Integrated design method of inertial control system based on standard module

Abstract

The invention provides an integrated design method of an inertial control system based on a standard module. The integrated design method comprises the following steps: defining a design principle of integrated integration of the inertial control system; constructing a standard module based on demand analysis and functional module division; internal and external electrical interfaces of the standard module are standardized; standardizing a mechanical interface of the standard module; determining the structural layout of the integrated inertial control system; and analyzing the force / thermal environment adaptability of the inertial control system after integration, and completing the iterative optimization of the integrated design. According to the method, function definition division, standard module construction, unified power distribution and management, centralized information processing and structure integrated design are carried out on discrete electronic equipment such as a traditional missile-borne integrated control machine, an inertial navigation device, a satellite receiver, a radio altimeter and a barometric altimeter again. The reliability, the light weight and the miniaturization level of the inertial control system are effectively improved, and the inertial control system has high engineering value for greatly reducing the development cost and batch production of the inertial control system.

Description

Technical Field

[0001] The invention belongs to the field of navigation and control technology, and relates to an integrated design method of an inertial control system based on a standard module. Background Art

[0002] The inertial control system is the core component of the aircraft guidance and control center. It uses sensing and information processing technologies such as gyroscopes, accelerometers, radio altimetry, barometric altimetry, and satellite navigation to perform important tasks such as flight control, inertial measurement, satellite navigation, inertial / satellite combined navigation, radio altimetry, and barometric altimetry.

[0003] At present, most of the inertial control systems for aircraft are in a discrete structure layout, and their components generally include: integrated control machine, inertial navigation, satellite receiver, radio altimeter, barometric altimeter and other independent components, and the power supply, information processing and structure of each component are independently designed. The problems existing in this form of inertial control system are as follows: First, the energy consumption design of each component has a margin, which leads to a large power margin of the power supply and distribution system of the whole missile after accumulation, which is a serious waste; second, each component has its own structural shell, which leads to a rapid increase in the mass of the whole missile after accumulation; third, each component has its own information processing platform, and information is exchanged through point-to-point communication, which leads to a waste of computing resources, poor real-time information sharing, and difficulty in controlling development costs; fourth, the equipment is large in size, heavy in weight, not universal, and has poor scalability. The above problems of the inertial control system have seriously restricted the overall performance improvement and replacement and upgrading of weapons and equipment. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] To this end, the present invention provides an integrated design method for an inertial control system based on standard modules.

[0006] The technical solution of the present invention is as follows:

[0007] According to one aspect, a method for designing an integrated inertial control system based on a standard module is provided, the method comprising:

[0008] Determine the design principles for the integrated inertial control system;

[0009] Based on the above design principles, functional modules are divided and standard modules and optional modules are constructed;

[0010] Based on the constructed standard module, standardize the internal and external electrical interfaces of the standard module;

[0011] Based on the constructed standard module, standardize the mechanical interface of the standard module;

[0012] Determining the structural layout of the integrated inertial control system based on the standardized mechanical interface of the standard module;

[0013] Based on the structural layout, the adaptability of the inertial control system to the mechanical / thermal environment after integration is analyzed, and the iterative optimization of the integrated design is completed.

[0014] Furthermore, the design principles of the integrated inertial control system specifically include:

[0015] 1) The basic idea of ​​the integrated inertial control system is: centralized information processing + distributed sensing or distributed execution;

[0016] 2) The scope of integration includes integrated control machine, inertial measurement module, satellite navigation module, integrated navigation module, barometric altimeter and radio altimeter missile-borne equipment;

[0017] 3) Sensor modules of different precision should be replaceable;

[0018] 4) Rationally plan standard modules and develop an extensible inter-module communication bus.

[0019] Furthermore, the standard modules include an information processing module, a power management module, a satellite navigation module, an atmosphere measurement module and a radio altimeter module; and the optional modules include an inertial measurement module.

