A dual-redundant TTE bus test system for laser inertial measurement unit of launch vehicle

Abstract

A kind of laser inertial unit dual-redundancy TTE bus test system for launch vehicle belongs to launch vehicle laser inertial unit field, the system includes: first end system, second end system, first Ethernet card and second Ethernet card;When the dual-redundancy TTE bus to be tested is in TT mode, select one test Ethernet card from two Ethernet cards;First end system, second end system and test Ethernet card cooperate, test whether the information sending function of two channels in first CPU, second CPU when the dual-redundancy TTE bus to be tested is in TT mode is normal;First end system and first, second Ethernet card cooperate, test whether the information receiving function of two channels in first CPU, second CPU when the dual-redundancy TTE bus to be tested is in TT mode is normal;When the dual-redundancy TTE bus to be tested is in BE mode, the first Ethernet card, second Ethernet card test whether the communication function of two channels in first CPU, second CPU when the dual-redundancy TTE bus to be tested is in BE mode is normal.

Description

Technical Field

[0001] This invention relates to a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles, belonging to the field of laser inertial navigation systems for launch vehicles. Background Technology

[0002] Currently, laser inertial navigation systems (INS) are autonomous navigation core devices centered around laser gyroscopes and integrating components such as accelerometers and inertial measurement units. They do not rely on external navigation signals and possess advantages such as resistance to electromagnetic interference and strong environmental adaptability. Most existing laser INS employ a dual-redundant four-channel TTE bus for data transmission. The TTE bus is a new Ethernet architecture composed of TTE switches and TTE end systems, optimizing traditional Ethernet to address issues such as unstable transmission bandwidth, poor reliability, and uncertain latency and jitter. The dual-redundant four-channel TTE bus uses dual switches to exchange data between four physically independent TTE bus channels (channels A and B form a group, totaling two groups), effectively improving transmission reliability and meeting the aerospace field's requirements for high bandwidth, high reliability, and low latency communication interfaces.

[0003] Before a laser inertial navigation system (INS) is officially deployed in a flight mission, it must undergo comprehensive, multi-dimensional testing of its overall functionality, performance, and interfaces. This comprehensive testing verifies whether the INS' internal instrument acquisition, navigation data processing, bus communication, redundancy backup, and other functional indicators meet the technical requirements of the flight mission, ensuring that the product's functions and performance meet the technical requirements. However, existing laser INS testing systems typically suffer from the following technical problems: First, most existing laser INS testing systems do not integrate a dedicated TTE (Time Triggered Ethernet) bus simulation, data transmission and reception, and protocol parsing module. They lack full-level TTE bus testing capabilities, cannot simulate the onboard scheduling mechanism and high-precision time synchronization logic, and cannot reproduce the actual onboard bus interaction conditions, resulting in the inability to effectively test and verify the TTE bus-related performance. Secondly, even if the existing test system is equipped with a TTE bus test module, it can only perform single-channel TTE bus testing. Even if two independent single-channel TTE test systems are used, they can only test the A and B redundant channels separately. Moreover, the clocks of the A and B channels are independent of each other and there is no unified reference. It is impossible to reproduce the real working conditions such as synchronous interaction and redundancy switching of dual channels on the rocket. It is difficult to fully simulate the typical working scenario of dual-channel bus hot backup. Therefore, it is impossible to accurately assess the fault tolerance, fault isolation performance and redundancy switching reliability of the laser inertial navigation system under the dual redundancy architecture. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of existing technologies and provide a dual-redundant TTE bus test system for laser inertial navigation systems (IINS) used in launch vehicles. This system, through integrated scheduling of two end systems and two Ethernet cards, enables testing of the communication function of the dual-redundant TTE bus in both TT and BE modes, thus solving the problem that existing test systems struggle to test the dual-redundant TTE bus of laser IINS.

