Rocket communication system and method

Abstract

The invention provides a rocket communication system and method, and relates to the technical field of carrier rocket communication, and specifically, the rocket communication system comprises a navigation flight subsystem, an engine control subsystem and a data forwarding device; the navigation flight subsystem comprises A first nodes hung on a first bus, the first nodes are used for calculating a navigation trajectory of a rocket, and A is a positive integer; the engine control subsystem comprises B second nodes hung on a second bus, the second nodes are used for controlling an engine of a rocket, and B is a positive integer; the data forwarding equipment is hung on the first bus, the data forwarding equipment is also hung on the second bus, and the data forwarding equipment is used for forwarding a cross-network segment instruction from the first bus or the second bus.

Description

Technical Field

[0001] The present invention relates to the field of launch vehicle communication technology, and in particular to a rocket communication system and method. Background Art

[0002] During the rocket's operational cycle, the rocket's status needs to be controlled. For example, before the launch, the communication between the rocket and the ground, as well as the communication between the rocket's systems, needs to be tested. The communication link needs to be tested to see if it is connected properly and if the various operating instructions can be executed normally. After the launch of the rocket, there may also be issues with the recovery of liquid commercial rockets, which may lead to problems with the communication link for issuing instructions. When it comes to rocket communication issues, the communication link pursued by the rocket launch is precise and controllable. For single-stage recoverable liquid rockets, the large number of single machines on the rocket leads to a huge amount of communication data. To ensure data security and reliability, the data needs to be classified and diverted to prevent crosstalk. Summary of the Invention

[0003] The present invention provides a rocket communication system and method, which are used to solve the problem in the related art that there are many single machines on the rocket, resulting in a large number of communications and easy crosstalk.

[0004] In a first aspect, an embodiment of the present invention provides a rocket communication system, the rocket communication system comprising a navigation flight subsystem, an engine control subsystem, and a data forwarding device;

[0005] The navigation flight subsystem includes A first nodes connected to a first bus, wherein the first nodes are used to calculate the navigation trajectory of the rocket, where A is a positive integer;

[0006] The engine control subsystem includes B second nodes connected to the second bus, the second nodes are used to control the rocket engine, and B is a positive integer;

[0007] The data forwarding device is connected to the first bus, and is also connected to the second bus. The data forwarding device is used to forward cross-segment instructions from the first bus or the second bus.

[0008] Optionally, the first node includes at least one of a navigation unit, an inertial measurement combination, a wireless command receiving unit, a first timing and power distribution control unit, and a first lithium battery, wherein the navigation unit is used to calculate the navigation trajectory, the inertial measurement combination is used to calculate the sensitive body attitude of the rocket, the wireless command receiving unit is used to receive instructions transmitted via wireless communication, the first timing and power distribution control unit is used to forward instructions representing the timing of the first network segment corresponding to the first bus, and the first lithium battery is used to supply power to the first node other than the first lithium battery.

[0009] Optionally, the second node includes at least one of an engine controller, a valve control unit, a swing servo control unit, a second timing and power distribution control unit, and a second lithium battery, wherein the engine controller is used to adjust the thrust and angle of the engine, the valve control unit is used to control the valves in the engine, the swing servo control unit is used to control the angle of the engine main nozzle, the second timing and power distribution control unit is used to forward instructions representing the timing of the second network segment corresponding to the second bus, and the second lithium battery is used to supply power to a second node other than the second lithium battery.

[0010] Optionally, the first bus includes a first test bus and / or a first control bus; the second bus includes a second test bus and / or a second control bus.

[0011] Optionally, the first bus and / or the second bus is a controller area network bus, wherein the controller area network instruction transmitted on the first bus and / or the second bus includes at least message priority, message type, source device identity, destination device identity, bus flag, and message number, and the controller area network instruction includes the cross-segment instruction.

[0012] Optionally, the data forwarding device forwards the CAN instruction to a CAN bus to which the destination device belongs according to the target device identity in the CAN instruction.