[0020] Furthermore, the internal and external electrical interfaces of the standard module are standardized in the following manner:

[0021] The information processing module receives the satellite navigation information output by the satellite navigation module through the communication bus inside the missile to realize the combined navigation calculation, and receives the pulse synchronization signal sent by the satellite navigation module to realize the synchronization of the combined navigation information. The internal electrical interface between the two modules includes: the internal communication bus and the synchronization pulse signal; the external electrical interface includes: the external communication bus;

[0022] The information processing module receives the atmospheric parameters output by the atmospheric measurement module through the communication bus inside the missile to realize flight control. The internal electrical interface between the two modules includes: the communication bus inside the missile;

[0023] The information processing module receives the relative altitude parameters output by the radio altitude module through the communication bus inside the missile to realize flight control. The internal electrical interface between the two modules includes: the communication bus inside the missile;

[0024] The information processing module receives the missile body motion information such as angular rate and acceleration output by the inertial measurement module through the communication bus inside the missile to realize the combined navigation calculation, and sends the selection signal to the inertial measurement module to realize the signal synchronization between the two. The internal electrical interface between the two modules includes: the communication bus inside the missile and the selection signal;

[0025] The power management module outputs secondary power internally to provide power for the information processing module, satellite navigation module, atmospheric measurement module, radio altimeter module, and inertial measurement module. The internal electrical interface between the modules includes: secondary power supply; externally, it receives the primary power supply on the missile for power conversion, and the external electrical interface between the missile includes: primary power supply.

[0026] Furthermore, the information processing module is centralized to complete the comprehensive control of the entire missile and the combined navigation calculation, and the computing resources are shared. The processor is selected as a Soc processor with a main frequency of not less than 600MHz.

[0027] Furthermore, the mechanical interface of the standard module is standardized in the following way:

[0028] The mechanical interfaces of the information processing module, power management module, satellite navigation module, atmosphere measurement module and radio altimeter module are 3U VPX standard interfaces that comply with VITA46.

[0029] Furthermore, the structural layout of the integrated inertial control system is determined by the following method:

[0030] The structural layout of the integrated inertial control system is centered on the inertial measurement optional module;

[0031] The structural layout of the integrated inertial control system is based on the constructed standard module electrical and mechanical interfaces, and the electrical motherboard is designed to complete the information interconnection between the modules.

[0032] Furthermore, an electrical motherboard is designed in the form of an inter-plugging between a custom module electrical baseboard and a standard module board to achieve information interconnection between modules.

[0033] Furthermore, the constraints for completing the iterative optimization of the integrated design are designed as follows:

[0034] The structural layout of the integrated inertial control system meets the thermal environment adaptability requirements of the entire missile; and the structural layout of the integrated inertial control system meets the mechanical environment adaptability requirements of the entire missile.

[0035] The above technical solution proposes an integrated design method for inertial control systems based on standard modules, which changes from the current division by "equipment level" to division by "functional module level", and from the current characteristics of independent system function self-closure to the characteristics of common professional integration. It effectively enhances the reliability and scalability of the inertial control system, reduces the volume and weight, has high engineering value for the mass production of inertial control systems and greatly reduces the development cost, and can meet the urgent needs of high-performance, high-reliability, and low-cost weapons and equipment for inertial control systems.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] (1) The present invention can rapidly realize the development of inertial control system products by using the constructed standard modules, greatly improving the R&D efficiency of inertial control systems and the universal design and production capabilities;

[0038] (2) The present invention utilizes information standard modules and power management standard modules to realize centralized processing of information such as integrated control and integrated navigation, computing resource sharing and unified power supply distribution management, thereby improving system reliability and significantly reducing development costs;

[0039] (3) The present invention utilizes standard modules for structural integration design, which significantly reduces the volume and weight, and is of great significance to the overall performance improvement and upgrade of the inertial control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] Figure 1 Principle block diagram of the integrated design method of inertial control system based on standard modules;

