Sounding rocket flight controller, control method, storage medium and product
By adopting a system-on-chip packaging of multi-core processor modules and field programmable gate array modules in the sounding rocket flight controller, the problems of complex circuits and large power consumption in the prior art are solved, miniaturization and modularization of the controller are realized, and cost and development difficulties are reduced.
Patent Information
- Application Number
- CN202510298826.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-13
- Publication Date
- 2025-07-04
AI Technical Summary
The existing sounding rocket flight controllers have complex circuits and large power consumption due to the use of multiple CPU chips, which is not conducive to the miniaturization and modularization of products.
Multi-core processor modules and field programmable gate array modules are packaged in the same chip. Each core in the multi-core processor module is responsible for a control function, communicates through on-chip bus, and data is transmitted through shared memory and software interrupts.
It significantly improves the integration of the controller, reduces the number of CPUs and peripheral interface chips, reduces product costs and development complexity, and improves development efficiency.
Smart Images
Figure CN120255393A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rocket chips, and particularly relates to a sounding rocket flight controller, a control method, a storage medium and a product. Background Art
[0002] Existing sounding rocket flight controllers generally use a separate CPU to complete functions such as flight control and integrated navigation; the satellite navigation receiver module and the inertial navigation module are independent sensor modules, each having its own CPU chip. Therefore, in existing sounding rocket flight controllers, generally 3 - 4 CPU chips are connected to each other and then connected to modules such as sensors. This results in a complex flight controller circuit, high power consumption, and is not conducive to the miniaturization of products. Moreover, there are a wide variety of inertial navigation modules and satellite navigation receiver modules on the market, and the size interfaces of each manufacturer are not the same, which is also not conducive to the development of the controller. Summary of the Invention
[0003] In view of this, the present invention provides a sounding rocket flight controller, a control method, a storage medium and a product to solve the problem of complex integrated development of sounding rocket flight controllers.
[0004] In a first aspect, the present invention provides a sounding rocket flight controller, including: a multi - core processor module, a field - programmable gate array module and a memory module; the multi - core processor module includes a satellite navigation receiver core, an inertial navigation core and a flight control core; the field - programmable gate array module is configured with a satellite navigation receiver baseband module, an inertial navigation interface module and a flight control interface module; the satellite navigation receiver core is communicatively connected to the satellite navigation receiver core based on an on - chip bus, the inertial navigation core is communicatively connected to the inertial navigation interface module based on an on - chip bus, and the flight control core is communicatively connected to the flight control interface module based on an on - chip bus; the memory module is communicatively connected to the multi - core processor module through an on - chip bus, data generated by different cores in the multi - core processor module is stored in spaces at different addresses in the memory module, and different cores in the multi - core processor module communicate based on shared memory and software interrupt.
[0005] In some optional embodiments, the satellite navigation receiver core, the inertial navigation core and the flight control core respectively operate independent operating systems, wherein the flight control core is configured as the main core to use the L2 cache, and the remaining cores do not use the L2 cache, and the flight control core is used to control the remaining cores.
[0006] In some optional embodiments, it further includes a radio frequency module, and the satellite navigation receiver baseband module is communicatively connected to the radio frequency module through a parallel bus.
[0007] In some alternative embodiments, it further includes: three accelerometers respectively for measuring accelerations in the X, Y, and Z directions and three gyroscopes respectively for measuring angular velocities in the X, Y, and Z directions; wherein each accelerometer and each gyroscope are communicatively connected to the inertial navigation interface module via the SPI bus.
[0008] In some alternative embodiments, the multi-core processor module further includes an integrated navigation core, which is configured to receive the positioning data output by the satellite navigation receiver core and the acceleration data output by the inertial navigation core, and generate navigation information based on the fusion of the positioning data and the acceleration data.
[0009] In some alternative embodiments, the multi-core processor module is a quad-core ARM Cortex-A7 processor.