[0013] Optionally, the rocket communication system further includes a ground-based transmission subsystem, which includes:

[0014] A detection and transmission processor connected to the data forwarding device in a bidirectional wired manner, for communicating with the data forwarding device;

[0015] A wireless instruction uplink device that is unidirectionally wirelessly connected to the measurement and transmission processor, and the wireless instruction uplink device is also unidirectionally wirelessly connected to the wireless instruction receiving unit, and the wireless instruction uplink device is used to forward the wireless instruction from the measurement and transmission processor to the wireless instruction receiving unit via a wireless connection.

[0016] Optionally, the detection and transmission processor communicates with the data forwarding device and / or the wireless instruction uplink device via an Ethernet message, and the Ethernet message includes an Ethernet frame header and the controller area network instruction.

[0017] Optionally, after receiving the Ethernet message, the wireless instruction uplink device forwards the Ethernet message to the data forwarding device.

[0018] In a second aspect, an embodiment of the present invention provides a rocket communication method, which is applied to the rocket communication system as described in the first aspect. The rocket communication method includes:

[0019] Acquire a target instruction, where the target instruction is the controller area network instruction and / or the Ethernet message;

[0020] The target instruction is transmitted to the destination device according to the destination device identity in the target instruction.

[0021] In a third aspect, an embodiment of the present invention provides a rocket, comprising:

[0022] Rocket body;

[0023] System, such as the rocket communication system described in the first aspect.

[0024] In a fourth aspect, an embodiment of the present invention provides a storage medium, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the method described in the second aspect.

[0025] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which is executed by a processor as the method described in the second aspect.

[0026] An embodiment of the present invention provides a rocket communication system. Specifically, the rocket communication system includes a navigation and flight subsystem, an engine control subsystem, and a data forwarding device. The navigation and flight subsystem includes A first nodes connected to a first bus, the first nodes being used to calculate the rocket's navigation trajectory, where A is a positive integer. The engine control subsystem includes B second nodes connected to a second bus, the second nodes being used to control the rocket's engine, where B is a positive integer. The data forwarding device is connected to the first bus and also connected to the second bus, and is used to forward cross-segment instructions from the first bus or the second bus. In this way, the devices required for communication on the rocket are divided into different subsystems according to their uses, and instructions are transmitted between the different subsystems via the data forwarding device. This ensures data independence within each subsystem on the rocket, and allows instructions and data required for communication between subsystems to be transmitted. This, to a certain extent, addresses the problem in related art of a large number of single devices on a rocket, resulting in a large number of communications and prone to crosstalk. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 A structural block diagram of a rocket communication system provided by an embodiment of the present invention;

[0029] Figure 2 A structural diagram of a rocket communication system provided by an embodiment of the present invention;

[0030] Figure 3 A conceptual diagram of the data interaction process of a navigation flight subsystem provided by an embodiment of the present invention;

[0031] Figure 4 A conceptual diagram of the data interaction process of an engine control subsystem provided by an embodiment of the present invention;

[0032] Figure 5 A flowchart of a rocket communication method provided by an embodiment of the present invention;

[0033] Figure 6 A schematic structural diagram of a data forwarding device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] As described in the background art, during the operation cycle of a rocket, it is necessary to control the state of the rocket. For example, in the early stage of a rocket's launch, the communication between the rocket and the ground and the communication between the various systems of the rocket are tested. The test communication link is tested to see if it is connected normally and whether each operating instruction can be executed normally. After the launch of the rocket, it may also involve the problem of liquid commercial rocket recovery, so there is a problem of the communication link for issuing instructions. When it comes to the communication problem of the rocket, the communication link pursued by the rocket launch is fine and controllable. For single-stage recyclable liquid rockets, there are many single machines on the rocket, resulting in a huge amount of communication data. In order to ensure data security and reliability, it is necessary to classify and shunt the data to prevent mutual crosstalk.

[0035] An embodiment of the present invention provides a rocket communication system. Specifically, the rocket communication system includes a navigation and flight subsystem, an engine control subsystem, and a data forwarding device. The navigation and flight subsystem includes A first nodes connected to a first bus, the first nodes being used to calculate the rocket's navigation trajectory, where A is a positive integer. The engine control subsystem includes B second nodes connected to a second bus, the second nodes being used to control the rocket's engine, where B is a positive integer. The data forwarding device is connected to the first bus and also connected to the second bus, and is used to forward cross-segment instructions from the first bus or the second bus. In this way, the devices required for communication on the rocket are divided into different subsystems according to their uses, and instructions are transmitted between the different subsystems via the data forwarding device. This ensures data independence within each subsystem on the rocket, and allows instructions and data required for communication between subsystems to be transmitted. This, to a certain extent, addresses the problem in related art of a large number of single devices on a rocket, resulting in a large number of communications and prone to crosstalk.

