Navigation and comprehensive electronic depth integrated system for tactical micromissile

Abstract

The invention provides a navigation and comprehensive electronic depth integrated system for tactical micromissiles. Comprising a comprehensive information processing module (including launch control and flight control solution, combined navigation solution and rudder control solution), an electrical control module (including a secondary power supply, missile-borne power electrical and rudder release), a satellite navigation module, a rigid-flexible hybrid electrical bottom plate, an interface management module and other functional modules, and sensing and executing devices such as an inertial measurement unit and a steering engine. According to the system, power management is unified on hardware, computing resources are shared, and on software, a real-time operating system is used for operating multi-task software on the same hardware platform. Navigation and comprehensive electronic deep integration are not simple physical combination of traditional on-missile electronic equipment, but efficient integration of needed functions is achieved, resources are utilized to the maximum extent, consumption is reduced, and improvement of the overall performance of tactical missiles is achieved with low cost, small size, light weight and high reliability.

Description

Technical Field

[0001] The present invention belongs to the field of integrated electronic system integration of missile-borne equipment, and in particular relates to a navigation and integrated electronic deep integration system for tactical micro-missiles. Background Art

[0002] At present, tactical missile weapons are constructed according to the division method of system → subsystem → subsystem → stand-alone → unit → device → material, software. The characteristics of the materialized products and equipment are: 1) The system is a split architecture, which is costly, bulky, and heavy; 2) The resources are repeatedly configured between subsystems; 3) The openness of each subsystem is low, and it is difficult to deeply integrate information between devices; 4) The software or algorithm in each subsystem is tightly bound to the stand-alone platform, and the transplantation workload is large. This traditional system engineering concept is not conducive to supporting the upgrading of weapons and equipment. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, the present invention provides a navigation and integrated electronics deep integration system for tactical micro-missiles.

[0005] The technical solution of the present invention is as follows: a navigation and integrated electronic deep integration system for tactical micro-missiles is provided, the system comprises: a functional module, an inertial measurement unit and a steering gear, the functional module comprises an integrated information processing module, an electrical control module, a satellite navigation module, a rigid-flexible hybrid electrical backplane and an interface management module;

[0006] The integrated information processing module runs integrated control software, integrated navigation software and rudder control software on the same processor, which is used for integrated control, integrated navigation solution and rudder control solution, so as to realize the centralized information processing of integrated control, integrated navigation and rudder control in the whole missile control center. The integrated control includes missile launch control process processing and solution, autonomous flight timing control and flight control solution;

[0007] The electrical control module is used to convert the primary power supply on the missile to generate the secondary power supply, and provide power to the satellite navigation module and the integrated information processing module through the rigid-flexible hybrid electrical base plate and the interface management module. The electrical control module is also used to complete the activation and power conversion of the thermal battery, the generation of ignition power for various types of explosives on the missile, and the power amplification of the rudder control signal, realizing the integrated design of the secondary power supply, electrical power control and rudder amplifier;

[0008] The satellite navigation module is used to receive satellite radio frequency signals, complete the capture, solution and tracking of satellite signals, and output satellite positioning information and positioning status;

[0009] The rigid-flexible hybrid electrical backplane and interface management module are used for the electrical interconnection between the integrated information processing module, electrical control module, and satellite navigation module, as well as the system's internal and external interface management;

[0010] Inertial measurement units are used to sense the missile’s angular rate and acceleration;

[0011] The servo is used to drive the control surfaces to manipulate the missile's attitude and thus change the flight path.

[0012] Furthermore, the comprehensive information processing module sends a PWM control signal to the electrical control module, and generates a PWM rudder drive power signal through isolation drive.

[0013] Furthermore, the integrated information processing module exchanges information with the seeker and fuze missile-mounted equipment respectively through the CAN bus, the rigid-flexible hybrid electrical baseboard and the interface management module; the integrated information processing module exchanges information between the missile and the ground with the fire control system through the 1M 1553B bus, the rigid-flexible hybrid electrical baseboard and the interface management module.