[0005] The technical solution of this invention is: A dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles includes: a first end system, a second end system, a first Ethernet card, and a second Ethernet card. When the dual-redundant TTE bus under test is in TT mode, the test system selects one Ethernet card from the first Ethernet card and the second Ethernet card as the test Ethernet card. The first end system and the test Ethernet card work together to test whether the information transmission function of the first channel and the second channel in the first CPU is normal when the dual-redundant TTE bus under test is in TT mode. The second end system and the test Ethernet card work together to test whether the information transmission function of the first channel and the second channel in the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The first end system and the first Ethernet card work together to test whether the information reception function of the first channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The first end system and the second Ethernet card work together to test whether the information reception function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. When the dual-redundant TTE bus under test is in BE mode, the first Ethernet card is used to test whether the communication function of the first channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode; the second Ethernet card is used to test whether the communication function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode.

[0006] Furthermore, the first-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the first CPU are normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the first CPU of the dual-redundant TTE bus under test sends information packets to the first end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame and a telemetry information frame in TT format; the TT format telemetry data frame has a first channel fault flag and a second channel fault flag; when the first channel of the first CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; when the first channel of the first CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel of the first CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel of the first CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1; S2, the first-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the first-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the first CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode.

[0007] Furthermore, the test Ethernet card performs the first CPU sending function discrimination operation as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; if the UDP format inertial measurement data frames and UDP format telemetry data frames are consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frames and UDP format telemetry data frames are continuous, proceed to step S3.2; otherwise, proceed to step S3.3. S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are normal when the dual redundant TTE bus under test is in TT mode, and the first CPU transmission function discrimination operation ends; otherwise, proceed to step S3.3; S3.3, Test the Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the first CPU is abnormal, and the first CPU transmission function discrimination operation ends; otherwise, execute step S3.4. S3.4 Test the Ethernet card to determine whether the second channel abnormality flag bit in the UDP format telemetry data frame is 1; if the second channel abnormality flag bit in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the first CPU is normal; otherwise, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are both abnormal when the dual redundant TTE bus under test is in TT mode.

[0008] Furthermore, the second-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the second CPU are normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the second CPU of the dual-redundant TTE bus under test sends information packets to the second end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame and a telemetry information frame in TT format; the TT format telemetry data frame has a first channel fault flag and a second channel fault flag; when the first channel of the second CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; when the first channel of the second CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel of the second CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel of the second CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1; S2, the second-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the second-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the second CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode.

[0009] Furthermore, the test Ethernet card performs the second CPU sending function discrimination operation as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; if the UDP format inertial measurement data frames and UDP format telemetry data frames are consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frames and UDP format telemetry data frames are continuous, proceed to step S3.2; otherwise, proceed to step S3.3. S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, it is determined that the information transmission functions of the first channel and the second channel in the second CPU are normal when the dual redundant TTE bus under test is in TT mode, and the second CPU transmission function discrimination operation ends; otherwise, proceed to step S3.3; S3.3, Test the Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is abnormal, and the second CPU transmission function discrimination operation ends; otherwise, execute step S3.4. S3.4 Test the Ethernet card to determine whether the second channel abnormality flag bit in the UDP format telemetry data frame is 1; if the second channel abnormality flag bit in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is normal; otherwise, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are both abnormal when the dual redundant TTE bus under test is in TT mode.

[0010] Furthermore, the specific process of testing whether the information reception function of the first channel in the first CPU and the second CPU is normal when the first terminal system and the first Ethernet card work together in TT mode is as follows: S1, the first Ethernet card sends a data instruction frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the first Ethernet card in BE mode; S5, the first Ethernet card determines whether it has received a response from the first CPU within a preset waiting time; if the first Ethernet card receives a response from the first CPU within the preset waiting time, it is determined that the information receiving function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the first Ethernet card determines whether it has received a reply from the second CPU within a preset waiting time; if the first Ethernet card receives a reply from the second CPU within the preset waiting time, it is determined that the information receiving function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode.

[0011] Furthermore, the first-end system and the second Ethernet card work together to test whether the information reception function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the second Ethernet card sends a data command frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the second channel of the first CPU and the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the second Ethernet card in BE mode; S5, the second Ethernet card determines whether it has received a reply from the first CPU within a preset waiting time; if the second Ethernet card receives a reply from the first CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the second Ethernet card determines whether it has received a response from the second CPU within a preset waiting time; if the second Ethernet card receives a response from the second CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode.