[0010] In a second aspect, the present invention provides a sounding rocket flight control method, which is applied to a sounding rocket flight controller and includes: receiving satellite signals through a satellite navigation receiver baseband module and processing the satellite signals into baseband signals; sending the baseband signals to a satellite navigation receiver core through the satellite navigation receiver baseband module; processing the baseband signals through the satellite navigation receiver core to obtain positioning data of the sounding rocket; receiving sensor parameters through an inertial navigation interface module and sending the sensor parameters to an inertial navigation core through an on-chip bus, where the sensor data includes gyroscope data and accelerometer data; processing the sensor parameters through the inertial navigation core to obtain acceleration data of the sounding rocket; generating a control signal based on the acceleration data and the positioning data through a flight control core and sending the control signal to a flight control interface module; and forwarding the control signal to an actuator of the sounding rocket through the flight control interface module.
[0011] In some alternative embodiments, the generating a control signal based on the acceleration data and the positioning data through the flight control core includes: receiving the acceleration data and the positioning data through an integrated navigation core, and generating navigation information based on the fusion of the acceleration data and the positioning data; sending the navigation information to the flight control core through the integrated navigation core; and generating the control signal based on the navigation information through the flight control core.
[0012] In a third aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method described in any item of the second aspect.
[0013] Fourthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the method described in any item of the second aspect.
[0014] The technical solution provided by the present invention has the following advantages:
[0015] Based on the packaging of the system-on-chip, the present invention packages the multi-core processor module and the field programmable gate array module in the same chip, and each core in the multi-core processor module is separately responsible for a control function, including the processing of satellite navigation receiver signals, the processing of inertial navigation signals, and the generation function of the final flight control strategy. Among them, the field programmable gate array module programs the corresponding circuit structures for the satellite navigation receiver, inertial navigation, and flight control respectively, so as to implement at least three circuits inside the field programmable gate array module, namely the satellite navigation receiver baseband module, the inertial navigation interface module, and the flight control interface module, thereby realizing the functions of collecting data and forwarding data for the three cores. The multi-core processor module and the field programmable gate array module communicate through the on-chip bus inside the chip. The multi-core processor module is also connected to a memory module, enabling the cores inside the multi-core processor module to communicate based on shared memory and software interrupts. Through the above configuration, the sounding rocket flight controller obtained is integrated into one chip, significantly improving the integration degree of the controller, reducing the number of CPUs of the sounding rocket flight controller, reducing the number of peripheral interface chips and power supply chips of the sounding rocket flight controller, reducing the PCB wiring area of the sounding rocket flight controller, reducing the product cost, improving the efficiency of product development, and reducing the complexity of controller development. Description of the Drawings
[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0017] Figure 1 It is a schematic structural diagram of a sounding rocket flight controller according to an embodiment of the present invention;
[0018] Figure 2 It is a schematic structural diagram of a multi-core processor module according to an embodiment of the present invention;
[0019] Figure 3 It is a schematic flowchart of a sounding rocket flight control method according to an embodiment of the present invention. Detailed Embodiments
[0020] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0021] The main functions of the sounding rocket flight controller include flight timing control, guidance control calculation, and navigation function. Flight timing control is to command other devices such as servo motors and thermal batteries according to the instructions of the flight control system to achieve the flight timing control of the sounding rocket. Guidance control calculation is to perform the calculation of the predetermined guidance law according to the flight data measured in real time and the bound target parameters during the flight process to form guidance control instructions. The navigation function is to measure position, speed, and attitude information in real time and have the functions of moving base transfer alignment and inertial / satellite tight integration navigation. During the flight process, the flight controller receives navigation data, performs coordinate conversion and attitude angle calculation, collects relevant signals such as the gimbal angle signal and target line-of-sight angular velocity signal output by the seeker and the rudder feedback, completes the guidance law calculation, and then outputs control signals to four servo motors to control the sounding rocket to fly towards the target and achieve the stability of the sounding rocket attitude.
