.

[0018] The data after the secondary verification is used for comparison with the standard value as a basis for judging whether the upgrade is successful.

[0019] Furthermore, the software upgrade unit is also used to mark error information during the upgrade process and feed back the error information to the ground measurement / transmission control device in the form of a serial port message.

[0020] Furthermore, the flight parameter binding module is also used to receive the flight parameter binding test instructions sent by the serial port of the ground measurement / launch control equipment through an extensible serial communication protocol, and after binding the flight parameter parameters, package each binding information index and send it to the ground measurement / launch control equipment through the extensible serial communication protocol to complete the pre-flight flight parameter binding detection.

[0021] Furthermore, the terrain data binding module is also used to receive terrain data binding test instructions sent by the serial port of the ground measurement / launch control device through an extensible serial communication protocol. After terrain data binding, the binding information indexes are packaged and sent to the ground measurement / launch control device through the extensible serial communication protocol to complete the pre-flight terrain data binding detection.

[0022] Furthermore, the airborne serial port data processing module includes an airborne serial port data interaction unit and a ground serial port data interaction unit.

[0023] The airborne serial port data interaction unit is used to process the serial port data interaction between the parameter upload module, the function test module, the flight parameter binding module, the terrain data binding module and the flight control module and the airborne equipment;

[0024] The ground serial port data interaction unit is used to complete data interaction with the ground measurement / transmission control equipment based on an extensible serial port communication protocol.

[0025] Furthermore, the serial communication protocol adopts a serial communication protocol with a fixed frame length and a fixed frame header, and the frame structure of the serial communication is fixed.

[0026] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0027] (1) The present invention provides a flight measurement and control system based on a serial port that can be expanded. By establishing a modular flight measurement and control system software architecture based on an expandable serial port communication system, the measurement and control system software can be quickly upgraded. The specific software upgrade can be hot upgraded without power off or disassembly of the equipment, and can be non-destructively upgraded through the serial port. It is easy to expand and tailor functions, and the coupling between the functional modules is low, which can shorten the development cycle of the entire system. It has the characteristics of low cost, simple structure, easy implementation, and strong operability.

[0028] (2) Generally, embedded devices have small storage space. By using DSP's high-speed cache technology and external SDRAM, we can realize the binding and storage of big data terrain. The size of terrain data can reach 40Kb. There is no problem in interpolating terrain data during flight, which greatly improves the storage space of the flight control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of a flight measurement and control system based on a serial port that can be expanded according to an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the structure of the parameter upload module provided in the embodiment of the present application;

[0032] Figure 3 A schematic diagram of the workflow of a flight measurement and control system is provided for an embodiment of the present application;

[0033] Figure 4 Provide a software upgrade process diagram for the embodiment of the present application;

[0034] Figure 5 A schematic diagram of the external connection of the system provided in the embodiment of the present application;

[0035] Figure 6 A schematic diagram of the structure of an onboard serial port data processing module provided in an embodiment of the present application;

[0036] Figure 7 A schematic diagram of the serial communication protocol provided in the embodiment of the present application;

[0037] Figure 8 A logic diagram of a flight measurement and control system based on an extensible serial communication protocol provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0040] At present, the flight measurement and control system is mainly used to test the function of the flying object before flight and control the flight of the flying object. With the development of flight measurement and control technology and the increasingly diversified functional requirements, coupled with the continuous changes in flight environment conditions, higher requirements are placed on the development cycle and cost control of the flight measurement and control system. At the same time, as the control functions become more and more abundant, higher requirements are also placed on the scalability of the flight measurement and control system.

[0041] like Figure 1 As shown, the present invention proposes a serial port-based expandable flight measurement and control system including but not limited to a parameter uploading module, a function testing module, a flight parameter binding module, a terrain data binding module, an airborne serial port data processing module and a flight control module.