[0012] Furthermore, the specific process for testing whether the communication function of the first channel in the first CPU and the second CPU is normal when the first Ethernet card is in BE mode is as follows: S1, the first Ethernet card sends data commands to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends a first CPU response command to the first Ethernet card through the first channel of the first CPU; after receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends a second CPU response command to the first Ethernet card through the first channel of the second CPU. S3, the first Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the first Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

[0013] Furthermore, the specific process for testing whether the communication function of the second channel in the first CPU and the second CPU is normal when the second Ethernet card is in BE mode is as follows: S1, the second Ethernet card sends data commands to the first CPU and the second CPU respectively through the second channel of the first CPU and the second channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends a first CPU response command to the second Ethernet card through the second channel of the first CPU; after receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends a second CPU response command to the second Ethernet card through the second channel of the second CPU. S3, the second Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the second Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

[0014] The advantages of this invention compared to the prior art are: (1) This invention achieves the testing of the communication function of the dual redundant TTE bus in TT mode and BE mode by comprehensively scheduling two end systems and two Ethernet cards, and can effectively detect whether the TTE bus has a fault.

[0015] (2) By synchronously testing whether the information sending or receiving functions of the first and second channels in the first CPU of the TTE bus are normal, this invention can effectively test the working condition of the TTE bus under real working conditions such as dual-channel synchronous interaction and redundancy switching, thus ensuring the accuracy and reliability of the test.

[0016] (3) When the dual redundant TTE bus under test is in TT mode, the present invention can use the end system and Ethernet card to test the data sending and receiving functions of the TTE bus separately. Since the communication process is more complicated when the dual redundant TTE bus under test is in TT mode, this test method can effectively test whether the system data sending and receiving functions are normal and ensure test accuracy.

[0017] (4) When the dual redundant TTE bus under test is in BE mode, the present invention can quickly test the communication function of the TTE bus using the end system and Ethernet card. Since the communication process is relatively simple when the dual redundant TTE bus under test is in BE mode, the test method can test the bus communication function in one go, which greatly improves the system test efficiency while ensuring test accuracy. Attached Figure Description

[0018] Figure 1 This invention provides a signal flow diagram of a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles during information transmission function testing of the dual-redundant TTE bus under test in TT mode. Figure 2 This invention provides a signal flow diagram of a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles during information reception function testing of a dual-redundant TTE bus under test in TT mode. Figure 3 This is a signal flow diagram of a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles during communication function testing of the dual-redundant TTE bus under test in BE mode, as described in this invention. Figure 4 This is a schematic diagram of the architecture of a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to the present invention. Figure 5 This is a connection diagram of a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to the present invention. Detailed Implementation

[0019] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0020] like Figure 4 As shown, the present invention provides a dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles, comprising: a first end system, a second end system, a first Ethernet card, and a second Ethernet card; When the dual redundant TTE bus under test is in TT mode, the test system selects one Ethernet card from the first Ethernet card and the second Ethernet card as the test Ethernet card. The first-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the first CPU are normal when the dual-redundant TTE bus under test is in TT mode; simultaneously, the second-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the second CPU are normal when the dual-redundant TTE bus under test is in TT mode; the system operation diagram is as follows. Figure 1 As shown; The first-end system and the first Ethernet card work together to test whether the information reception function of the first channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode; simultaneously, the first-end system and the second Ethernet card work together to test whether the information reception function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode; the system operation diagram is as follows. Figure 2 As shown; When the dual-redundant TTE bus under test is in BE mode, the first Ethernet card tests whether the communication function of the first channel between the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode; the second Ethernet card tests whether the communication function of the second channel between the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode; the system operation diagram is as follows. Figure 3 As shown.

[0021] This invention can effectively test the working condition of the TTE bus under real-world conditions such as dual-channel synchronous interaction and redundancy switching by synchronously testing the first and second channels in the first CPU of the TTE bus and synchronously testing the information sending or receiving functions of the first and second channels in the second CPU, thus ensuring the accuracy and reliability of the test.

[0022] Furthermore, the first-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the first CPU are normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the first CPU of the dual-redundant TTE bus under test sends information packets to the first end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame and a telemetry information frame in TT format; the TT format telemetry data frame has a first channel fault flag and a second channel fault flag; when the first channel of the first CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; when the first channel of the first CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel of the first CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel of the first CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1; S2, the first-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the first-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the first CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode.