[0014] Furthermore, the integrated information processing module adopts the ARM architecture, the operating main frequency is not less than 660MHz, and the FLASH storage space is not less than 16MB; the integrated information processing module runs the Yihui real-time operating system.

[0015] Furthermore, the electrical control module generates a PWM rudder drive power signal through the isolation drive to the servo, and the servo is controlled to complete closed-loop rudder angle control; the servo outputs a rudder feedback analog signal to the electrical control module, and the electrical control module completes the AD conversion of the rudder feedback analog quantity to digital quantity, and the conversion result is sent to the integrated information processing module through the I2C bus.

[0016] Furthermore, the electrical control module receives the disconnection and separation signal T0 associated with the fire control system through the rigid-flexible hybrid electrical baseplate and the interface management module, isolates and collects it, converts it into a switch signal KI and sends it to the comprehensive information processing module to obtain the flight zero point; the comprehensive information processing module sends the GPIO control signal to the electrical control module, and generates the ignition power supply of the pyrotechnic product and the activation power supply of the thermal battery through the isolated drive respectively; the ignition power supply of the pyrotechnic product and the activation power supply of the thermal battery are respectively sent to the loads such as the pyrotechnic product and the thermal battery on the missile through the rigid-flexible hybrid electrical baseplate and the interface management module to complete the ignition of the pyrotechnic product and the activation of the thermal battery; after the thermal battery is activated, it outputs 28V3 DC power, which is sent to the electrical control module through the rigid-flexible hybrid electrical baseplate and the interface management module to complete the power supply conversion of the fire control system input 28V1 and the thermal battery output 28V3.

[0017] Furthermore, the electrical control module adopts optocouplers and power MOS tubes to isolate the driver to generate ignition power for explosive devices. The isolation signal conversion rate is not less than 1Mbps, and the ignition transient current is not less than 10A; the electrical control module adopts magnetic isolation chips and H-bridge isolation drivers to generate rudder drive signals. The isolation signal conversion rate is not less than 1Mbps, and the rudder drive steady-state current is not less than 5A; the electrical control module adopts DC / DC conversion to convert the primary power supply on the missile into a secondary power supply +5V, and provides power for the satellite navigation module and the integrated information processing module through the rigid-flexible hybrid electrical baseboard and the interface management module.

[0018] Furthermore, the satellite navigation module adopts the Beidou 3rd generation baseband processing chip, which is suitable for B1 and B3 frequency points; the inertial measurement unit adopts high-precision MEMS gyroscope and MEMS accelerometer to sense the angular velocity and overload information of the projectile; the servo adopts a brushed DC servo motor and a potentiometer angle sensor to sensitively obtain the rudder position feedback information in analog form.

[0019] Furthermore, the satellite navigation module goes to the integrated information processing module through the UART bus, the rigid-flexible hybrid electrical baseboard and the interface management module; the inertial measurement unit goes to the integrated information processing module through the RS422 bus; and the integrated information processing module provides +5V power supply for the inertial measurement unit.

[0020] The above technical solution provides a deeply integrated navigation and integrated electronics system for tactical micro-missiles, including a comprehensive information processing module (including launch control and flight control solutions, combined navigation solutions, and rudder control solutions), an electrical control module (including secondary power supply, on-board power electronics, and rudder release), a satellite navigation module, a rigid-flexible hybrid electrical base plate and an interface management module and other functional modules, as well as sensors and actuators such as inertial measurement units and servos. The system unifies power management and shares computing resources in hardware, and uses a real-time operating system in software to run multi-task software on the same hardware platform. The deep integration of navigation and integrated electronics is not a simple physical combination of traditional on-board electronic equipment, but an efficient integration of the required functions, maximizing the use of resources, reducing consumption, and achieving an improvement in the overall performance of tactical missiles with low cost, small size, light weight, and high reliability. Compared with the prior art, the present invention has at least the following advantages:

[0021] (1) The present invention provides a deeply integrated navigation and integrated electronics system for tactical micro-missiles, which unifies power management and shares computing resources in hardware, realizes centralized information processing in the missile-borne control center, maximizes resource utilization and reduces consumption, and solves the pain points of tactical micro-missiles such as low cost, small size, light weight, and high reliability.

