基于VxWorks的星载软件设计及其一体化测试平台
摘要
深空探测是21世纪世界宇航大国关注的焦点,深空探测器自主技术是当前研究的热点,星载软件是实现探测器自主运行的基础。本学位论文结合民用航天项目的需求,研究了探测器自主星载软件设计的相关问题。
因为目前公开的国内外工程化的星载软件设计资料匮乏,同时嵌入式系统开发又具有难度高的特点,所以本文需要解决建立星载软件硬件、软件条件;研究星载软件标准化;设计开放的星载软件体系结构;设计一体化星载软件测试系统这四个问题。
针对这四个问题,本文主要工作包括:
(1)参考国外星载机的设计规范,结合课题星载软件对硬件的要求,提出星载机设计需求。依据需求研制星载机,并进行VxWorks操作系统BSP移植和裁减;
(2)整理分析CCSDS有关板上数据系统的推荐标准体系,进行星载软件数据标准化设计,为星载软件编码提供规范文挡,再总结设计流程;
(3)设计基于实时数据库的参数化星载软件数据管理平台,提出参数化虚拟接口概念,将星上所有软硬件资源参数化,使星载应用软件模块面对同一的虚拟参数接口。并在此基础上设计自主GNC任务;
(4)参考国内外仿真测试系统设计文献,引入嵌入式领域最新技术,为星载软件的开发和测试设计一体化集成测试平台。
Deep space exploration is the 21st century world aerospace power concern, deep space probes and independent technology research is the current hot, on-board software design is the core detectors autonomy. The degree thesis researches the independent on-board detector design of software related issues.
Because of the public at home and abroad-engineering of on-board lack of information on the software design, meanwhile embedded systems development and has the characteristics of high degree of difficulty. This paper is the need to address the establishment of on-board software and hardware, and software. Research the on-board software standardization. Design its architecture. Design on-board software integration testing system to these four problems.
The main contents of this paper is:
(1) With reference to foreign-board machine design specifications contained in connection with the topic of software-hardware requirements, on-board machine design needs. Based on the development needs of on-board aircraft, and VxWorks BSP transplantation and reduction;
(2) Analysis of CCSDS collate data on the system board recommended standard system, on-board software for data standardization of design, on-board software for coding the text block with a standardized, and then summing up the design process;
(3) Based on the real-time database design parameters of the on-board data management software platform, virtual interface parameters of the concept, Star of all parameters of the hardware and software resources, on-board application software module face the same virtual interface parameters. And on this basis GNC independent design tasks;
(4) Domestic and international reference simulation test system design documentation, embedded areas of the introduction of the latest technology, on-board software for the design development and testing Integration Test Platform.
因为目前公开的国内外工程化的星载软件设计资料匮乏,同时嵌入式系统开发又具有难度高的特点,所以本文需要解决建立星载软件硬件、软件条件;研究星载软件标准化;设计开放的星载软件体系结构;设计一体化星载软件测试系统这四个问题。
针对这四个问题,本文主要工作包括:
(1)参考国外星载机的设计规范,结合课题星载软件对硬件的要求,提出星载机设计需求。依据需求研制星载机,并进行VxWorks操作系统BSP移植和裁减;
(2)整理分析CCSDS有关板上数据系统的推荐标准体系,进行星载软件数据标准化设计,为星载软件编码提供规范文挡,再总结设计流程;
(3)设计基于实时数据库的参数化星载软件数据管理平台,提出参数化虚拟接口概念,将星上所有软硬件资源参数化,使星载应用软件模块面对同一的虚拟参数接口。并在此基础上设计自主GNC任务;
(4)参考国内外仿真测试系统设计文献,引入嵌入式领域最新技术,为星载软件的开发和测试设计一体化集成测试平台。
Deep space exploration is the 21st century world aerospace power concern, deep space probes and independent technology research is the current hot, on-board software design is the core detectors autonomy. The degree thesis researches the independent on-board detector design of software related issues.
Because of the public at home and abroad-engineering of on-board lack of information on the software design, meanwhile embedded systems development and has the characteristics of high degree of difficulty. This paper is the need to address the establishment of on-board software and hardware, and software. Research the on-board software standardization. Design its architecture. Design on-board software integration testing system to these four problems.