[0023] Furthermore, the test Ethernet card performs the first CPU sending function discrimination operation as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; if the UDP format inertial measurement data frames and UDP format telemetry data frames are consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frames and UDP format telemetry data frames are continuous, proceed to step S3.2; otherwise, proceed to step S3.3. S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are normal when the dual redundant TTE bus under test is in TT mode, and the first CPU transmission function discrimination operation ends; otherwise, proceed to step S3.3; S3.3, Test the Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the first CPU is abnormal, and the first CPU transmission function discrimination operation ends; otherwise, execute step S3.4. S3.4 Test the Ethernet card to determine whether the second channel fault flag in the UDP format telemetry data frame is 0; if the second channel fault flag in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the first CPU is normal; otherwise, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are both abnormal when the dual redundant TTE bus under test is in TT mode.

[0024] Furthermore, the second-end system and the test Ethernet card work together to test whether the information transmission functions of the first and second channels in the second CPU are normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the second CPU of the dual-redundant TTE bus under test sends information packets to the second end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame and a telemetry information frame in TT format; the TT format telemetry data frame has a first channel fault flag and a second channel fault flag; when the first channel of the second CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; when the first channel of the second CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel of the second CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel of the second CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1; S2, the second-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the second-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the second CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode.

[0025] Furthermore, the test Ethernet card performs the second CPU sending function discrimination operation as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; if the UDP format inertial measurement data frames and UDP format telemetry data frames are consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frames and UDP format telemetry data frames are continuous, proceed to step S3.2; otherwise, proceed to step S3.3. S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, it is determined that the information transmission functions of the first channel and the second channel in the second CPU are normal when the dual redundant TTE bus under test is in TT mode, and the second CPU transmission function discrimination operation ends; otherwise, proceed to step S3.3; S3.3, Test the Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is abnormal, and the second CPU transmission function discrimination operation ends; otherwise, execute step S3.4. S3.4 Test the Ethernet card to determine whether the second channel abnormality flag bit in the UDP format telemetry data frame is 1; if the second channel abnormality flag bit in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is normal; otherwise, it is determined that the information transmission functions of the first channel and the second channel in the first CPU are both abnormal when the dual redundant TTE bus under test is in TT mode.

[0026] Furthermore, the specific process of testing whether the information reception function of the first channel in the first CPU and the second CPU is normal when the first terminal system and the first Ethernet card work together in TT mode is as follows: S1, the first Ethernet card sends a data instruction frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the first Ethernet card in BE mode; S5, the first Ethernet card determines whether it has received a response from the first CPU within a preset waiting time; if the first Ethernet card receives a response from the first CPU within the preset waiting time, it is determined that the information receiving function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the first Ethernet card determines whether it has received a reply from the second CPU within a preset waiting time; if the first Ethernet card receives a reply from the second CPU within the preset waiting time, it is determined that the information receiving function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode.

[0027] Furthermore, the first-end system and the second Ethernet card work together to test whether the information reception function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The specific process is as follows: S1, the second Ethernet card sends a data command frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the second channel of the first CPU and the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the second Ethernet card in BE mode; S5, the second Ethernet card determines whether it has received a reply from the first CPU within a preset waiting time; if the second Ethernet card receives a reply from the first CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the second Ethernet card determines whether it has received a response from the second CPU within a preset waiting time; if the second Ethernet card receives a response from the second CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode.

[0028] Furthermore, the specific process for testing whether the communication function of the first channel in the first CPU and the second CPU is normal when the first Ethernet card is in BE mode is as follows: S1, the first Ethernet card sends data commands to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends a first CPU response command to the first Ethernet card through the first channel of the first CPU; after receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends a second CPU response command to the first Ethernet card through the first channel of the second CPU. S3, the first Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the first Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

[0029] Furthermore, the specific process for testing whether the communication function of the second channel in the first CPU and the second CPU is normal when the second Ethernet card is in BE mode is as follows: S1, the second Ethernet card sends data commands to the first CPU and the second CPU respectively through the second channel of the first CPU and the second channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends a first CPU response command to the second Ethernet card through the second channel of the first CPU; after receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends a second CPU response command to the second Ethernet card through the second channel of the second CPU. S3, the second Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the second Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