[0022] (2) The present invention provides a navigation and integrated electronics deep integration system for tactical micro-missiles. The real-time operating system is used in software to run multiple tasks such as integrated control software, combined navigation software, and rudder control software on the same hardware platform and schedule resources, thereby realizing the decoupling of hardware and software, and the decoupling of software and algorithms. Through software reconstruction, distributed sensing and execution, the problem of equipment upgrading and replacement of tactical micro-missiles is solved.

[0023] (3) The present invention provides a navigation and integrated electronics deep integration system for tactical micro-missiles, with a compartment-type structural design and integrated missile body structure and function, which solves the problem of high-efficiency assembly of the entire missile in traditional tactical micro-missiles. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0029] like Figure 1 As shown, in one embodiment of the present invention, a navigation and integrated electronic deep integration system for tactical micro-missiles is provided, the system comprising: a functional module, an inertial measurement unit and a servo, the functional module comprising an integrated information processing module, an electrical control module, a satellite navigation module, a rigid-flexible hybrid electrical backplane and an interface management module; the integrated information processing module runs integrated control software, integrated navigation software and rudder control software on the same processor, for integrated control, integrated navigation solution and rudder control solution, so as to realize the centralized information processing of the integrated control, integrated navigation and rudder control of the whole missile control center, the integrated control includes the missile launch control process processing and solution, autonomous flight timing control and flight control solution; the electrical control module is used to convert the primary power supply on the missile to generate a secondary power supply, and The rigid-flexible hybrid electrical baseboard and interface management module provide power for the satellite navigation module and the integrated information processing module. The electrical control module is also used to complete the activation and power conversion of the thermal battery, the generation of ignition power for various types of pyrotechnics on the missile, and the power amplification of the rudder control signal, thereby realizing the integrated design of the secondary power supply, electrical power control and rudder amplifier; the satellite navigation module is used to receive satellite radio frequency signals, complete the capture, resolution and tracking of satellite signals, and output satellite positioning information and positioning status; the rigid-flexible hybrid electrical baseboard and interface management module are used for the electrical interconnection between the integrated information processing module, the electrical control module, and the satellite navigation module, as well as the system's internal and external interface management; the inertial measurement unit is used to sense the angular velocity and acceleration of the missile; the servo is used to drive the rudder surface to manipulate the missile body attitude to change the flight path.

[0030] By applying the above technical scheme, a navigation and integrated electronic deep integration system for tactical micro-missiles is provided, including integrated information processing module (including launch control and flight control solution, integrated navigation solution, rudder control solution), electrical control module (including secondary power supply, on-board power electrical, rudder release), satellite navigation module, rigid-flexible hybrid electrical base plate and interface management module and other functional modules, as well as inertial measurement unit, steering gear and other sensors and actuators. The system unifies power management and shares computing resources in hardware, and uses real-time operating system in software to run multi-task software on the same hardware platform. The deep integration of navigation and integrated electronics is not a simple physical combination of traditional on-board electronic equipment, but an efficient integration of required functions, maximum utilization of resources, reduction of consumption, and improvement of the overall performance of tactical missiles with low cost, small size, light weight and high reliability. The present invention realizes the deep integration of navigation and on-board integrated electronic system hardware and software. Compared with the traditional discrete on-board electronic system, the embodiment of the present invention is not a simple physical combination of on-board electronic equipment, but an efficient integration of required functions, maximum utilization of resources, reduction of consumption, and realization of the urgent needs of tactical micro-missiles for low cost, small size, light weight and high reliability.

[0031] Preferably, the integrated information processing module sends a PWM (LVTTL level) control signal to the electrical control module, and generates a PWM rudder drive power signal (DC 28V level) through an isolated drive.

[0032] Preferably, the integrated information processing module exchanges information with the seeker and fuze missile-mounted equipment respectively through the CAN bus, via the rigid-flexible hybrid electrical baseboard and the interface management module; the integrated information processing module exchanges information between the missile and the ground with the fire control system through the 1M 1553B bus, via the rigid-flexible hybrid electrical baseboard and the interface management module.