[0036] In addition, in an embodiment of the present invention, in order to further ensure the security of the communication link, all routes adopt a dual-link redundancy method. The first bus includes a first test bus and / or a first control bus; the second bus includes a second test bus and / or a second control bus, thereby ensuring the security of data transmission within the entire rocket communication system.

[0037] The following describes in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0038] Figure 1 The following is a structural block diagram of a rocket communication system provided by an embodiment of the present invention. Figure 1 As shown, the rocket communication system navigation flight subsystem, engine control subsystem and data forwarding equipment provided by the embodiment of the present invention.

[0039] In an embodiment of the present invention, the navigation and flight subsystem can be responsible for rocket navigation calculations, ensuring that the rocket flies according to a pre-designed trajectory. It also has the ability to independently determine emergency conditions (such as sudden accidents) and take emergency measures by analyzing fault data. The navigation and flight subsystem includes A first nodes connected to a first bus. These first nodes are used to calculate the rocket's navigation trajectory, where A is a positive integer.

[0040] In an embodiment of the present invention, the first node may be a standalone device used to calculate a rocket's navigation trajectory. A first node may be a single device or multiple devices of the same type and function. For example, the first node may be a single navigation device or multiple lithium batteries used to provide power or power distribution instructions to the entire navigation and flight subsystem.

[0041] In an embodiment of the present invention, A first nodes are connected in series to the first bus. The first bus can be regarded as a network segment. All first nodes can share the first bus for communication. For example, any first node uploads an instruction to the first bus, and other first nodes can obtain the instruction just uploaded as needed.

[0042] In an embodiment of the present invention, the engine control subsystem can be used to control and adjust the thrust or angle of a rocket engine based on commands forwarded by the navigation and flight subsystem via a data forwarding device. The engine control subsystem can also independently control multiple engines. The engine control subsystem includes B second nodes connected to a second bus, each of which is used to control the rocket engine, where B is a positive integer.

[0043] In an embodiment of the present invention, a second node can be a standalone device used to control a rocket engine. Accordingly, a second node can be a single device or multiple devices of the same type and function. For example, a second node can be an engine controller or a single device type, namely, an engine controller. Accordingly, B second nodes are serially connected to a second bus. The second bus can be considered a separate network segment from the first bus, and communication can occur between the B second nodes via the second bus.

[0044] In the embodiment of the present invention, the sizes of A and B may be the same or different. The sizes of A and B should be determined according to the communication requirements of the rocket, and the embodiment of the present invention does not impose any specific restrictions on this.

[0045] In an embodiment of the present invention, the data forwarding device is not only connected to the first bus, but also to the second bus. The data forwarding device can be used to forward cross-segment instructions from the first bus or the second bus. The cross-segment instructions refer to instructions transmitted by the navigation flight subsystem or the engine control subsystem to non-self-instructions. Specifically, they can be instructions sent by the navigation flight subsystem to the engine control subsystem, or they can be instructions sent back to the navigation flight subsystem by the engine control subsystem. For example, the rocket navigation instruction calculated by the first node (i.e., the cross-segment instruction just now) can be transmitted to the data forwarding device through the first bus. The data forwarding device forwards the rocket navigation instruction to the second bus, thereby reaching the second node, so that the second node executes the instruction to achieve navigation of the rocket.

[0046] An embodiment of the present invention provides a rocket communication system. Specifically, the rocket communication system includes a navigation and flight subsystem, an engine control subsystem, and a data forwarding device. The navigation and flight subsystem includes A first nodes connected to a first bus, the first nodes being used to calculate the rocket's navigation trajectory, where A is a positive integer. The engine control subsystem includes B second nodes connected to a second bus, the second nodes being used to control the rocket's engine, where B is a positive integer. The data forwarding device is connected to the first bus and also connected to the second bus, and is used to forward cross-segment instructions from the first bus or the second bus. In this way, the devices required for communication on the rocket are divided into different subsystems according to their uses, and instructions are transmitted between the different subsystems via the data forwarding device. This ensures data independence within each subsystem on the rocket, and allows instructions and data required for communication between subsystems to be transmitted. This, to a certain extent, addresses the problem in related art of a large number of single devices on a rocket, resulting in a large number of communications and prone to crosstalk.