[0042] As a preferred embodiment, specifically, the parameter upload module is used to receive system parameters and software upgrade parameters sent through the serial port of the ground measurement / transmission control equipment via an extensible serial communication protocol, parse and store them, and send the system parameters to the flight control module.

[0043] The functional test module is used to receive test instructions sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, perform functional tests according to the test instructions, and send the test results after the functional test to the ground measurement / transmission control device in the form of serial port data frames, thereby completing the functional test and status detection of the flying body before flight.

[0044] The flight parameter binding module is used to obtain the flight parameter sent by the ground measurement / transmission control equipment serial port through the extensible serial communication protocol, write the flight parameter into the storage area after parsing to complete the flight parameter binding, and send the flight parameter to the flight control module to cooperate with the flight control module to complete the flight trajectory control.

[0045] The terrain data binding module is used to obtain terrain data sent through the serial port of the ground measurement / transmission control device through the extensible serial communication protocol, write it into the storage area after parsing to complete the terrain data binding, and send the terrain data to the flight control module to cooperate with the flight control module to complete the flight trajectory control.

[0046] The onboard serial port data processing module is used to process the serial port data interaction between the parameter upload module, function test module, flight parameter binding module, terrain data binding module and flight control module and the onboard equipment; and complete the information interaction between the onboard equipment and the ground measurement / launch control equipment based on the extensible serial port communication protocol; and cooperate with the flight control module to complete the flight trajectory control.

[0047] The flight control module is used to analyze the received system parameters, flight parameters, terrain data and airborne serial port data to obtain control parameters to control the servo action so that the aircraft flies along the trajectory determined by the parameter values ​​set in the flight binding module.

[0048] Specifically, Figure 2 As shown, the parameter upload module includes a parameter processing unit, a software upgrade unit and a serial port data processing unit, wherein the serial port data processing unit is used to perform data interaction with the ground measurement / transmission control equipment based on the serial port communication protocol, and to perform serial port data interaction with the airborne equipment; the parameter processing unit is used to receive the system parameters sent by the ground measurement / transmission control equipment through the extensible serial port communication protocol, write them into the corresponding storage interval on the flying body, and send them to the flight control module; the software upgrade unit is used to receive the software upgrade data sent by the ground measurement / transmission control equipment through the extensible serial port communication protocol, cache and buffer the software upgrade data through the memory, verify the software upgrade data, and write the successfully verified software upgrade data into the corresponding storage area in the flying body;

[0049] like Figure 3 As shown in the figure, after the flight measurement and control system is initialized, the software enters the online upgrade state detection. The software upgrade unit receives the software upgrade data sent by the ground measurement / flight control equipment through the extensible serial communication protocol. The software upgrade data includes but is not limited to the upgrade data length and the number of sectors.

[0050] like Figure 4As shown, it is a schematic diagram of the software upgrade process of the present application. Specifically, the software upgrade unit verifies the software upgrade data, that is, calculates the cumulative sum of the received data in the first storage area, and compares the cumulative sum of the received data in the first storage area with the calculated cumulative sum. After the verification is correct, the second storage area is erased, and after the erasure is successful, the second storage area is written. After the second storage area is written successfully, the data in the second storage area is read out for verification, and the obtained verification value is compared with the standard value. If the values ​​of the two verifications are consistent with the standard value, it means that the upgrade is successful. Specifically, after the software upgrade unit receives and parses the software upgrade data sent by the ground measurement / transmission control device through the serial port data processing unit, The software upgrade data is cached in the planned Flash temporary sector, and the cumulative sum of the received data is calculated; the data cumulative sum of the software upgrade data cached in the Flash temporary sector is compared with the calculated cumulative sum, and after verification, the formal sector of the Flash upgrade is erased, and after successful erasure, the software upgrade data is written to the Flash specified sector; after the software upgrade data is written successfully, the cumulative sum of the received data is calculated again, and compared with the cumulative sum of the software upgrade data stored in the Flash specified sector to obtain the second verification result. The two verification results are consistent with the standard value, which indicates that the upgrade is successful, and after erasing the specified sector where the software update time is stored, the software upload time is written to the specified sector.