[0033] Preferably, the integrated information processing module adopts ARM architecture, the operating main frequency is not less than 660MHz, and the FLASH storage space is not less than 16MB; the integrated information processing module runs the Yihui real-time operating system.

[0034] That is, the integrated information processing module completes the information interaction between the internal components of the system with the satellite navigation module, the inertial measurement unit, and the electrical control module respectively; among them, the satellite navigation module outputs the missile positioning, speed measurement information, as well as the satellite number, the carrier-to-noise ratio, and the satellite positioning status to the integrated information processing module through the UART bus; the PPS synchronization signal is output to the integrated information processing module in the form of GPIO (LVTTL level); the inertial measurement unit outputs the missile carrier angular velocity and acceleration information to the integrated information processing module through the RS422 bus; the electrical control module outputs the rudder position feedback information to the integrated information processing module through the I2C bus. The integrated information processing module also completes the information interaction between the external missile-mounted devices of the system with the fire control system, the seeker, and the fuze; among them, the fire control system interacts with the integrated information processing module through the 1M 1553B bus to complete the missile launch control process; the seeker interacts with the integrated information processing module through the CAN bus; the fuze interacts with the integrated information processing module through the CAN bus.

[0035] Preferably, the electrical control module generates a PWM rudder drive power signal (DC 28V level) through an isolated drive and sends it to the servo, which is controlled to complete closed-loop rudder angle control; the servo outputs a rudder feedback analog signal (voltage range is -10V to 10V) to the electrical control module, and the electrical control module completes AD conversion of the rudder feedback from analog to digital, and the conversion result is sent to the integrated information processing module via the I2C bus.

[0036] Preferably, the electrical control module receives the disconnection signal T0 associated with the fire control system via the rigid-flexible hybrid electrical baseplate and the interface management module, isolates and collects it, converts it into a switch signal KI (GPIO level) and sends it to the comprehensive information processing module to obtain the flight zero point; the comprehensive information processing module sends the GPIO control signal to the electrical control module, and generates a pyrotechnic ignition power supply (DC 28V switch KO) and a thermal battery activation power supply through isolated drive respectively; the pyrotechnic ignition power supply (DC 28V switch KO) and the thermal battery activation power supply are respectively sent to the pyrotechnic and thermal battery loads on the missile via the rigid-flexible hybrid electrical baseplate and the interface management module to complete the pyrotechnic ignition and thermal battery activation; after the thermal battery is activated, it outputs 28V3 DC power, which is sent to the electrical control module via the rigid-flexible hybrid electrical baseplate and the interface management module to complete the power supply conversion between the fire control system input 28V1 and the thermal battery output 28V3.

[0037] Preferably, the electrical control module adopts optocoupler and power MOS tube, and the isolated driver generates the ignition power of the explosive device, the isolation signal conversion rate is not less than 1Mbps, and the ignition transient current is not less than 10A; the electrical control module adopts magnetic isolation chip and H-bridge isolation driver to generate the rudder drive signal, the isolation signal conversion rate is not less than 1Mbps, and the rudder drive steady-state current is not less than 5A; the electrical control module adopts DC / DC conversion to convert the primary power supply on the missile into a secondary power supply +5V, and provides power for the satellite navigation module and the integrated information processing module through the rigid-flexible hybrid electrical baseboard and the interface management module.

[0038] It can be seen that the electrical control module of the embodiment of the present invention integrates secondary power conversion, electrical control, rudder drive power amplification and rudder counter position acquisition; wherein, the secondary power conversion is to convert the primary power on the missile into secondary power, and provide power for the comprehensive information processing module, satellite navigation module and inertial measurement unit in the system; the electrical control is responsible for thermal battery activation and power conversion on the missile; it is commanded by the control command sent by the comprehensive information processing module, and generates ignition power for the pyrotechnics on the missile to go to the pyrotechnics load; the rudder drive power amplification and rudder counter position acquisition are commanded by the rudder control command sent by the comprehensive information processing module, and generate a servo power drive signal to the servo; the servo position feedback signal is collected, and the digital quantity of the collected result is sent to the comprehensive information processing module.