[0047] In an embodiment of the present invention, the first node includes at least one of a navigation unit, an inertial measurement combination, a wireless command receiving unit, a first timing and power distribution control unit, and a first lithium battery, wherein the navigation unit is used to calculate the navigation trajectory, the inertial measurement combination is used to calculate the sensitive body attitude of the rocket, the wireless command receiving unit is used to receive instructions transmitted via wireless communication, the first timing and power distribution control unit is used to forward instructions representing the timing of the first network segment corresponding to the first bus, and the first lithium battery is used to supply power to the first node other than the first lithium battery.

[0048] In an embodiment of the present invention, the first bus can be considered a separate network segment in the planning of the communication network, namely, the first network segment corresponding to the first bus. Instructions on the first bus can originate not only from the first node itself but also from cross-segment instructions from the second bus forwarded via a data forwarding device. Furthermore, instructions can also originate from the ground-based transmission and measurement subsystem described below via a data forwarding device. For example, the first timing and power distribution control unit can forward timing instructions corresponding to the first network segment on the first bus. These instructions can originate from the second bus (engine control subsystem) or from the transmission and measurement processor in the ground-based transmission and measurement subsystem described below. For example, the wireless command receiving unit attached to the first bus can not only receive instructions transmitted via wireless communication from the wireless command uplink device of the ground-based transmission and measurement subsystem as described below, but can also receive instructions transmitted via the first bus from other first nodes. The first lithium battery can not only provide power to first nodes other than the first lithium battery but can also transmit or issue power distribution instructions.

[0049] In an embodiment of the present invention, the second node includes at least one of an engine controller, a valve control unit, a swing servo control unit, a second timing and power distribution control unit, and a second lithium battery, wherein the engine controller is used to adjust the thrust and angle of the engine, the valve control unit is used to control the valves in the engine, the swing servo control unit is used to control the angle of the engine main nozzle, the second timing and power distribution control unit is used to forward instructions representing the timing of the second network segment corresponding to the second bus, and the second lithium battery is used to supply power to a second node other than the second lithium battery.

[0050] In this embodiment of the present invention, the second bus can also be considered a separate network segment, namely, the second network segment corresponding to the second bus. Accordingly, commands on the second bus can originate not only from the second node itself but also from cross-segment commands from the first bus forwarded via the data forwarding device, or from the ground-based test and transmission subsystem described below via the data forwarding device. For other descriptions and examples of the second node, refer to the description of the first node, which serves the same purpose, above.

[0051] In an embodiment of the present invention, in order to prevent the first bus or the second bus from being blocked due to excessive load, two buses are set in each network segment for backup, and the two buses are respectively a test bus and a control bus. That is, the first bus includes a first test bus and / or a first control bus, and the second bus includes a second test bus and / or a second control bus. For key control signals or measurement information, they can be sent simultaneously on two buses (i.e., one case is the first test bus and the first control bus, and the other case is the second test bus and the second control bus). Some information that is only sent during testing or information with a lower critical level is only sent to the test bus (i.e., the first test bus or the second test bus), so that the reliability of the necessary information can be effectively guaranteed.

[0052] In an embodiment of the present invention, the first bus and / or the second bus is a Controller Area Network (CAN) bus. The CAN instructions transmitted on the first bus and / or the second bus may be CAN messages, which include at least a message priority (i.e., the critical level described above), a message type (e.g., a control type message or a timing type message), a source device identity (i.e., the unique identity of the first / second node from which the message originates), a destination device identity (i.e., the unique identity of the first / second node to which the message is destined), a bus identifier (i.e., the first bus or the second bus, or even the first test bus or the first control bus within the first bus), and a message number (the unique number of the message). The CAN instructions may be not only the cross-segment instructions described above, but also the wireless instructions from the ground test and transmission subsystem described below, or the wired instructions from the test and transmission processor of the ground test and transmission subsystem via a wired connection described below.