The main contents of this paper is:
(1) With reference to foreign-board machine design specifications contained in connection with the topic of software-hardware requirements, on-board machine design needs. Based on the development needs of on-board aircraft, and VxWorks BSP transplantation and reduction;
(2) Analysis of CCSDS collate data on the system board recommended standard system, on-board software for data standardization of design, on-board software for coding the text block with a standardized, and then summing up the design process;
(3) Based on the real-time database design parameters of the on-board data management software platform, virtual interface parameters of the concept, Star of all parameters of the hardware and software resources, on-board application software module face the same virtual interface parameters. And on this basis GNC independent design tasks;
(4) Domestic and international reference simulation test system design documentation, embedded areas of the introduction of the latest technology, on-board software for the design development and testing Integration Test Platform.
引文
1 P.A.Regeon, R.J.Chapman, R.Baugh, Clementine: The Deep Space Program Science Experiment, presented at the Clementine Engineering and Technology Workshop, Lake Tahoe, July 18-19, 1994(2):57~59.
2 Paul Regeon, R.Jack Chapman. Clementine Lunar Orbiter Spacecraft System Design. Advances in Astronautical Sciences. V.89, 501-513, 1995. AAS 95-130:23~26.
3余金培等.现代小卫星技术与应用.上海科学普及出版社, 2004:80~81.
4李孝同等.小卫星星务管理技术.中国空间科学技术, 2001:30~35.
5李建平等.火星之旅揭秘.计算机世界报, 2004,20(5):42~44.
6当前优先发展的高技术产业化重点领域指南(2004年度).中华人民共和国国家发展和改革委员会,中华人民共和国科学技术部,中华人民共和国商务部, 2004:352~360.
7 Peter Seebach. A cross-development primer. developerWorks,2003.11:21-22
8罗蕾等.嵌入式系统开放式交叉开发环境的研究.计算机与数字工程,1995,6(20):41~44
9谭维炽等.CCSDS标准星载数据系统的优化设计方法.遥测遥控.2001,2:21-23
10 Telemetry Summary of Concept and Rationale. CCSDS100.02G21.Issus1. Green Book. Consultative Committee for Space Data Systems, Dec.1987:26~30.
11于志坚等.在我国实施CCSDS标准的基本构想.遥测遥控,1999.20(6):15-23
12李孝同.“实践五号”卫星星务管理系统.中国空间科学技术.2000.10(5):30-34.
13廖明宏等.小卫星姿控与星务管理的一体化设计.中国空间科学技术,2001.4(2):310-325.
14徐瑞.基于多智能体的深空探测器自主任务规划方法与系统实现.哈尔滨工业大学博士论文. 2004:1~18.
15 Standard Frequencies and Time Signals. Volume 7 of Recommendations and Reports of the CCIR: XVIIth Plenary Assembly. Geneva: CCIR, 1990:78~82.
16 Robert, ES, Robert, R S. The NASA Data Standardization Program Rationale and Scope. ITC 1983: 820~827.
17 Moyd K. MacMedan, M. Application of CCSDS Packet Telemtery Recommendation by JPL. AIAA-90-5050.2005:21~25.
18 B. C. Williams, P. P. Nayak. A model-based approach to reactive self-configuring systems. In Proceedings National Conference on Artificial Intelligence, Portland, OR, August 1996:20~23.
19 IEEE Standard for Binary Floating-Point Arithmetic. IEEE Std 754-1985. New York:IEEE, 2005:21~24.
20 Standard Frequencies and Time Signals. Volume 7 of Recommendations and Reports of the CCIR: XVIIth Plenary Assembly. Geneva: CCIR, 2000:25~27.
21 Procedures Manual for the Consultative Committee for Space Data Systems. CCSDS A00.0-Y-9. Yellow Book. Issue 9, November 2003:56~58.
22 K. H. Kim. Middleware of Real-Time Object Based Fault-Tolerant Dist-ributed Computing Systems: Issues and Some Approaches. Proceedings of Pacific Rim International Symposium on Dependable Computing, 2001:3~7.
23蒋鲲鹏,芦东昕,缪敬. Linux与VxWorks的板级支持包开发的比较与分析.计算机工程. 2003, 29(22): 51~53.