[0022] The existing sounding rocket flight controllers generally use a separate CPU to complete functions such as flight control and integrated navigation. Satellite navigation receivers (such as GPS L1, Beidou B1, etc.) and inertial measurement units (IMUs) are used as independent sensor modules, each having its own CPU chip. Therefore, in the existing sounding rocket flight controllers, there are generally 3-4 CPU chips, which results in low integration, high power consumption of the flight controller, and is not conducive to the miniaturization of the product. There are a wide variety of IMU modules and satellite navigation receiver modules on the market, and the size interfaces of each manufacturer are not the same, which is also not conducive to the modularization of the product.
[0023] For example, the satellite navigation receivers in the related art generally use a DSP (Digital Signal Processing) chip or a combination of an ARM chip + FPGA (Field Programmable Gate Array), or use a DSP / ARM + self-developed baseband chip combination to implement the processing of the digital baseband part. Among them, the DSP / ARM mainly realizes functions such as loop control and positioning calculation, and the FPGA realizes the baseband signal processing function. The satellite navigation receiver mainly consists of a radio frequency module, a baseband module, and a control module. The radio frequency module includes an amplifier, a filter, a mixer, an AD sampling module, etc.
[0024] The main functional modules in the FPGA are: correlation channels, capture modules, tracking modules, synchronization modules, observable extraction modules, interface control modules, etc.
[0025] For example, the IMU module in related technologies is generally designed using MEMS (Micro-Electro-Mechanical System) sensors. The IMU module usually includes a high-precision MEMS gyroscope, a temperature sensor inside the gyroscope, a MEMS accelerometer, a signal processing circuit, and a power supply circuit, etc. The ARM series CPU inside the IMU module is used to collect sensor data, and the angular velocity and linear acceleration are obtained through compensation and calibration algorithms, and then sent to the sounding rocket flight control module through the RS422 serial port.
[0026] By studying the design schemes of satellite navigation receivers and IMUs on the market, it can be found that in the existing sounding rocket flight controllers, at least 3 CPUs are required (1 CPU for flight control, 1 CPU for the satellite navigation receiver, and 1 CPU for the IMU). For small sounding rockets, reducing the volume of the flight controller is crucial for increasing the volume of the warhead and improving the striking ability. The flight controller circuits of related products are complex, consume a large amount of power, and are not conducive to the miniaturization of products.
[0027] According to an embodiment of the present invention, as Figure 1 shown, a sounding rocket flight controller is provided, including: a multi-core processor module, a field programmable gate array module, and a memory module.
[0028] Among them, the multi-core processor module includes a satellite navigation receiver core, an inertial navigation core, and a flight control core; the satellite navigation receiver baseband module, the inertial navigation interface module, and the flight control interface module are configured in the field programmable gate array module. The satellite navigation receiver core is communicatively connected to the satellite navigation receiver core based on an on-chip bus, the inertial navigation core is communicatively connected to the inertial navigation interface module based on an on-chip bus, and the flight control core is communicatively connected to the flight control interface module based on an on-chip bus.
[0029] Among them, the memory module is communicatively connected to the multi-core processor module through an on-chip bus. The data generated by different cores in the multi-core processor module is stored in the spaces of different addresses in the memory module, and the different cores in the multi-core processor module communicate based on shared memory and software interrupts.
[0030] Specifically, in the embodiment of the present invention, the sounding rocket flight controller provided is a highly integrated controller chip, which is implemented by the combination of CPU+FPGA (multi-core processor module + field programmable gate array module). The CPU+FPGA are jointly integrated in a chip package to form a system on a chip. Thus, the multi-core processor module and the field programmable gate array module are communicatively connected based on the on-chip bus, and the on-chip bus is a communication architecture for connecting various functional modules inside an integrated circuit chip.