[0053] In an embodiment of the present invention, the controller area network instruction transmitted between the first bus and the second bus includes a source device identity and a destination device identity. The data forwarding device can forward the controller area network instruction to the controller area network bus (first bus or second bus) to which the destination device belongs based on the destination device identity in the controller area network instruction. For example, when the first node serving as the source device sends a controller area network instruction applicable to other first nodes on the first bus, the data forwarding device can determine, after analysis, that the instruction is for the first bus based on the target device identity. In this case, the data forwarding device does not forward the instruction, and the instruction can be directly obtained by the first node corresponding to the destination device identity. If the first node serving as the source device sends a controller area network instruction applicable to the second node, the data forwarding device can determine, after analysis, that the instruction is for the second bus, and then forward the instruction to the second bus. The instruction can also be a cross-segment instruction.

[0054] In an embodiment of the present invention, the rocket communication system may include not only the navigation flight subsystem or the engine control subsystem composed of the communication-related devices in the rocket as described above, but also a ground-based launch subsystem for realizing communication between the rocket and the ground. The ground-based launch subsystem includes:

[0055] A detection and transmission processor connected to the data forwarding device in a bidirectional wired manner, for communicating with the data forwarding device;

[0056] A wireless instruction uplink device that is unidirectionally wirelessly connected to the measurement and transmission processor, and the wireless instruction uplink device is also unidirectionally wirelessly connected to the wireless instruction receiving unit, and the wireless instruction uplink device is used to forward the wireless instruction from the measurement and transmission processor to the wireless instruction receiving unit via a wireless connection.

[0057] In an embodiment of the present invention, the test and launch processor can be a single device or multiple devices. The test and launch processor can be used for communication between the rocket and the ground before the rocket is launched. Since the rocket has not yet been launched and is at the base, two-way communication can be carried out between the test and launch processor and the data forwarding device through an Ethernet wired connection. The Ethernet wired connection between the test and launch processor and the data forwarding device is used. The wired Ethernet between the rocket and the ground is the main link between the ground test and launch subsystem (test and launch processor) and the communication on the rocket (data forwarding device). The test and launch processor is connected to the data forwarding device on the rocket by plugging and unplugging an optical fiber or a network cable. The test and launch processor encapsulates the controller area network instructions to be sent into Ethernet format and sends them to the data forwarding device via a user datagram protocol (UDP) multicast or a transmission control protocol (TCP). The data forwarding device decapsulates the data into a controller area network instruction and sends it to the corresponding bus (first bus or second bus) on the rocket. At the same time, the data to be transmitted from the arrow to the ground (controller local area network instructions) is encapsulated into Ethernet format by the data forwarding device and transmitted via UDP multicast or TCP connection, and is decapsulated and displayed or interpreted by the measurement and transmission processor.

[0058] In an embodiment of the present invention, the Ethernet wired connection between the test and transmission processor and the data forwarding device can also adopt a dual-bus redundant design, assigning different addresses to the two Ethernets. When one Ethernet fails, it can be replaced by switching the address to the other Ethernet.

[0059] In an embodiment of the present invention, not only can the rocket be carried out to the communication between the rocket and the ground before the rocket is launched, but also after the rocket is launched, when the rocket is recovered, the wireless instruction uplink device in the ground test and launch subsystem can be used to realize communication with the rocket. The wireless Ethernet between the rocket and the ground is used as a backup means to realize the communication between the rocket and the ground after the wired connection is lost between the rocket and the ground. Since the recyclable rocket will land at the recovery point after completing the flight process, it is now necessary to carry out post-processing on the recovered rocket, including the discharge of propellant, the work such as battery power failure. Based on safety considerations, the wired connection between the rocket and the ground cannot be manually restored in the conventional process, so it is necessary to control the command by the wireless link uplink. The main link is to send a command to the wireless instruction uplink device by the Ethernet wireless connection of the test and launch processor by one-way (the test and launch processor sends to the wireless instruction uplink device), and the wireless instruction uplink device is further sent to the wireless instruction receiving unit by the Ethernet wireless connection of one-way (the wireless instruction uplink device sends to the wireless instruction receiving unit of the first bus), and then the wireless instruction receiving unit is transferred to the data forwarding device by the first bus. This link is a unidirectional link. To ensure the reliability of the upward transmission of instructions, all instructions require a retransmission mechanism. Before each response to an instruction, the single machine on the arrow (first node / second node) can confirm whether it has responded to the instruction. If it has responded to the instruction, there is no need to respond to the instruction again.