[0042] Figure 2 Functional module division of integrated inertial control system;

[0043] Figure 3 Mechanical interface diagram of standard module based on 3U VPX;

[0044] Figure 4 Custom module electrical backplane mechanical interface diagram for 3U VPX standard modules;

[0045] Figure 53: Mechanical docking diagram between VPX standard module and custom module electrical backplane;

[0046] Figure 6 Integrated structural layout diagram of inertial control system based on standard modules;

[0047] Figure 7 Integrated rendering of the inertial control system based on standard modules;

[0048] Figure 8 Iterative flow chart of integrated design of inertial control system based on standard modules. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] like Figure 1-8 As shown, in one embodiment of the present invention, a method for integrated design of an inertial control system based on a standard module is provided, and the design method includes:

[0053] Step 1: Determine the design principles for the integrated inertial control system;

[0054] Step 2: Based on the design principles, functional modules are divided to construct standard modules and optional modules;

[0055] Step 3: Based on the constructed standard module, standardize the internal and external electrical interfaces of the standard module;

[0056] Step 4: Based on the constructed standard module, standardize the mechanical interface of the standard module;

[0057] Step 5: Determine the structural layout of the integrated inertial control system based on the standardized mechanical interface of the standard module;

[0058] Step 6: Based on the structural layout, analyze the adaptability of the inertial control system to the mechanical / thermal environment after integration, and complete the iterative optimization of the integrated design.

[0059] Specifically, in step one, the principles of integrated inertial control system are: 1) Since the inertial control system serves the guidance and control of the entire missile, the scope of integrated integration is limited to traditional missile-borne equipment such as integrated control computers, inertial measurement devices, satellite navigation devices, combined navigation systems, barometric altimeters, and radio altimeters; 2) Since different weapons and equipment have different requirements for the sensing accuracy of inertial measurement, barometric altimeters, radio altimeters and other sensor equipment, sensor modules of different accuracy should be replaceable to facilitate the upgrading of the entire missile; 3) In order to achieve the global optimal design goals of lightweight, miniaturization, low cost and high reliability, the basic idea of ​​integrated inertial control system is "centralized information processing + distributed sensing (or distributed execution)"; 4) In order to achieve the scalability of the inertial control system, standard modules should be reasonably planned, and an extensible inter-module communication bus should be formulated.

[0060] In step 2, this embodiment starts from the analysis of the requirements of the inertial control system. The functional modules of the inertial control system can be divided into: integrated control module, integrated navigation module, satellite navigation module, atmospheric measurement module, radio altimeter module and inertial measurement module. Among them, the core tasks of the integrated control module and the combined navigation module are both complex calculations, and their functions can be integrated and computing resources can be shared to facilitate the construction of standard modules for centralized information processing; the atmospheric measurement module and the radio altimeter module are both sensors, and in order to facilitate flexible replacement, they are planned as standard sensor modules; the inertial measurement module belongs to the sensor category, and different inertial control systems have different requirements for its accuracy level, and different accuracy levels have different requirements for the size of the space volume. In order to facilitate flexible selection, it is planned as a non-standard inertial measurement module; the satellite navigation module keeps up with the construction and development of the national Beidou-3 satellite navigation system, and in order to facilitate the unification and upgrading of various types of weapons and equipment, it is planned as a satellite navigation standard module; the secondary power consumption of the above-mentioned standard modules is uniformly distributed and managed to construct a power management standard module to facilitate the low-power design of the entire missile; at the same time, in order to facilitate the lightweight and miniaturized design of the entire missile, the independent structures of traditional missile-borne equipment are broken up and unified into an integrated structure design.

[0061] Preferably, the information processing module is centralized to complete the comprehensive control of the entire missile and the combined navigation calculation, and the computing resources are shared. The processor is selected as a Soc processor with a main frequency of not less than 600MHz.