[0031] Among them, in the embodiment of the present invention, the projects for flight control, satellite navigation, and inertial navigation are all placed in the multi-core processor module. The multi-core processor module refers to a multi-core CPU, such as a 3-core, 4-core, 8-core, etc. In the embodiment of the present invention, a quad-core ARM Cortex-A7 processor can be used. This processor integrates four cores, which is sufficient for the rocket controller, and its low power consumption is more suitable for the application scenario of rocket control, capable of reducing power consumption and effectively extending the battery life of mobile devices, etc. In the embodiment of the present invention, each processor core independently executes a function. Thus, one core is used for flight control, one core is used for the satellite navigation receiver, and one core is used for inertial navigation. Therefore, the multi-core processor module provided in the embodiment of the present invention is at least configured with a system of three cores including a satellite navigation receiver core, an inertial navigation core, and a flight control core, as well as corresponding software functions.
[0032] In addition, the field programmable gate array module provided in the embodiment of the present invention obtains a satellite navigation receiver baseband module, an inertial navigation interface module, and a flight control interface module by programming and configuring circuits with different functions.
[0033] Among them, the satellite navigation receiver baseband module includes correlation channels, acquisition circuits, tracking circuits, synchronization circuits, observable extraction circuits, interface control circuits, etc., and is mainly used for the function of converting satellite radio frequency signals into baseband signals. In the embodiment of the present invention, the satellite signals received by the satellite navigation receiver baseband module can be directly received through a radio frequency module, or can be signal data forwarded by other processor modules after obtaining the satellite signals. This embodiment is not limited thereto.
[0034] The inertial navigation interface module refers to an interface circuit for docking external sensor parameters such as gyroscopes and accelerometers, which is implemented by FPGA programming. This module can collect sensor parameters and send them to the satellite navigation receiver core, so that the satellite navigation receiver core can calculate the acceleration data of the sounding rocket according to the sensor parameters.
[0035] The flight control interface module refers to the interface circuit used to connect the sounding rocket actuator and the flight control core. This circuit is implemented through FPGA programming, such as the standard interfaces for different communication protocols like USB, CAN, URAT, etc., so that it can serve as an intermediary to establish a communication connection between the sounding rocket actuator (such as a servo) and the flight control core, enabling the flight control core to send the generated control instructions to the corresponding actuator to control the sounding rocket to perform flight tasks.
[0036] In addition, the embodiment of the present invention also provides a memory module, which is communicatively connected to the multi-core processor module through an on-chip bus. In the embodiment of the present invention, the memory module includes, but is not limited to, memory chips such as DDR2, DDR3, DDR4, FLASH, etc. Among them, the data generated by different cores in the multi-core processor module are all stored in the memory module, and each core uses a different range of addresses, and the memory address ranges used by each core do not overlap. The cores communicate with each other through the SGI (Software Generated Interrupt) method. Each core can generate a software interrupt and can specify in the register which other core processes the interrupt. The software interrupt is implemented through the ICD_SGIR register, and the interrupt is cleared by reading the GICC_IAR or writing 1 to the corresponding bit in the GICD_ICPENDRn. The cores request data from other cores through software interrupts, and the data is transferred through the shared memory module.
[0037] Based on the sounding rocket flight controller provided by the embodiment of the present invention, when the sounding rocket is working, first, the satellite navigation receiver baseband module receives satellite signals and processes the satellite signals into baseband signals that can be recognized and processed by the processor, and then sends the baseband signals to the satellite navigation receiver core through the satellite navigation receiver baseband module; at the same time, the inertial navigation interface module receives sensor parameters and sends the sensor parameters to the inertial navigation core through the on-chip bus, where the sensor data includes gyroscope data and accelerometer data. Then, the satellite navigation receiver core processes the baseband signals, analyzes the baseband signals of satellite positioning to obtain the positioning data of the sounding rocket, and realizes functions such as satellite navigation receiver tracking, capture, and positioning; at the same time, the inertial navigation core performs compensation and calibration algorithms on the sensor parameters to obtain the acceleration data of the sounding rocket, and realizes the output of parameters such as the angular velocity and acceleration of the sounding rocket attitude. Then, the flight control core executes the navigation control algorithm based on the acceleration data and positioning data output by the foregoing cores, generates a control signal for the sounding rocket actuator, and sends the control signal to the flight control interface module, and then forwards the control signal to the sounding rocket actuator through the flight control interface module to enable the rocket to fly normally.