[0060] In an embodiment of the present invention, the detection and transmission processor communicates with the data forwarding device and / or the wireless instruction uplink device via an Ethernet message, and the Ethernet message includes an Ethernet frame header and the controller area network instruction.

[0061] In this embodiment of the present invention, since communication between the test and transmission processor and the data forwarding device is via an Ethernet wired connection, and communication between the test and transmission processor and the wireless command uplink device is via wireless Ethernet, the message sent by the test and transmission processor can be an Ethernet message. The Ethernet message can include an Ethernet frame header, a controller area network (CAN) command for the first bus and / or the second bus, and other data information. The Ethernet frame header can include Ethernet frame header flags, Ethernet data length, source device identification within the Ethernet network, sink device identification within the Ethernet network, Ethernet frame flags, Ethernet message transmission time, Ethernet checksum, and other Ethernet-related information. The content of the CAN command can refer to the description above. The other data information can include the length of the CAN command, etc.

[0062] In an embodiment of the present invention, after receiving the Ethernet message, the wireless command uplink device forwards the Ethernet message to the data forwarding device via the first bus. The data forwarding device decapsulates the received Ethernet message, removes other data information (e.g., data length) from the resulting data content, and then decomposes the Controller Area Network (CAN) command to be transmitted. The data forwarding device then decomposes the CAN command and determines the destination device identifier in the CAN command, then sends the reassembled CAN command to the corresponding network segment for further execution by the destination device.

[0063] In an embodiment of the present invention, based on the above establishment of each controller local area network segment and Ethernet link, in order to realize the above-mentioned interactive communication process, the key lies in the data forwarding device. The data forwarding device can access all CAN bus segments (including the first test bus, the first control bus, the second test bus and the second control bus) and Ethernet (including wired and wireless modes) to realize data forwarding between segments (that is, between subsystems on the arrow) and between arrows and ground. In order to realize that the data forwarding device receives the full amount of data, a save function can be set in the data forwarding device to save the received data to ensure subsequent data processing.

[0064] In order to better understand the rocket communication system provided by the embodiment of the present invention, an example is given. It should be understood that the example is not limiting. Figure 2 A structural diagram of a rocket communication system provided by an embodiment of the present invention is shown as follows: Figure 2 As shown, in this embodiment of the present invention, the navigation flight segment can be the first segment corresponding to the navigation flight subsystem, the navigation flight segment control CAN can be the first control bus, and the navigation flight segment test CAN can be the first test bus. Correspondingly, the engine control segment control CAN can be the second control bus, and the engine control segment test CAN can be the second test bus.

[0065] The navigation flight segment control CAN and the navigation flight segment test CAN, respectively, are connected to the first node: a navigation unit, an inertial measurement unit, a wireless command receiver unit, a first timing and power distribution control unit, and N first lithium batteries, as well as data forwarding equipment. The engine control segment control CAN and the engine control segment test CAN, respectively, are connected to the second node: N engine controllers, N valve control units, N swing servo control units, a second timing and power distribution control unit, and N second lithium batteries, as well as data forwarding equipment.

[0066] In addition, the data forwarding device is also connected to the measurement and transmission processor of the ground measurement and transmission subsystem through a wired Ethernet connection, the measurement and transmission processor is also connected to the wireless command uplink device through a unidirectional wireless Ethernet connection, and the wireless command uplink device is also connected to the wireless command receiving unit as the first node through a unidirectional wireless Ethernet connection.