[0030] Through the above design, this invention uses an end system and an Ethernet card to separately test the data transmission and reception functions of the TTE bus of a laser inertial navigation system (INS), effectively detecting whether the TTE bus is faulty. The detection results are highly accurate and the process is simple. Furthermore, when the dual-redundant TTE bus under test is in TT mode, the end system and Ethernet card can be used to separately test the data transmission and reception functions of the TTE bus. Since the communication process is relatively complex when the dual-redundant TTE bus under test is in TT mode, this testing method can effectively test whether the system's data transmission and reception functions are normal, ensuring test accuracy. When the dual-redundant TTE bus under test is in BE mode, the end system and Ethernet card can be used to quickly test the communication function of the TTE bus. Since the communication process is relatively simple when the dual-redundant TTE bus under test is in BE mode, this testing method performs a one-time test of the bus communication function, greatly improving system testing efficiency while ensuring test accuracy.

[0031] Example: Testing a dual-redundant TTE bus for a laser inertial navigation system using a TTE bus testing system. The aforementioned TTE bus test system was used to test the dual-redundant TTE bus of the laser inertial navigation system. The entire dual-redundant TTE bus network includes 2 Ethernet cards, 2 TTE switches, and 4 TTE end systems (2 of which are the 2 computer circuits of the laser inertial navigation system). The two switches serve as the center of the TTE network, each connecting 4 end systems and 1 Ethernet card. Each end system has two redundant backup channels, forming a redundant system. This ensures that if the link corresponding to one switch fails, the other link can still communicate normally, thus guaranteeing the reliability of the link and increasing the fault tolerance of the network.

[0032] After establishing the dual-redundant TTE bus structure, network configuration and transmission link planning were performed on each end node and switch within the dual-redundant TTE bus structure. First, the ID, IP address, MAC address, gateway, and other information of the end systems and switches were configured. Basic parameters, network topology, and link planning were configured using TTE network configuration planning and management software, and the link planning configuration parameters were then fixed to the two switch systems and four end systems, enabling TT-mode transmission between the four end systems. The connection diagram of the entire test system and the laser inertial navigation dual-redundant TTE bus is shown below. Figure 5 As shown, the two end systems of the test system are connected to the switch via LAN ports, and then the switch is connected to the two LANs of the dual redundant TTE bus to achieve corresponding communication.

[0033] After completing the configuration of the dual-redundant TTE bus structure, the dual-redundant TTE bus structure was tested using a TTE bus testing system. The specific process is as follows: The first step is to select one Ethernet card from the first Ethernet card and the second Ethernet card as the test Ethernet card; The second step is to use the first-end system and the test Ethernet card to test whether the information transmission functions of the first and second channels in the first CPU are normal when the dual redundant TTE bus under test is in TT mode. The third step is to use the second-end system and the test Ethernet card to test whether the information transmission functions of the first and second channels in the second CPU are normal when the dual redundant TTE bus under test is in TT mode. The fourth step is to use the first end system and the first Ethernet card to test whether the information receiving function of the first channel in the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in TT mode. Fifth step: Using the first end system and the second Ethernet card, test whether the information receiving function of the second channel in the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in TT mode. Step 6: Use the first Ethernet card to test whether the communication function of the first channel in the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in BE mode. Step 7: Use the second Ethernet card to test whether the communication function of the second channel in the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in BE mode.

[0034] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles, characterized in that, include: First end system, second end system, first Ethernet card and second Ethernet card; When the dual-redundant TTE bus under test is in TT mode, the test system selects one Ethernet card from the first Ethernet card and the second Ethernet card as the test Ethernet card. The first end system and the test Ethernet card work together to test whether the information transmission function of the first channel and the second channel in the first CPU is normal when the dual-redundant TTE bus under test is in TT mode. The second end system and the test Ethernet card work together to test whether the information transmission function of the first channel and the second channel in the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The first end system and the first Ethernet card work together to test whether the information reception function of the first channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. The first end system and the second Ethernet card work together to test whether the information reception function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in TT mode. When the dual-redundant TTE bus under test is in BE mode, the first Ethernet card is used to test whether the communication function of the first channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode; the second Ethernet card is used to test whether the communication function of the second channel in the first CPU and the second CPU is normal when the dual-redundant TTE bus under test is in BE mode.

2. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the information transmission functions of the first and second channels in the first CPU are normal when the dual-redundant TTE bus under test is in TT mode, in cooperation with the first-end system and the test Ethernet card, is as follows: S1, the first CPU of the dual-redundant TTE bus under test sends information packets to the first end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame in TT format and a telemetry information frame in TT format; the telemetry data frame in TT format has a first channel fault flag and a second channel fault flag; when the first channel of the first CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; When the first channel in the first CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel in the first CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel in the first CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1. S2, the first-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the first-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the first CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode.

3. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 2, characterized in that: The test Ethernet card performs the first CPU sending function discrimination operation as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; If the UDP format inertial measurement data frame and the UDP format telemetry data frame are both consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frame and the UDP format telemetry data frame are both continuous, then proceed to step S3.

2. Otherwise, proceed to step S3.3; S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, then it is determined that the information transmission functions of the first channel and the second channel in the first CPU are normal when the dual redundant TTE bus under test is in TT mode, and the first CPU transmission function discrimination operation ends. Otherwise, proceed to step S3.3; S3.3 Test Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the first CPU is abnormal, and the first CPU transmission function discrimination operation ends. Otherwise, proceed to step S3.4; S3.4 Test whether the second channel abnormality flag bit in the UDP format telemetry data frame is 1 in the Ethernet card test. If the second channel fault flag in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the first CPU is abnormal when the dual-redundant TTE bus under test is in TT mode, while the information transmission function of the second channel in the first CPU is normal; otherwise, it is determined that the information transmission functions of both the first and second channels in the first CPU are abnormal when the dual-redundant TTE bus under test is in TT mode.

4. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the information transmission functions of the first and second channels in the second CPU are normal when the dual-redundant TTE bus under test is in TT mode, in cooperation with the second-end system and the test Ethernet card, is as follows: S1, the second CPU of the dual-redundant TTE bus under test sends information packets to the second end system of the test system through the first channel and the second channel respectively; each information packet includes an inertial measurement information frame in TT format and a telemetry information frame in TT format; the telemetry data frame in TT format has a first channel fault flag and a second channel fault flag; when the first channel of the second CPU of the dual-redundant TTE bus under test is faulty, the first channel fault flag is set to 0; When the first channel in the second CPU of the dual-redundant TTE bus under test is normal, the first channel fault flag is set to 1; when the second channel in the second CPU of the dual-redundant TTE bus under test is faulty, the second channel fault flag is set to 0; when the second channel in the second CPU of the dual-redundant TTE bus under test is normal, the second channel fault flag is set to 1. S2, the second-end system performs redundancy removal on the two received information packets, retaining only one of the information packets; the second-end system converts the TT format inertial measurement data frames and TT format telemetry data frames in the retained information packet into UDP format and sends them to the test Ethernet card. S3, test the Ethernet card based on UDP format inertial measurement data frames and UDP format telemetry data frames, execute the second CPU sending function discrimination operation, and determine whether the information sending function of the first channel and the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode.

5. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 4, characterized in that: The specific steps of the test Ethernet card performing the second CPU sending function discrimination operation are as follows: S3.1, The test Ethernet card compares the UDP format inertial measurement data frames and UDP format telemetry data frames with the preset standard data frame format respectively; If the UDP format inertial measurement data frame and the UDP format telemetry data frame are both consistent with the preset standard data frame format, and the frame count values ​​of the UDP format inertial measurement data frame and the UDP format telemetry data frame are both continuous, then proceed to step S3.