[0038] In an embodiment of the present invention, based on the packaging of a system-on-chip, a multi-core processor module and a field programmable gate array module are packaged in the same chip. Each core in the multi-core processor module is separately responsible for a control function. The field programmable gate array module develops corresponding circuit structures for functions such as satellite navigation receiver, inertial navigation, and flight control programming, respectively, to implement the functions of collecting data for the three cores and forwarding data. The multi-core processor module and the field programmable gate array module communicate through the on-chip bus inside the chip. The multi-core processor module is also connected to a memory module, enabling the cores inside the multi-core processor module to communicate based on shared memory and software interrupt. Through the sounding rocket flight controller provided by the embodiment of the present invention, the number of CPUs in the sounding rocket flight controller is significantly reduced, and the integration of the product is increased. Compared with the related technology that requires at least 3 CPUs, the solution provided by the embodiment of the present invention integrates the satellite navigation receiver, IMU, and flight control in one CPU. Compared with the related technology where both the IMU module and the satellite navigation receiver module need to communicate using dedicated external serial ports or external SPI interfaces, in the present invention, the IMU, satellite navigation receiver, and flight control modules communicate through the internal bus of the CPU without the need for additional interface chips. The embodiment of the present invention also significantly reduces the number of peripheral interface chips and power supply chips of the sounding rocket flight controller, reduces the PCB wiring area of the sounding rocket flight controller, lowers the product cost, improves the efficiency of product development, and reduces the complexity of controller development.
[0039] In some alternative embodiments, the multi-core processor module further includes an integrated navigation core, which is configured to receive the positioning data output by the satellite navigation receiver core and the acceleration data output by the inertial navigation core, and generate navigation information based on the fusion of the positioning data and the acceleration data.
[0040] Specifically, the embodiment of the present invention also configures an integrated navigation core in the multi-core processor module specifically for integrated navigation planning. The positioning data output by the satellite navigation receiver core and the acceleration data output by the inertial navigation core are both transmitted to the integrated navigation core.
[0041] The satellite positioning principle received by the satellite navigation receiver is to use the triangulation principle to determine the position of the receiver. The satellite continuously sends signals containing its own position and time information to the ground. After the receiver receives the signals of at least 4 satellites, it calculates the distance from the satellites by measuring the time difference of signal propagation, and then calculates its own three-dimensional coordinates. The core processing principle of inertial navigation is based on Newton's laws of motion. The accelerometer in the inertial navigation unit measures the acceleration of the carrier in the inertial reference frame, then integrates over time to obtain the velocity, and integrates the velocity again to obtain the position. At the same time, the gyroscope is used to measure the angular velocity of the carrier to determine the attitude change of the carrier, and then the acceleration and velocity information can be converted into the navigation coordinate system.
[0042] The core of integrated navigation fuses the positioning data and acceleration data through combination methods such as loose combination, tight combination or ultra-tight combination to obtain more accurate navigation information. Satellite positioning can provide high-precision position information in open environments, but the accuracy decreases when the signal is blocked or interfered. The acceleration information output by the inertial navigation unit can provide relatively accurate position and attitude changes in a short time to make up for the deficiencies of satellite positioning. The combination of the two can obtain high positioning accuracy in various environments, thus improving the accuracy of navigation information. Finally, the integrated navigation core sends the generated navigation information to the flight control core. The flight control core generates the aforementioned control signals based on the navigation information, improving the accuracy of the control signals. And the flight control core decouples the functions of integrated navigation. The flight control core is only used to control the actuators of the rocket, reducing the computing power occupied by other complex algorithms and improving the computing efficiency of the flight control core.
[0043] In some alternative embodiments, the satellite navigation receiver core, the inertial navigation core, the integrated navigation core and the flight control core each independently run an operating system. Among them, the flight control core is configured as the main core to use the L2 cache, and the remaining cores do not use the L2 cache. The flight control core is used to control the remaining cores.