[0067] In the embodiment of the present invention, after the Figure 2 After the rocket communication system structure is shown, the data information flow during the communication process of the navigation flight segment can be referred to Figure 3 .like Figure 3 As shown, CAN1 can be the first test bus, CAN2 can be the first control bus, CAN3 can be the second test bus, and CAN4 can be the second control bus. The interaction arrows between the first nodes represent the source device and the destination device of the relevant data, and do not represent the direct direction of the data. For example, the interaction between the inertial measurement combination and the navigation unit involves acceleration information. The actual data direction of the acceleration information is uploaded by the inertial measurement combination to the navigation flight segment corresponding to the navigation flight subsystem of the data forwarding device, and then obtained by the navigation unit, thereby realizing data transmission. When it comes to cross-segment instructions, the data forwarding device forwards the cross-segment instructions from the navigation flight segment to the engine control segment. When it comes to interaction with the ground test and transmission subsystem, it can interact with the ground test and transmission processor through the ground wired Ethernet, and it can also interact with the wireless instruction receiving unit and the wireless instruction uplink device through wireless Ethernet.

[0068] Accordingly, the data information flow during the communication process of the engine control network segment can be referred to Figure 4 Data forwarding equipment is used to communicate between the engine control network segment and the ground test and launch subsystem via wired Ethernet. Data forwarding equipment is also used to exchange cross-segment commands between the engine control network segment and the navigation flight network segment. In addition, within the engine control network segment, the arrow signals between the second nodes represent the source device and destination device of the data. During the actual interaction process, the data is still stored in the data forwarding equipment by the source device, and the destination device extracts and uses it through the data forwarding equipment.

[0069] In an embodiment of the present invention, a rocket communication method is also provided, which is applied to Figure 1 or Figure 2 The rocket's communications system is shown. Figure 5 A flow chart of a rocket communication method provided by an embodiment of the present invention is as follows: Figure 5 As shown, the method provided by the embodiment of the present invention includes:

[0070] Step 510: Acquire a target instruction, where the target instruction is the controller area network instruction and / or the Ethernet message.

[0071] Step 520: transmit the target instruction to the destination device according to the destination device identity in the target instruction.

[0072] In an embodiment of the present invention, the rocket communication method can be executed by a data forwarding device. If the target instruction is a controller area network instruction, the data forwarding device can obtain it from the navigation flight subsystem or the engine control subsystem through the controller area network. After obtaining the controller area network instruction, the controller area network instruction is passed to the destination device according to the destination device identity in the controller area network instruction.

[0073] In this embodiment of the present invention, if the target command is an Ethernet message, the data forwarding device can obtain it from the transmission processor in the ground transmission subsystem via wired Ethernet, or from a wireless command receiving unit via wireless Ethernet. Upon receiving the Ethernet message, the data forwarding device first decodes the Ethernet message and then, based on the destination device identifier in the CAN command contained within the Ethernet message, transmits the Ethernet message to the destination device.

[0074] In the embodiment of the present invention, the destination device may be the first node or the second node. In addition, when communicating between the rocket and the ground, the target device may also be the launch and measurement processor in the ground launch and measurement subsystem.

[0075] In an embodiment of the present invention, based on the CAN protocol, the device can be divided into a navigation flight control subsystem and an engine control subsystem according to the device function on the CAN bus, and multiple network segments corresponding to each subsystem can be set to physically isolate the information between the subsystems, ensure that the load pressure on the bus is small, and effectively avoid the situation of error frames and frame loss. At the same time, the data forwarding device is installed on all network segments to ensure that information communication can be carried out between the subsystems, and the data forwarding device is connected to the bus of all network segments, and can also serve as a data recording unit to save the full amount of data. In addition, in an embodiment of the present invention, dual CAN buses and dual Ethernet architectures are set to ensure the redundancy of the communication link and improve the reliability of the required instructions or information.

[0076] Figure 6 A structural diagram of a data forwarding device provided by an embodiment of the present invention. Figure 6As shown, the data forwarding device provided in an embodiment of the present invention includes functional modules such as a main control board, a CAN bus circuit, an Ethernet bus circuit, and a data storage circuit. The main control board provides connection interfaces for various subsystems. The CAN bus circuit connects to the main control board, and four CAN bus circuits are used to transmit circuit data between the navigation and flight control subsystem and the engine control subsystem. The Ethernet bus circuit uses two Ethernet lines to exchange data between the ground test and transmission subsystem's test and transmission processor and the data forwarding device. Furthermore, because the data forwarding device also has certain data storage capabilities, the serial port and CAN line in the data storage circuit are used to store and record data for subsequent forwarding or review.