[0039] Preferably, the satellite navigation module adopts Beidou 3rd generation baseband processing chip, which is suitable for B1 and B3 frequency points; the inertial measurement unit adopts high-precision MEMS gyroscope and MEMS accelerometer to sense the angular velocity and overload information of the projectile; the servo adopts a brushed DC servo motor and a potentiometer angle sensor to sensitively obtain the rudder position feedback information in analog form.

[0040] Preferably, the satellite navigation module is connected to the integrated information processing module via the UART bus, the rigid-flexible hybrid electrical baseboard and the interface management module; the inertial measurement unit is connected to the integrated information processing module via the RS422 bus; and the integrated information processing module provides +5V power supply for the inertial measurement unit.

[0041] That is, the satellite navigation module receives Beidou-3 B1 and B3 frequency satellite signals, is responsible for Beidou-3 satellite positioning solution, and outputs missile positioning, speed measurement information, satellite number, carrier-to-noise ratio, satellite positioning status, and PPS synchronization signal in digital form to the comprehensive information processing module.

[0042] Preferably, the inertial measurement unit uses a low-cost MEMS gyroscope and a MEMS accelerometer. The MEMS gyroscope measures the three-axis angular velocity information of the projectile during a sampling period; the MEMS accelerometer measures the three-axis acceleration information of the projectile during a sampling period; and completes the information collection and compensation processing of angular velocity and acceleration.

[0043] The system structure of the embodiment of the present invention is a compartment-type, structure and function integrated design, which is part of the tactical missile structure and bears the full elastic thermal load; the satellite antenna installation is designed according to the compartment type. Moreover, the electrical interconnection of the system is cable-free, and the interconnection of various functional modules is realized by using a rigid-flexible hybrid electrical base plate and an interface management module.

[0044] In order to further understand the method of the embodiment of the present invention, a specific embodiment is described in detail below:

[0045] like Figure 1 The figure shows a principle block diagram of a navigation and integrated electronic deep integration system for tactical micro-missiles of the present invention. The present invention is a missile-borne integrated electronic integration with inertial control as the core. The principle of deep integration is: sensor performance is prioritized, that is, the performance of the inertial measurement unit is prioritized to be optimal. In specific implementation, the present invention includes functional modules such as a comprehensive information processing module, an electrical control module, a satellite navigation module, a rigid-flexible hybrid electrical baseboard and an interface management module, as well as sensors and actuators such as an inertial measurement unit and a servo, as follows:

[0046] The integrated information processing module is an on-board information centralized processing center based on the SoC processor architecture integrating FPGA and ARM. The operating main frequency is not less than 660MHz, and the FLASH storage space is not less than 16MB. The integrated information processing module runs the Yihui real-time operating system on the same processor. By reasonably planning multi-task processes and thread priorities such as integrated control software, combined navigation software and rudder control software, it realizes resource scheduling such as missile launch and control process processing and solution, flight control process processing and solution, combined navigation solution, and rudder control solution.

[0047] The comprehensive information processing module executes thermal battery activation according to the control process. The specific implementation process is: the comprehensive information processing module sends a battery activation instruction, GPIO output, OC electrical form, which is output to the electrical control module via the rigid-flexible hybrid electrical baseboard and interface management module, and generates a thermal battery activation power supply after isolation drive, 28V DC electricity, which goes to the thermal battery to execute battery activation, and the electrical control module isolates and collects the thermal battery activation response signal (28V DC) in real time. The collection result is input by GPIO and sent to the comprehensive information processing module in OC electrical form. After the comprehensive information processing module determines that the battery activation response signal is valid, it sends a main battery power supply instruction, GPIO output, OC electrical form, which is output to the electrical control module via the rigid-flexible hybrid electrical baseboard and interface management module, and completes the 28V1 and thermal battery power supply conversion after isolation drive.