[0044] Specifically, such as Figure 2As shown, the multi-core processor module supports multi-core operation modes of asymmetric multi-processing, symmetric multi-processing, and constrained multi-processing in software. In the embodiment of the present invention, the asymmetric multi-processing operation mode is adopted. Asymmetric Multi-Processing (AMP) means that multiple cores run different tasks relatively independently, and each core is isolated from each other, and can run different operating systems or bare-metal programs. There is basically no overhead problem in the asymmetric multi-processing operation mode, especially when running bare-metal programs, there is even no overhead. This operation mode is more suitable for applications with high real-time requirements. Multiple CPU cores can run different tasks, thus significantly improving the reliability of rocket flight control. However, this mode requires a main CPU core to control the entire system and other CPU cores. In the present invention, the flight control core is used as the main CPU core. Based on this, in this embodiment, the flight control core is configured to use the L2 cache, and the remaining cores do not use the L2 cache. The L2 cache is a high-speed cache in a computer CPU, located between the CPU and the memory module, and is used to store data and instructions that the CPU may frequently access in the near future to improve the operating efficiency of the CPU. By configuring the flight control core to use the L2 cache, the processing performance of the flight control core is improved, and other cores are prevented from competing with the main core for computing resources.
[0045] In some alternative embodiments, the sounding rocket flight controller provided by the embodiment of the present invention further includes a radio frequency module. The radio frequency module is mainly composed of an amplifier, a filter, a mixer, an AD sampling module, etc., and is used to receive the positioning radio frequency signal of the satellite for the rocket. The radio frequency module is communicatively connected to the baseband module of the satellite navigation receiver through a parallel bus, so as to enable parallel transmission of data to the baseband module of the satellite navigation receiver and improve the data transmission efficiency.
[0046] In some alternative embodiments, the sounding rocket flight controller provided by the embodiment of the present invention further includes: three accelerometers respectively used to measure the acceleration in the X, Y, and Z directions and three gyroscopes respectively used to measure the angular velocity in the X, Y, and Z directions; wherein each accelerometer and each gyroscope are communicatively connected to the inertial navigation interface module through an SPI bus.
[0047] Specifically, as Figure 1 shown, the embodiment of the present invention measures vector data based on the accelerometers and gyroscopes in the three spatial directions of X, Y, and Z, enriching the directions of data measurement, thereby improving the reliability and accuracy of the data and the accuracy of the subsequent inertial navigation core for calculating acceleration data.
[0048] The present invention also provides an embodiment of a sounding rocket flight control method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.
[0049] As Figure 3 shown, a sounding rocket flight control method provided by an embodiment of the present invention is applied to the aforementioned sounding rocket flight controller, and includes the following steps:
[0050] Step S301, receiving satellite signals through the satellite navigation receiver baseband module and processing the satellite signals into baseband signals;
[0051] Step S302, sending the baseband signals to the satellite navigation receiver core through the satellite navigation receiver baseband module;
[0052] Step S303, processing the baseband signals through the satellite navigation receiver core to obtain the positioning data of the sounding rocket;
[0053] Step S304, receiving sensor parameters through the inertial navigation interface module and sending the sensor parameters to the inertial navigation core through the on-chip bus, and the sensor data includes gyroscope data and accelerometer data;
[0054] Step S305, processing the sensor parameters through the inertial navigation core to obtain the acceleration data of the sounding rocket;
[0055] Step S306, generating a control signal based on the acceleration data and the positioning data through the flight control core and sending the control signal to the flight control interface module;
[0056] Step S307, forwarding the control signal to the actuator of the sounding rocket through the flight control interface module.
[0057] In some alternative embodiments, the above step S306 includes:
[0058] Step a1, receiving the acceleration data and the positioning data through the integrated navigation core and fusing the acceleration data and the positioning data to generate navigation information;
[0059] Step a2, sending the navigation information to the flight control core through the integrated navigation core;
[0060] Step a3, generating a control signal based on the navigation information through the flight control core.