[0051] In a preferred example, the software upgrade unit uploads the bin file data of the temporary flight system software upgrade to the flight body measurement and control system via the serial port according to the extensible serial port protocol. The flight body measurement and control system caches the upgrade data through the external SDRAM, and then verifies all received data. The verification method adopts the cumulative sum check, calculates the cumulative sum of the received data in the SDRAM, and compares the cumulative sum of the received data in the SDRAM with the calculated cumulative sum. If they are consistent, the upgraded Flash sector is erased and the upgrade data is written to the Flash sector to complete the entire software upgrade.

[0052] In one embodiment of the present invention, the parameter processing unit sends the correction coefficient data (adjustment coefficient and zero deviation) of the gyro coefficient, gyro zero coefficient and analog acquisition (AD) on the flying body to the flying body through the ground serial port according to the scalable serial port protocol, and writes the received parameter data into the corresponding Flash interval on the flying body. Among them, after the parameters are written once for the same device, they are permanently stored. Each time the system is powered on, the corresponding parameters are read from the corresponding position in the Flash and put into the corresponding cache array for program operation and use.

[0053] After the flight measurement and control system completes the software upgrade, the system operation status indicator flashes, the system enters the flight unit test detection state before flight, the launch control equipment performs the pre-launch test, and the functional test module receives the test instructions sent by the ground measurement / launch control equipment serial port through the extensible serial port communication protocol. Specifically, the test instructions include but are not limited to flight control system self-test test, rudder system check, integration test, aging test, flight parameter binding test, terrain data binding test, cruise engine ignition unit test, detonation unit test, analog output unit test, serial port unit test, GPS unit test, blocking binding, software version and upload time query, radio station setting test, etc., and also include RAM and Flash test, software version information, DO output test. The functional test module performs functional testing according to the test instructions, and sends the test-related data after the functional test to the ground measurement / launch control equipment in the form of serial port data frames, thereby completing the functional test and status detection of the flight body before flight, so as to troubleshoot the hidden faults before flight, ensure the normal hardware status before flight, and reduce the probability of flight failure.

[0054] In one embodiment of the present invention, the rudder system inspection test is to give a servo control instruction and observe the response performance of the servo to the step signal through the rudder feedback value; the integration test is to output a triangular wave, trapezoidal wave or sine wave servo control signal to the servo as needed to observe the dynamic response characteristics of the servo; the aging test is to power on the control system for multiple fixed time lengths, and then test it after the power-on time is up to detect the stability and reliability of the control system after long-term power-on; the flight parameter binding test is used to verify the correctness of the flight parameter binding function; the terrain data binding test is to detect the accuracy of the terrain binding function of the flight measurement and control system; the cruise engine ignition test and the detonation unit test are mainly used to detect the normality of the ignition unit function (DO output function) of the flight measurement and control system before launch; the serial port unit test and the GPS unit test are respectively used to detect the normality of the serial port function and the GPS function; the blocking binding is to switch the software state to the flight control state and perform the flight control task; the radio setting test is to group the telemetry radio stations; the software version and upload time query is to query the software version number and the time to upgrade the on-board software through the software upgrade assistant.

[0055] The flight parameter binding module receives the flight parameter data sent by the ground measurement / launch control equipment through the ground serial port according to the extensible serial port protocol. These parameters generally include but are not limited to the longitude of the launch point, the latitude of the launch point, the launch angle, the level flight altitude, the amplitude of the maneuvering turn, the period of the maneuvering turn, the launch angle (used to calculate the conversion matrix), the start time of the maneuvering turn, the self-destruction range, the self-destruction side deviation, the overload condition, the altitude of the launch point, the altitude control mode, the level flight mode, the control altitude, the self-destruction time and other parameters; the received flight parameter data are parsed and stored in the flight parameter binding structure, and the written and stored data are taken out and sent to the ground measurement / launch control equipment, which detects and determines whether the flight parameter binding is successful or not. The upload of flight parameter data can be repeated. When the upload of flight parameter data is unsuccessful, it can be uploaded again. Flight parameter data is an indispensable part of flight control.