[0048] The integrated information processing module executes flight zero point acquisition according to the launch control process. The specific implementation process is: when the missile is unplugged and separated after launch, the electrical control module will isolate the plug-in separation signal (28V DC) for KI acquisition, and the acquisition result is input via GPIO and sent to the integrated information processing module in OC electrical form. The integrated information processing module obtains the flight zero point information.

[0049] The integrated information processing module executes the ignition of pyrotechnics according to the flight control process. The specific implementation process is: the integrated information processing module issues a pyrotechnic instruction, GPIO output, OC electrical form, which is output to the electrical control module through the rigid-flexible hybrid electrical baseboard and the interface management module. After isolation drive, it generates a pyrotechnic ignition power supply KO, 28V DC electricity, which goes to the pyrotechnic load to execute ignition. At the same time, the electrical control module isolates the pyrotechnic ignition power supply KO (28V DC) for KI collection, and the collection result is sent to the integrated information processing module in the form of GPIO input and OC electrical form for fast fault location.

[0050] The integrated information processing module completes the servo execution control according to the flight control process. The specific implementation process is: the integrated information processing module outputs 8-way PWM instructions, LVTTL level, which are output to the electrical control module through the rigid-flexible hybrid electrical baseboard and the interface management module, and after isolation drive, a servo power PWM signal is generated, 28V DC electricity, which goes to the servo execution transmission; the rudder position feedback signal output by the servo, in analog form, is sent to the electrical control module to complete the AD conversion from analog to digital, and is output to the integrated information processing module through the I2C bus through the rigid-flexible hybrid electrical baseboard and the interface management module, so that the integrated information processing module can complete the rudder control closed-loop control.

[0051] The integrated information processing module completes the combined navigation according to the launch control and flight control process. The specific implementation process is: the integrated information processing module receives the satellite navigation information (including the missile's position, speed, satellite positioning status and other information) sent by the satellite navigation module through UART, the rigid-flexible hybrid electrical baseboard and the interface management module, and receives the PPS synchronization pulse sent by the satellite navigation module through GPIO and LVTTL level; the integrated information processing module receives the inertial navigation information (including the angular velocity and acceleration of the missile's movement) sent by the inertial measurement unit through the RS422 bus; the integrated information processing module performs deep information fusion of the inertial navigation information and the satellite navigation information to realize combined navigation calculation.

[0052] The integrated information processing module completes the information interaction with the fire control system, the seeker, fuze and other equipment in the missile according to the launch control and flight control process. The specific implementation process is: the integrated information processing module completes the launch control process with the fire control system through 1M 1553B, A and B redundant channels, through the rigid-flexible hybrid electrical baseboard and the interface management module. The fire control system works in BC mode and the integrated information processing module works in RT mode; the integrated information processing module completes the information interaction in the flight control process with the seeker, fuze and other equipment in the missile through 1M CAN, A and B redundant channels, through the rigid-flexible hybrid electrical baseboard and the interface management module. The integrated information processing module is the main scheduling node, and the seeker, fuze and other equipment in the missile are slave scheduling nodes, and time-sharing scheduling is performed.

[0053] The embodiment of the present invention is a structure and electrical design of a navigation and integrated electronic deep integration system for tactical micro-missiles. The specific implementation method is: tactical micro-missiles are generally divided into a seeker cabin, a warhead cabin, an electronic cabin, a power cabin, a tail cabin, etc. according to the aerodynamic shape. The present invention belongs to the electronic cabin, and the cabin-type structure is designed strictly in accordance with the specific missile structure requirements, bearing the mechanical and thermal environment of the entire missile; in terms of electrical connection, the integrated information processing module, the electrical control module, the satellite navigation module, and the steering gear are all connected to each other without cables through a rigid-flexible hybrid electrical base plate and an interface management module, and the integrated information processing module is electrically connected to the inertial measurement unit using an integrated cable.

[0054] It can be seen that the system of the embodiment of the present invention utilizes deep hardware integration, multi-task operation of the software operating system on the same platform, and structural and functional integration, which significantly improves the overall performance of tactical micro-missiles and is of great significance to the development of low-cost, small-volume, lightweight, and highly reliable weapon equipment.