[0077] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-described rocket communication system.

[0078] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by a processor of the device to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device. When the instructions in the non-transitory computer-readable storage medium are executed by the processor of the electronic device, the electronic device can perform Figure 5 The rocket communication method shown.

[0079] The present application also provides a computer program product, comprising a computer program, which, when executed by a processor, Figure 5 The rocket communication method shown.

[0080] While the above description does not provide detailed technical details regarding the patterning of each layer, those skilled in the art will appreciate that various technical means can be employed to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure. Furthermore, while each embodiment has been described separately, this does not mean that the measures in each embodiment cannot be advantageously combined.

[0081] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0082] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A rocket communication system, characterized in that: The rocket communication system includes a navigation and flight subsystem, an engine control subsystem, and data forwarding equipment; The navigation flight subsystem includes A first nodes connected to a first bus, wherein the first nodes are used to calculate the navigation trajectory of the rocket, where A is a positive integer; The engine control subsystem includes B second nodes connected to the second bus, the second nodes are used to control the engine of the rocket, and B is a positive integer; The data forwarding device is connected to the first bus, and is also connected to the second bus. The data forwarding device is used to forward cross-segment instructions from the first bus or the second bus.

2. The system according to claim 1, wherein: The first node includes at least one of a navigation unit, an inertial measurement combination, a wireless command receiving unit, a first timing and power distribution control unit, and a first lithium battery, wherein the navigation unit is used to calculate the navigation trajectory, the inertial measurement combination is used to calculate the sensitive body attitude of the rocket, the wireless command receiving unit is used to receive instructions transmitted via wireless communication, the first timing and power distribution control unit is used to forward instructions representing the timing of the first network segment corresponding to the first bus, and the first lithium battery is used to supply power to the first node other than the first lithium battery.

3. The system according to claim 2, characterized in that The second node includes at least one of an engine controller, a valve control unit, a swing servo control unit, a second timing and power distribution control unit, and a second lithium battery, wherein the engine controller is used to adjust the thrust and angle of the engine, the valve control unit is used to control the valves in the engine, the swing servo control unit is used to control the angle of the engine main nozzle, the second timing and power distribution control unit is used to forward instructions representing the timing of the second network segment corresponding to the second bus, and the second lithium battery is used to supply power to a second node other than the second lithium battery.

4. The system according to claim 3, characterized in that The first bus includes a first test bus and / or a first control bus; the second bus includes a second test bus and / or a second control bus.

5. The system according to claim 4, characterized in that The first bus and / or the second bus is a controller area network bus, wherein the controller area network instruction transmitted on the first bus and / or the second bus includes at least a message priority, a message type, a source device identity, a destination device identity, a bus flag, and a message number, and the controller area network instruction includes the cross-segment instruction.

6. The system according to claim 5, characterized in that The data forwarding device forwards the CAN command to a CAN bus to which the destination device belongs according to the target device identity in the CAN command.

7. The system according to claim 6, characterized in that The rocket communication system also includes a ground detection and transmission subsystem, which includes: A detection and transmission processor connected to the data forwarding device in a bidirectional wired manner, for communicating with the data forwarding device; A wireless instruction uplink device that is unidirectionally wirelessly connected to the measurement and transmission processor, and the wireless instruction uplink device is also unidirectionally wirelessly connected to the wireless instruction receiving unit, and the wireless instruction uplink device is used to forward the wireless instruction from the measurement and transmission processor to the wireless instruction receiving unit via a wireless connection.

8. The system according to claim 7, characterized in that The detection and transmission processor communicates with the data forwarding device and / or the wireless instruction uplink device via Ethernet messages, wherein the Ethernet messages include an Ethernet frame header and the controller area network instruction.

9. The system according to claim 8, characterized in that After receiving the Ethernet message, the wireless instruction uplink device forwards the Ethernet message to the data forwarding device.

10. A rocket communication method, applied to the rocket communication system according to claim 9, characterized in that: The method comprises: Acquire a target instruction, where the target instruction is the controller area network instruction and / or the Ethernet message; The target instruction is transmitted to the destination device according to the destination device identity in the target instruction.

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