[0062] In step three, the information processing module receives the satellite navigation information output by the satellite navigation module through the communication bus inside the missile to realize the combined navigation calculation, and at the same time receives the pulse synchronization signal emitted by the satellite navigation module to realize the synchronization of the combined navigation information. The internal electrical interface between the two modules includes: the communication bus inside the missile and the synchronization pulse signal; externally, the information of the launch control process is exchanged with the fire control system through the communication bus outside the missile, and the external electrical interface includes: the communication bus outside the missile. The information processing module receives the atmospheric parameters output by the atmospheric measurement standard module through the communication bus inside the missile to realize flight control, and the internal electrical interface between the two modules includes: the communication bus inside the missile; the information processing module receives the relative height measurement parameters output by the radio height measurement module through the communication bus inside the missile to realize flight control, and the internal electrical interface between the two modules includes: the communication bus inside the missile; the information processing module receives the missile body motion information such as angular rate and acceleration output by the inertial measurement module through the communication bus inside the missile to realize combined navigation calculation, and sends a selection signal to the inertial measurement module to realize signal synchronization between the two, and the internal electrical interface between the two modules includes: the communication bus inside the missile and the selection signal; the power management module outputs a secondary power supply internally to provide power for the information processing module, the satellite navigation module, the atmospheric measurement module, the radio height measurement module, the inertial measurement module, the etc., and the internal electrical interface between the modules includes: the secondary power supply; the primary power supply on the missile is received externally for power conversion, and the external electrical interface between the missile includes: the primary power supply.

[0063] For example, the bus communication of standard modules such as the information processing module, power management module, satellite navigation module, atmospheric measurement module, and radio altimeter module is the CAN bus; the external communication bus of the information processing module is the 1553B bus; the external communication bus of the inertial measurement module is the RS422 bus; and the power management standard module outputs secondary power of +5V, +15V, and -15V internally.

[0064] In step 4, in order to achieve the scalability of the inertial control system and the flexibility of upgrading each standard module, the mechanical interface of each standard module has a unified size and installation method. The mechanical interfaces of the power management standard module, information processing standard module, atmospheric measurement standard module, radio height measurement standard module, satellite navigation standard module, etc. are uniformly planned as 3U VPX standard boards that comply with VITA46.

[0065] In step five, the integrated inertial control system structure layout design is carried out according to the planned standard module mechanical interface form and the inertial measurement optional module mechanical interface form determined according to the needs. Specifically, the inertial control system structure layout design first takes the inertial measurement optional module as the core, and gives priority to ensuring the inertial measurement accuracy performance; secondly, based on the constructed standard module electrical and mechanical interface, the electrical motherboard is designed to complete the information interconnection between the modules, and the good processability of each standard module is guaranteed as the criterion; finally, according to the specific needs of the project, the overall structure layout of the integrated inertial control system is completed, and the detailed structure design is unified, so as to ensure the system's adaptability to the comprehensive mechanical, thermal and magnetic environment.

[0066] In step six, based on the structural layout and unified structural design of the inertial control system, the actual temperature working and mechanical working environment adaptability conditions are used as input to carry out mechanical response simulation analysis and thermal environment simulation analysis of the whole system. Based on the simulation analysis results of the two, the iterative optimization of the integrated design of the inertial control system is completed. Among them, the structural layout of the integrated inertial control system must meet the thermal environment adaptability requirements of the whole missile; the structural layout of the integrated inertial control system must meet the mechanical environment adaptability requirements of the whole missile.

[0067] It can be seen that the embodiment of the present invention proposes an integrated design method for an inertial control system based on standard modules, by clarifying the design principles of the integrated inertial control system; based on demand analysis, functional module division, and construction of standard modules; standardizing the internal and external electrical interfaces of standard modules; standardizing the mechanical interfaces of standard modules; determining the structural layout of the integrated inertial control system; analyzing the adaptability of the force / thermal environment after the integrated inertial control system, and completing the iterative optimization of the integrated design. Therefore, the method redefines and divides the functions of traditional missile-borne integrated control machines, inertial navigation, satellite receivers, radio altimeters, barometric altimeters and other discrete electronic devices, constructs standard modules, and unifies power distribution and management, centralized information processing, and structural integration design. Compared with the traditional inertial control system, the embodiment of the present invention effectively improves the reliability, lightweight, and miniaturization of the inertial control system, has a high engineering value for significantly reducing its development cost and mass production, and can meet the urgent needs of high-performance, high-reliability, and low-cost weapons and equipment for inertial control systems.