2. Otherwise, proceed to step S3.3; S3.2, Test the Ethernet card to determine whether the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1; if the values ​​of the first channel abnormal flag bit and the second channel abnormal flag bit in the UDP format telemetry data frame are both 1, then it is determined that the information transmission functions of the first channel and the second channel in the second CPU are normal when the dual redundant TTE bus under test is in TT mode, and the second CPU transmission function discrimination operation ends. Otherwise, proceed to step S3.3; S3.3 Test Ethernet card to determine whether the first channel abnormal flag bit in the UDP format telemetry data frame is 1; if the first channel abnormal flag bit in the UDP format telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is abnormal, and the second CPU transmission function discrimination operation ends. Otherwise, proceed to step S3.4; S3.4 Test whether the second channel abnormality flag bit in the UDP format telemetry data frame is 1 in the Ethernet card test. If the second channel fault flag in the telemetry data frame is 1, it is determined that the information transmission function of the first channel in the second CPU is abnormal when the dual-redundant TTE bus under test is in TT mode, and the information transmission function of the second channel in the second CPU is normal; otherwise, it is determined that the information transmission functions of both the first and second channels in the second CPU are abnormal when the dual-redundant TTE bus under test is in TT mode.

6. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the information reception function of the first channel in the first CPU and the second CPU is normal when the first-end system and the first Ethernet card work together in TT mode is as follows: S1, the first Ethernet card sends a data instruction frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the first Ethernet card in BE mode; S5, the first Ethernet card determines whether it has received the first CPU response within the preset waiting time; If the first Ethernet card receives a response from the first CPU within the preset waiting time, it is determined that the information receiving function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the first Ethernet card determines whether it has received a second CPU response within the preset waiting time; If the first Ethernet card receives a response from the second CPU within a preset waiting time, it is determined that the information receiving function of the first channel in the second CPU is normal when the dual-redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the first channel in the second CPU is abnormal when the dual-redundant TTE bus under test is in TT mode.

7. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the information reception function of the second channel in the first CPU and the second CPU is normal when the first-end system and the second Ethernet card work together in TT mode is as follows: S1, the second Ethernet card sends a data command frame to the first end system in UDP format; S2, after the first system converts the data instruction frame into TT format, it sends it to the first CPU and the second CPU respectively through the second channel of the first CPU and the second CPU. S3, after both the first CPU and the second CPU receive the data instruction frame, they execute the preset instruction content within the data instruction frame; S4, the first CPU and the second CPU respectively send the first CPU response and the second CPU response to the second Ethernet card in BE mode; S5, the second Ethernet card determines whether it has received the first CPU response within the preset waiting time; If the second Ethernet card receives a response from the first CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in TT mode. S6, the second Ethernet card determines whether it has received a second CPU response within the preset waiting time; If the second Ethernet card receives a response from the second CPU within the preset waiting time, it is determined that the information receiving function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in TT mode; otherwise, it is determined that the information receiving function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in TT mode.

8. The dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the communication function of the first channel between the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in BE mode is as follows: S1, the first Ethernet card sends data commands to the first CPU and the second CPU respectively through the first channel of the first CPU and the first channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends the first CPU response to the first Ethernet card through the first channel of the first CPU; After receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends the second CPU response instruction to the first Ethernet card through the first channel of the second CPU. S3, the first Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the first channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the first Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the first channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the first channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

9. A dual-redundant TTE bus test system for laser inertial navigation systems used in launch vehicles according to claim 1, characterized in that: The specific process for testing whether the communication function of the second channel between the first CPU and the second CPU is normal when the dual redundant TTE bus under test is in BE mode is as follows: S1, the second Ethernet card sends data commands to the first CPU and the second CPU respectively through the second channel of the first CPU and the second channel of the second CPU; S2, after receiving the data instruction, the first CPU executes the preset instruction content within the data instruction and sends the first CPU response to the second Ethernet card through the second channel of the first CPU; After receiving the data instruction, the second CPU executes the preset instruction content within the data instruction and sends the second CPU response instruction to the second Ethernet card through the second channel of the second CPU. S3, the second Ethernet card compares the first CPU response with the preset standard data response frame format. If the first CPU response is consistent with the preset standard data response frame format and the frame count value of the first CPU response is continuous, it is determined that the communication function of the second channel in the first CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the first CPU is abnormal when the dual redundant TTE bus under test is in BE mode. S4, the second Ethernet card compares the second CPU response with the preset standard data response frame format. If the second CPU response is consistent with the preset standard data response frame format and the frame count value of the second CPU response is continuous, it is determined that the communication function of the second channel in the second CPU is normal when the dual redundant TTE bus under test is in BE mode; otherwise, it is determined that the communication function of the second channel in the second CPU is abnormal when the dual redundant TTE bus under test is in BE mode.

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