[0056] The terrain data binding module receives terrain data sent by the ground measurement / transmission control device through the ground serial port according to the scalable serial port protocol, and stores the terrain data sent by the ground measurement / transmission control device in the corresponding array using the DSP's high-speed cache technology and the external SDRAM. At the same time, the data written in the array is read out and sent to the ground measurement / transmission control device, and the data is verified. If the ground measurement / transmission control device receives the data and judges that it is correct, the terrain data binding is successful. Specifically, the terrain data binding is mainly used to receive and store the terrain data sent by the ground measurement / transmission control device, so that the terrain height can be interpolated and calculated according to the lateral deviation and the direction and range in the flight control module, and the altitude control during the flight control process is involved.

[0057] In one example, the terrain data binding module parses the terrain data in byte form into floating-point terrain data according to the data parsing protocol and stores it in the terrain data array. The terrain data is recorded in a two-dimensional table, the terrain data is stored in the measurement and control system in a one-dimensional floating-point array, and the terrain data search method adopts a two-dimensional table lookup method.

[0058] As a preferred embodiment of the present invention, Figure 5 It is a schematic diagram of the external connection of the system, in which the onboard serial port data processing module obtains the serial port data for data classification, screens and parses the classified data and sends the parsed data to the ground measurement / launch control equipment through the sending unit. It is also used for data interaction with the parameter upload module, function test module, flight parameter binding module, terrain data binding module and flight control module.

[0059] Specifically, Figure 6As shown, it includes an airborne serial port data interaction unit and a ground serial port data interaction unit. The airborne serial port data interaction unit is used to process the serial port data interaction between the parameter upload module, the function test module, the flight parameter binding module, the terrain data binding module and the flight control module and the airborne equipment; the ground serial port data interaction unit is used to complete data interaction with the ground measurement / launch control equipment based on the extensible serial port communication protocol.

[0060] In one example, the airborne serial port data interaction unit in the airborne serial port data processing module mainly involves the information interaction of serial port data of three airborne devices, namely, a three-axis fiber optic gyroscope communicating with RS422, a GPS receiver communicating with RS232, and a telemetry radio communicating with RS232, wherein the GPS receiver involves serial port data reception, transmission and screening of received data, the three-axis fiber optic gyroscope involves serial port data transmission, serial port data reception and screening of received data, the gyro serial port of the flight measurement and control system sends a gyro data request frame, and the gyro responds to the gyro data to the flight measurement and control system. At the same time, the received gyro data is screened, and the data that conforms to the data format and is verified to be correct is selected for data analysis, and the verification method adopts accumulation and verification.

[0061] Specifically, the ground serial port data interaction unit receives the command data sent by the ground measurement / transmission control equipment, parses the filtered data with correct format and verification, and returns the corresponding status data to the ground measurement / transmission control equipment after completing the command action, so that the ground measurement / transmission control equipment can judge the status of the flight measurement and control system.

[0062] When the flying object is flying, the control quantities of the system and airborne equipment change during flight control. These data are sampled at different times, packaged into telemetry data packets, and sent to the telemetry radio station through the telemetry serial port. The telemetry radio station sends them to the telemetry receiver in the ground measurement / transmission control equipment for timing detection.