[0055] In summary, the present invention proposes a typical deep integration system of navigation and integrated electronic system for tactical micro-missiles. On the hardware level, the discrete electronic devices such as the traditional missile-borne integrated control machine, navigation computer, inertial measurement unit, rudder system, missile-borne electrical control system, etc. are integrated electronically, unified power management, and shared computing resources. On the software level, the real-time operating system is used to run the integrated control software, combined navigation software, and rudder control software on the same hardware platform and resource scheduling, so as to realize the deep integration of navigation and missile-borne integrated electronic system hardware and software. Compared with the traditional discrete missile-borne electronic system, the present invention is not a simple physical combination of missile-borne electronic equipment, but an efficient integration of the required functions, maximizes the use of resources, reduces consumption, and realizes the urgent needs of tactical micro-missiles for low cost, small size, light weight, and high reliability.

[0056] Compared with the prior art, the present invention has at least the following advantages:

[0057] (1) The present invention provides a deeply integrated navigation and integrated electronics system for tactical micro-missiles, which unifies power management and shares computing resources in hardware, realizes centralized information processing in the missile-borne control center, maximizes resource utilization and reduces consumption, and solves the pain points of tactical micro-missiles such as low cost, small size, light weight, and high reliability.

[0058] (2) The present invention provides a navigation and integrated electronics deep integration system for tactical micro-missiles. The real-time operating system is used in software to run multiple tasks such as integrated control software, combined navigation software, and rudder control software on the same hardware platform and schedule resources, thereby realizing the decoupling of hardware and software, and the decoupling of software and algorithms. Through software reconstruction, distributed sensing and execution, the problem of equipment upgrading and replacement of tactical micro-missiles is solved.

[0059] (3) The present invention provides a navigation and integrated electronics deep integration system for tactical micro-missiles, with a compartment-type structural design and integrated missile body structure and function, which solves the problem of high-efficiency assembly of the entire missile in traditional tactical micro-missiles.

[0060] Features described and / or illustrated above for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or used in place of features in other embodiments.

[0061] It should be emphasized that the term "include / comprises" when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps, components or combinations thereof.

[0062] The above method of the present invention can be implemented by hardware, or by hardware combined with software. The present invention relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above-mentioned device or component, or enables the logic component to implement the above-mentioned various methods or steps. The present invention also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0063] The many features and advantages of these embodiments are apparent from this detailed description, and thus the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. Furthermore, since numerous modifications and changes will readily occur to those skilled in the art, it is not intended that the embodiments of the invention be limited to the exact construction and operation illustrated and described, but rather all suitable modifications and equivalents falling within the scope thereof are intended to be covered.

[0064] Parts of the present invention that are not described in detail are well known to those skilled in the art.

Claims

1. A navigation and integrated electronics deep integration system for tactical micro-missiles, characterized in that: The system includes: a functional module, an inertial measurement unit and a steering gear, wherein the functional module includes a comprehensive information processing module, an electrical control module, a satellite navigation module, a rigid-flexible hybrid electrical backplane and an interface management module; The integrated information processing module runs integrated control software, integrated navigation software and rudder control software on the same processor, which is used for integrated control, integrated navigation solution and rudder control solution, so as to realize the centralized information processing of integrated control, integrated navigation and rudder control in the whole missile control center. The integrated control includes missile launch control process processing and solution, autonomous flight timing control and flight control solution; The electrical control module is used to convert the primary power supply on the missile to generate the secondary power supply, and provide power to the satellite navigation module and the integrated information processing module through the rigid-flexible hybrid electrical base plate and the interface management module. The electrical control module is also used to complete the activation and power conversion of the thermal battery, the generation of ignition power for various types of explosives on the missile, and the power amplification of the rudder control signal, realizing the integrated design of the secondary power supply, electrical power control and rudder amplifier; The satellite navigation module is used to receive satellite radio frequency signals, complete the capture, solution and tracking of satellite signals, and output satellite positioning information and positioning status; The rigid-flexible hybrid electrical backplane and interface management module are used for the electrical interconnection between the integrated information processing module, electrical control module, and satellite navigation module, as well as the system's internal and external interface management; Inertial measurement units are used to sense the missile’s angular rate and acceleration; The servo is used to drive the control surfaces to manipulate the missile's attitude and thus change the flight path.