[0068] In order to further understand the method of the embodiment of the present invention, a specific embodiment is described in detail below:

[0069] like Figure 1 As shown, an embodiment of the present invention provides an integrated design method for an inertial control system based on a standard module, comprising the following steps:

[0070] Step 1: Clarify the design principles for the integrated inertial control system:

[0071] 1) The integrated functional modules of the inertial control system include: comprehensive control, combined navigation, inertial measurement, satellite navigation, atmospheric measurement and radio altitude measurement; 2) The functional modules are divided into two categories: standard modules and optional modules. The electrical and mechanical interfaces of standard modules are standardized; optional modules generally have the same functions but different precisions. There are multiple modules for system selection, and the electrical interfaces are standardized; 3) From the perspective of low cost and high reliability, the inertial control system information is centrally processed, computing resources are deeply integrated, and the processor is selected as a Soc integrated processor with a main frequency of not less than 600MHz; 4) To facilitate the scalability of the inertial control system, a reasonable scalable communication bus is selected, and the system internal bus is selected as an industrial-grade CAN bus;

[0072] Step 2: Based on the inertial control system demand analysis and the above-mentioned integrated design principles, functional modules are divided and standard modules and optional modules are constructed;

[0073] Specific implementation method Figure 2 As shown in the figure, seven functional modules are planned, including information processing module, power management module, satellite navigation module, atmospheric measurement module, radio altimeter module, inertial measurement module and electrical baseboard. Among them, information processing module, power management module, satellite navigation module, atmospheric measurement module and radio altimeter module are defined as standard modules; inertial measurement module is defined as optional module; electrical baseboard is a custom module, which is designed to be adaptively adjusted according to different inertial control system structural constraints. Its function is to complete the external electrical interface of the inertial control system and the electrical connection between internal standard modules.

[0074] Step 3: Based on the constructed standard modules, standardize the internal and external electrical interfaces of the standard modules;

[0075] Specific implementation method is shown in Figure 2 As shown, the information processing module receives satellite navigation information from the satellite navigation module, atmospheric measurement information from the atmospheric measurement module, and relative altitude information from the radio altitude measurement module through the industrial CAN bus to realize combined navigation and flight control calculations; the information processing module receives the pulse synchronization signal from the satellite navigation module through the synchronization pulse signal (TTL level); the information processing module receives the missile body operation information from the inertial measurement module through the RS422 bus; the information processing module interacts with the fire control system through the 1553B bus.

[0076] The power management module outputs secondary power +5V, +15V and -15V internally, which provide power for the information processing module, satellite navigation module, atmospheric measurement module, radio height measurement module, inertial measurement module, etc.; it receives the primary power 28V on the missile externally for power conversion;

[0077] Step 4: Based on the constructed standard modules, standardize the mechanical interface of the standard modules;

[0078] Specific implementation method Figure 3 As shown in the figure, the power management standard module, information processing standard module, atmospheric measurement standard module, radio height measurement standard module, satellite navigation standard module, etc. The mechanical interface of each standard module is uniformly planned as a 3U VPX standard board that complies with VITA46, with unified size and installation method; the custom electrical baseboard mechanical interface for the 3U VPX standard module carries the mechanical installation of all standard modules and is responsible for the external mechanical interface of the inertial system. For specific implementation, see Figure 4 As shown;

[0079] Step 5: Determine the structural layout of the integrated inertial control system based on the standardized standard module mechanical interface;