[0063] As a preferred embodiment of the present invention, Figure 7It is a schematic diagram of the serial communication protocol. As shown in the figure, the serial communication protocol adopts a serial communication protocol with a fixed frame length and a fixed frame header. The data transmission length of the serial port is 60 bytes. The first to second bytes are the frame header, the third byte is the data length, the fourth byte is the instruction word, the fifth to the seventh bytes are the instruction parameter part, the eighth to the fifty-ninth bytes are the data part, and the sixtieth byte is the checksum. Specifically, those skilled in the art can modify the number of different byte parts according to actual conditions, and the present invention does not limit it here. The serial communication chip adopts a multi-channel TL16C754B serial communication chip, and the data verification method of the serial communication adopts cumulative sum verification. The baud rate of the ground, telemetry, and gyro serial communication adopts 115200bit / s, and the baud rate of the GPS serial communication adopts 38400bit / s. CRC verification is adopted in the data communication process, and the analog quantity is collected and output through the CPLD expansion IO port.

[0064] The data conversion during the serial communication process is to convert the data to be transmitted from decimal to hexadecimal, and then send it to the flight measurement and control system through the serial port via the ground measurement / launch control equipment. After receiving the data, the flight measurement and control system converts the data from hexadecimal to decimal. If the transmitted data is a floating point number, the data will be amplified according to the given magnification factor and converted to decimal. Then the decimal number is converted to hexadecimal and sent to the flight measurement and control system. After receiving the data, the measurement and control system converts the data into decimal, and then converts it into floating point for system use. Figure 8 As shown, it is a logic diagram of the flight measurement and control system based on the expandable serial communication protocol of the present invention. The variables and array variables stored in the corresponding storage areas of the structure in each module of the present invention can be expanded and increased by adjusting the protocol as needed. The protocol can flexibly add or delete instruction parameters as needed. After adding instruction parameters, the function functions and corresponding data variables of the corresponding instruction parameters are supplemented, thereby realizing flexible function expansion.

[0065] The functional test module completes the test instructions sent by the ground measurement / launch control equipment, and sends a blocking and binding instruction to the flight control module after passing the inspection by the ground measurement / launch control equipment. The functional test module then switches the system operation state to the flight control state.

[0066] The flight control module receives system parameters, flight parameters, terrain data and airborne serial port data to obtain the angular velocity and angular acceleration output by the gyroscope, the flight altitude output by the altimeter, the overload value output by the overload sensor, and the longitude, latitude and altitude values ​​output by the GPS. It controls three directions based on these data and the interpolation obtained between the terrain altitude data and the terrain data, and finally forms the rudder control signals of the four servos. It outputs the rudder control values ​​to the servos through the DA chip to control the servo action so that the flying object flies according to the trajectory determined by the parameter values ​​set in the flight parameter binding module.

[0067] In one example, the output data of the gyroscope and the analog quantity acquisition value need to be adjusted according to the relevant parameters provided in the parameter upload module. The adjustment process is to correct the output data of the gyroscope according to the gyroscope coefficient and the gyroscope zero coefficient in the parameter upload module, and adjust the analog quantity acquisition value according to the analog quantity acquisition coefficient, mainly collecting voltage values, including the altimeter output voltage, the overload sensor output voltage and various power supply voltages.

[0068] Specifically, the gyro coefficient and its zero-position error in the system parameters provided by the parameter upload module are used to correct the linear error in the gyro acquisition process, wherein the error in the analog quantity acquisition process is regarded as a linear error, and a univariate function is used to correct the acquisition result to improve the accuracy of the acquisition result. The gyro coefficient and its zero-position parameter, the adjustment coefficient and zero-position deviation of the analog quantity (AD) output module are all parameters of the univariate function, wherein the gyro coefficient and the analog quantity adjustment parameter are equivalent to the slope of the univariate function, and the gyro zero-position error and the zero-position error of the analog quantity acquisition are equivalent to the intercept of the univariate function.

[0069] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0070] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0072] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0073] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program code.