2. The navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 1 is characterized in that: The comprehensive information processing module sends a PWM control signal to the electrical control module, and generates a PWM rudder drive power signal through isolation drive.

3. A navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 1 or 2, characterized in that: The integrated information processing module exchanges information with the seeker and fuze missile-mounted equipment through the CAN bus, the rigid-flexible hybrid electrical baseboard and the interface management module; the integrated information processing module exchanges information between the missile and the ground with the fire control system through the 1M 1553B bus, the rigid-flexible hybrid electrical baseboard and the interface management module.

4. A navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 3, characterized in that: The comprehensive information processing module adopts ARM architecture, the operating main frequency is not less than 660MHz, and the FLASH storage space is not less than 16MB; the comprehensive information processing module runs the Yihui real-time operating system.

5. A navigation and integrated electronics deep integration system for tactical micro-missiles according to any one of claims 1 to 4, characterized in that: The electrical control module generates a PWM rudder drive power signal through the isolation drive and sends it to the servo, which is then controlled to complete closed-loop rudder angle control. The servo outputs the rudder feedback analog signal to the electrical control module, which completes the AD conversion from analog to digital for the rudder feedback, and the conversion result is sent to the integrated information processing module via the I2C bus.

6. A navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 5, characterized in that: The electrical control module receives the disconnection and separation signal T0 associated with the fire control system through the rigid-flexible hybrid electrical baseplate and the interface management module, isolates and collects it, converts it into a switch signal KI and sends it to the integrated information processing module to obtain the flight zero point; the integrated information processing module sends the GPIO control signal to the electrical control module, and generates the ignition power supply for the pyrotechnic product and the activation power supply for the thermal battery through the isolated drive respectively; the ignition power supply for the pyrotechnic product and the activation power supply for the thermal battery are respectively sent to the loads such as the pyrotechnic product and the thermal battery on the missile through the rigid-flexible hybrid electrical baseplate and the interface management module to complete the ignition of the pyrotechnic product and the activation of the thermal battery; after the thermal battery is activated, it outputs 28V3 DC power, which is sent to the electrical control module through the rigid-flexible hybrid electrical baseplate and the interface management module to complete the power supply conversion between the fire control system input 28V1 and the thermal battery output 28V3.

7. A navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 6, characterized in that: The electrical control module adopts optocoupler and power MOS tube, and the isolated driver generates the ignition power of the explosive device. The isolation signal conversion rate is not less than 1Mbps, and the ignition transient current is not less than 10A. The electrical control module adopts magnetic isolation chip and H-bridge isolation driver to generate the rudder drive signal. The isolation signal conversion rate is not less than 1Mbps, and the rudder drive steady-state current is not less than 5A. The electrical control module adopts DC / DC conversion to convert the primary power supply on the missile into a secondary power supply +5V, and provides power for the satellite navigation module and the integrated information processing module through the rigid-flexible hybrid electrical baseboard and the interface management module.

8. A navigation and integrated electronics deep integration system for tactical micro-missiles according to any one of claims 1 to 7, characterized in that: The satellite navigation module adopts the Beidou 3rd generation baseband processing chip, which is suitable for B1 and B3 frequency points; the inertial measurement unit adopts high-precision MEMS gyroscope and MEMS accelerometer to sense the angular velocity and overload information of the projectile; the servo adopts a brushed DC servo motor and a potentiometer angle sensor to sensitively obtain rudder position feedback information in analog form.

9. A navigation and integrated electronics deep integration system for tactical micro-missiles according to claim 8, characterized in that: The satellite navigation module is connected to the integrated information processing module via the UART bus, the rigid-flexible hybrid electrical baseboard and the interface management module; the inertial measurement unit is connected to the integrated information processing module via the RS422 bus; the integrated information processing module provides +5V power supply for the inertial measurement unit.

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