[0080] Specific implementation method Figure 5 As shown in the figure, the mechanical docking of the 3U VPX standard module and the custom module of the electrical baseboard is inserted into place; according to the specific requirements of the whole missile for inertial measurement accuracy, a reasonable inertial measurement module is selected. The structural layout of the inertial system is centered on the inertial measurement module, and the power management standard module, information processing standard module, atmospheric measurement standard module, radio height measurement standard module, satellite navigation standard module and other standards are mechanically installed in place with the electrical baseboard in sequence to complete the structural layout design of the inertial control system based on the standard module. The specific implementation method is shown in Figure 6 As shown; after the layout of standard modules, optional modules and custom modules is determined, the integrated product design of the inertial control system is completed according to the specific size requirements of the inertial control system proposed by the whole missile. The specific implementation effect diagram is shown in Figure 7 As shown;

[0081] Step 6: Based on the structural layout, analyze the adaptability of the inertial control system to the mechanical / thermal environment after integration, and complete the iterative optimization of the integrated design;

[0082] Specific implementation method Figure 8 As shown in the figure, based on the structural layout of the standard module, the iterative optimization of the integrated design of the inertial control system is carried out, and the high temperature working temperature (generally high temperature + 70 ° C) and the adaptability conditions of the mechanical working environment are used as inputs to carry out the mechanical response simulation analysis and thermal environment simulation analysis of the inertial control system. If the thermal analysis results and the mechanical response analysis results meet the requirements of the whole missile, the integrated design of the inertial control system is completed; if any one of them does not meet the requirements of the whole missile, the structural layout is re-carried out, and a new round of iterative optimization of the integrated design of the inertial control system is carried out until the thermal analysis and mechanical analysis results all meet the requirements of the whole missile.

[0083] The above-mentioned embodiment method utilizes the constructed standard modules to realize the integrated design of the inertial control system, centralized processing of comprehensive information, and unified distribution and management of power supply, breaking the traditional independent structural form, significantly reducing the volume and weight, greatly improving the R&D efficiency of the inertial control system and the universal design and R&D capabilities, which is of great significance to the overall performance improvement and replacement and upgrading of the inertial control system.

[0084] In summary, the embodiments of the present invention change from being currently divided by "device level" to being divided by "functional module level", and from being currently characterized by self-closure of independent system functions to being characterized by common professional integration, thereby effectively enhancing the reliability and scalability of the inertial control system, reducing the volume and weight, having high engineering value for the mass production of the inertial control system and significantly reducing the development cost, and being able to meet the urgent needs of high-performance, high-reliability, and low-cost weaponry for the inertial control system.

[0085] Compared with the prior art, the embodiments of the present invention have at least the following advantages:

[0086] (1) The present invention can rapidly realize the development of inertial control system products by using the constructed standard modules, greatly improving the R&D efficiency of inertial control systems and the universal design and production capabilities;

[0087] (2) The present invention utilizes information standard modules and power management standard modules to realize centralized processing of information such as integrated control and integrated navigation, computing resource sharing and unified power supply distribution management, thereby improving system reliability and significantly reducing development costs;

[0088] (3) The present invention utilizes standard modules for structural integration design, which significantly reduces the volume and weight, and is of great significance to the overall performance improvement and upgrade of the inertial control system.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Parts of the present invention that are not described in detail are well known to those skilled in the art.

Claims

1. An integrated design method for an inertial control system based on standard modules, characterized in that: The design method comprises: Determine the design principles for the integrated inertial control system; Based on the above design principles, functional modules are divided and standard modules and optional modules are constructed; Based on the constructed standard module, standardize the internal and external electrical interfaces of the standard module; Based on the constructed standard module, standardize the mechanical interface of the standard module; Determining the structural layout of the integrated inertial control system based on the standardized mechanical interface of the standard module; Based on the structural layout, the adaptability of the inertial control system to the mechanical / thermal environment after integration is analyzed, and the iterative optimization of the integrated design is completed.