[0075] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0076] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0077] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flight measurement and control system based on serial port expandability, characterized in that: It includes parameter uploading module, function testing module, flight parameter binding module, terrain data binding module, airborne serial port data processing module and flight control module, among which, The parameter upload module is used to receive system parameters and software upgrade parameters sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, parse and store them, and send the system parameters to the flight control module; The functional test module is used to receive a test instruction sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, perform a functional test according to the test instruction, and send the test result after the functional test to the ground measurement / transmission control device in the form of a serial port data frame; The flight parameter binding module is used to obtain the flight parameter sent by the ground measurement / transmission control equipment serial port through the scalable serial communication protocol, write the flight parameter into the storage area after parsing to complete the flight parameter binding, and send the flight parameter to the flight control module; The terrain data binding module is used to obtain terrain data sent via the serial port of the ground measurement / transmission control device through an extensible serial communication protocol, write the terrain data into the storage area after parsing to complete terrain data binding, and send the terrain data to the flight control module; The airborne serial port data processing module is used to process the serial port data interaction between the parameter upload module, the function test module, the flight parameter binding module, the terrain data binding module and the flight control module and the airborne equipment; and complete the information interaction between the airborne equipment and the ground measurement / launch control equipment based on the extensible serial port communication protocol; The flight control module is used to analyze the received system parameters, the flight parameters, the terrain data and the airborne serial port data to obtain control parameters to control the action of the steering gear; The parameter upload module includes a parameter processing unit, a software upgrade unit and a serial port data processing unit, wherein: The serial port data processing unit is used to perform data interaction with ground measurement / transmission control equipment based on the serial port communication protocol, and is used to perform serial port data interaction with airborne equipment; The parameter processing unit is used to receive the system parameters sent by the ground measurement / transmission control device through the serial port data processing unit, write them into the corresponding storage interval on the flying body, and send them to the flight control module; The software upgrade unit is used to receive software upgrade data sent by the ground measurement / transmission control device through the serial port data processing unit, parse and cache the software upgrade data through the memory, verify the software upgrade data, and write the successfully verified software upgrade data into the corresponding memory in the flying body; wherein the software upgrade unit caches the software upgrade data through the memory and verifies the software upgrade data, specifically including: First, cache the data in the first storage area of ​​the memory, calculate the cumulative sum of the received data in the first storage area, and compare the cumulative sum of the received data in the first storage area with the calculated cumulative sum. After verification, perform an erasing operation on the second storage area. After the erasing is successful, perform a writing operation on the second storage area. After the writing is successful, read the data in the second storage area for a second verification. The data after the secondary verification is used for comparison with the standard value as a basis for judging whether the upgrade is successful.

2. A flight measurement and control system based on serial port expandability according to claim 1, wherein: The software upgrade unit is also used to mark error information during the upgrade process and feed back the error information to the ground measurement / transmission control device in the form of a serial port message.

3. A flight measurement and control system based on serial port expandability according to claim 1, wherein: The flight parameter binding module is also used to receive the flight parameter binding test instructions sent by the serial port of the ground measurement / launch control equipment through an extensible serial communication protocol. After the flight parameter binding, each binding information index is packaged and sent to the ground measurement / launch control equipment through the extensible serial communication protocol to complete the pre-flight flight parameter binding detection.

4. A flight measurement and control system based on serial port expandability according to claim 1, wherein: The terrain data binding module is also used to receive terrain data binding test instructions sent by the serial port of the ground measurement / launch control device through an extensible serial communication protocol. After terrain data binding, the binding information indexes are packaged and sent to the ground measurement / launch control device through the extensible serial communication protocol to complete the pre-flight terrain data binding detection.

5. The flight measurement and control system based on serial port expandability according to claim 1, wherein: The airborne serial port data processing module includes an airborne serial port data interaction unit and a ground serial port data interaction unit. The airborne serial port data interaction unit is used to process the serial port data interaction between the parameter upload module, the function test module, the flight parameter binding module, the terrain data binding module and the flight control module and the airborne equipment; The ground serial port data interaction unit is used to complete data interaction with the ground measurement / transmission control equipment based on an extensible serial port communication protocol.

6. The flight measurement and control system based on serial port expandability according to claim 1, wherein: The serial communication protocol adopts a serial communication protocol with a fixed frame length and a fixed frame header, and the frame structure of the serial communication is fixed.

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