[0061] Regarding the principle of a sounding rocket flight control method provided by an embodiment of the present invention, reference may be made to the relevant explanations and discussions in the foregoing controller embodiments, which will not be elaborated herein.
[0062] An embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.
[0063] A part of the present invention can be applied as a computer program product, such as computer program instructions. When executed by a computer, through the operation of the computer, the method and / or technical solution according to the present invention can be called or provided. Those skilled in the art should be able to understand that the forms of existence of computer program instructions in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.
[0064] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.
Claims
1. A sounding rocket flight controller, characterized in that, Including: A multi-core processor module, a field programmable gate array module, and a memory module; The multi-core processor module includes a satellite navigation receiver core, an inertial navigation core, and a flight control core; the field programmable gate array module is configured with a satellite navigation receiver baseband module, an inertial navigation interface module, and a flight control interface module; the satellite navigation receiver core is communicatively connected to the satellite navigation receiver core based on an on-chip bus, the inertial navigation core is communicatively connected to the inertial navigation interface module based on an on-chip bus, and the flight control core is communicatively connected to the flight control interface module based on an on-chip bus; the memory module is communicatively connected to the multi-core processor module through an on-chip bus, and data generated by different cores in the multi-core processor module is stored in spaces at different addresses in the memory module, and different cores in the multi-core processor module communicate based on shared memory and software interrupt.
2. The sounding rocket flight controller according to claim 1, characterized in that, The multi-core processor module further includes a integrated navigation core, which is configured to receive the positioning data output by the satellite navigation receiver core and the acceleration data output by the inertial navigation core, and generate navigation information based on the fusion of the positioning data and the acceleration data.
3. The sounding rocket flight controller according to claim 2, characterized in that, The satellite navigation receiver core, the inertial navigation core, the integrated navigation core, and the flight control core each independently run an operating system, wherein the flight control core is configured as the main core and uses the L2 cache, and the remaining cores do not use the L2 cache, and the flight control core is used to control the remaining cores.
4. The sounding rocket flight controller according to claim 1, characterized in that, It further includes a radio frequency module, and the satellite navigation receiver baseband module is communicatively connected to the radio frequency module through a parallel bus.
5. The sounding rocket flight controller according to claim 1, characterized in that, It further includes: Three accelerometers respectively for measuring accelerations in the X, Y, and Z directions and three gyroscopes respectively for measuring angular velocities in the X, Y, and Z directions; wherein each accelerometer and each gyroscope are communicatively connected to the inertial navigation interface module through an SPI bus.
6. The sounding rocket flight controller according to claim 1, characterized in that, The multi-core processor module is a quad-core ARM Cortex-A7 processor.
7. A sounding rocket flight control method, characterized in that Applied to a sounding rocket flight controller, including: Receiving satellite signals through the satellite navigation receiver baseband module and processing the satellite signals into baseband signals; Sending the baseband signals to the satellite navigation receiver core through the satellite navigation receiver baseband module; Processing the baseband signals through the satellite navigation receiver core to obtain the positioning data of the sounding rocket; Receiving sensor parameters through the inertial navigation interface module and sending the sensor parameters to the inertial navigation core through the on-chip bus, and the sensor data includes gyroscope data and accelerometer data; Processing the sensor parameters through the inertial navigation core to obtain the acceleration data of the sounding rocket; Generating a control signal based on the acceleration data and the positioning data through the flight control core and sending the control signal to the flight control interface module; Forwarding the control signal to the actuator of the sounding rocket through the flight control interface module.
8. The method according to claim 7, wherein The generating a control signal based on the acceleration data and the positioning data through the flight control core includes: Receiving the acceleration data and the positioning data through the integrated navigation core, and fusing the acceleration data and the positioning data to generate navigation information; Sending the navigation information to the flight control core through the integrated navigation core; Generating the control signal based on the navigation information through the flight control core.
9. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores computer instructions for causing a computer to execute the method according to any one of claims 7 to 8.
10. A computer program product, characterized in that, Including computer instructions for causing a computer to execute the method according to any one of claims 7 to 8.