2. The integrated design method of an inertial control system based on standard modules according to claim 1 is characterized in that: The design principles of the integrated inertial control system specifically include: 1) The basic idea of ​​the integrated inertial control system is: centralized information processing + distributed sensing or distributed execution; 2) The scope of integration includes integrated control machine, inertial measurement module, satellite navigation module, integrated navigation module, barometric altimeter and radio altimeter missile-borne equipment; 3) Sensor modules of different precision should be replaceable; 4) Rationally plan standard modules and develop an extensible inter-module communication bus.

3. The integrated design method of an inertial control system based on a standard module according to claim 1 or 2, characterized in that: The standard modules include an information processing module, a power management module, a satellite navigation module, an atmosphere measurement module and a radio altimeter module; the optional modules include an inertial measurement module.

4. The integrated design method of an inertial control system based on standard modules according to claim 3 is characterized in that: The internal and external electrical interfaces of the standard modules are specified in the following ways: The information processing module receives the satellite navigation information output by the satellite navigation module through the communication bus inside the missile to realize the combined navigation calculation, and receives the pulse synchronization signal sent by the satellite navigation module to realize the synchronization of the combined navigation information. The internal electrical interface between the two modules includes: the internal communication bus and the synchronization pulse signal; the external electrical interface includes: the external communication bus; The information processing module receives the atmospheric parameters output by the atmospheric measurement module through the communication bus inside the missile to realize flight control. The internal electrical interface between the two modules includes: the communication bus inside the missile; The information processing module receives the relative altitude parameters output by the radio altitude module through the communication bus inside the missile to realize flight control. The internal electrical interface between the two modules includes: the communication bus inside the missile; The information processing module receives the missile body motion information such as angular rate and acceleration output by the inertial measurement module through the communication bus inside the missile to realize the combined navigation calculation, and sends the selection signal to the inertial measurement module to realize the signal synchronization between the two. The internal electrical interface between the two modules includes: the communication bus inside the missile and the selection signal; The power management module outputs secondary power internally to provide power for the information processing module, satellite navigation module, atmospheric measurement module, radio altimeter module, and inertial measurement module. The internal electrical interface between the modules includes: secondary power supply; externally, it receives the primary power supply on the missile for power conversion, and the external electrical interface between the missile includes: primary power supply.

5. The integrated design method of an inertial control system based on standard modules according to claim 3 or 4, characterized in that: The information processing module is to complete the comprehensive control of the whole missile and the combined navigation calculation in a centralized manner, with computing resources shared. The processor is a Soc processor with a main frequency of not less than 600MHz.

6. The integrated design method of an inertial control system based on standard modules according to claim 3 is characterized in that: The mechanical interface of the standard modules is specified in the following ways: The mechanical interfaces of the information processing module, power management module, satellite navigation module, atmosphere measurement module and radio altimeter module are 3U VPX standard interfaces that comply with VITA46.

7. The integrated design method of an inertial control system based on standard modules according to claim 3 is characterized in that: The structural layout of the integrated inertial control system is determined by the following method: The structural layout of the integrated inertial control system is centered on the inertial measurement optional module; The structural layout of the integrated inertial control system is based on the constructed standard module electrical and mechanical interfaces, and the electrical motherboard is designed to complete the information interconnection between the modules.

8. The integrated design method of an inertial control system based on standard modules according to claim 7 is characterized in that: The electrical motherboard is designed in the form of inter-plugging between custom module electrical baseboard and standard module board to complete the information interconnection between modules.

9. The integrated design method of an inertial control system based on standard modules according to claim 1 is characterized in that: The constraints for completing the iterative optimization of the integrated design are designed as follows: The structural layout of the integrated inertial control system meets the thermal environment adaptability requirements of the entire missile; and the structural layout of the integrated inertial control system meets the mechanical environment adaptability requirements of the entire missile.

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