24林建民.嵌入式操作系统技术发展趋势.计算机工程. 2001, 27(10):1~4.
25洪洋,白岚. VxWorks实时操作系统的BSP开发.光电技术应用. 2003, (3): 35~39.
26周启平,张扬. VxWorks下设备驱动程序以及BSP开发指南.中国电力出版社, 2004: 4~5.
27汤小明,李引娟. VxWorks环境下串口驱动程序设计.微机发展. 2003, 13(1): 42~45.
28芮力,芮雨,俞志强.实时操作系统VxWorks下设备驱动程序的设计.空间雷达学院学报. 2001, 15(1): 41~43.
29李捷,王汝传.基于VxWorks设备驱动程序实现技术的研究.南京邮电学院学报. 2003, 23(2):68~70.
30 P. A. Morris, A. T. Beling. Space Shuttle RTOS Bayesian Network. Diaital Avionics Systems, 2001, 1(4): 1~13.
31 H. R. Simpson. Temporal Aspects of Real-Time System Design. IEEE Colloquium on Methods and Techniques for Real-Time System Development, 1994,1:1~9.
32喻德.嵌入式调试方法分析及基于VxWorks的调试工具实现.电子科技大学硕士学位论文. 2002: 8~23.
33孔祥营,柏桂枝.嵌入式实时操作系统VxWorks及其开发环境Tornado.电力出版社, 2002: 27~31.
34 Tornado User’s Guide 2.0. WindRiver Systems, Inc. 2000:15~200.
35王炳全,崔祜涛,杨涤.仅用反作用轮进行小卫星姿态大角度机动.飞行力学.1999.17(1):86~90.
36孙兆伟,耿云海,何平.小卫星大角度姿态机动控制研究及半实物仿真.航天控制.2000.12(1):15~18.
37吕振铎,轨道机动期间的姿态控制,中国空间科学技术1994,(5):30~40.
38 P.DeLaHunt, S.Gates, M.Levenson, and G.Creamer.Clementine Attitude Determination and ControlS ystem.J ournalo f Spacecraft and Rockets 1995,32(6):1054~1059.
39 G.Creamer,P .DeLaHunt,S .Gates,a ndM .Levenson.A titudeD etermination and C on trolo fC lementineD uringL unarM apping.J ournalo fG uidance Co ntr ol an dD ynamics.1 996,19(3):505~511.
40 J.Farazian, R.McEwen, and R.Tod. Msti 3 Star Tracker Atitude De ter mi nationa ndE stimationA lgorithm.A IAA-96-374:43~56.
41 L. Y. Bar-itzhack, Y. oshman. Attitude Determination from Vector Observations: Quaternion Estimation. IEEE Transactions on Aerospace and Electronic Systems,Vol.21,No.1,1985:43~58.
42 M.IDAN. Estimation of Rodrigues Parameters From Vector Observations. IEEE Transactions on Aerospace and Electronic Systems.Vol.32, No.2, 1996:32~46.
43 M. D. Shuster. Kalman Filtering of Spacecraft Attitude and the QUEST Model. Joumal of Astronautical Sciences. Vol. 38, No.3, 1990:89~91.
44 Itzhack Y.Bar-Itzhack, Jocob Reiner. Recursive Attitude Determination from Vector Observations: Direction Cosine Matrix Identification. Journal of Guidance Control & Dynamics, Vol.7, No. l, 1984:12~34.
45 Yaakov Oshman. F.L. Markley. Minimal-Parameter Attitude Matrix Estimation From Vector Observations.AIAA-97-3451:54~67.
46 J. A. Sorensen, S. F. Schmidt, T. Goka. Application of Square-Root Filtering for Spacecraft Attitude Control. Journal of Guidance Control&Dynamics.Vol.2, No.5, 1979:20~23.
47 Andy Wu. Normal Mode Attitude Determination Algorithm Extended KalmanFiltering Approach. AIAA-97-3525:32~40.
48 Thomas E. Strikwerda, J. courtney Ray,David R.Haley.The Near Guidance and Control System. Johns Hopkins APL Technical Digest ,1998(19):207~209
49 J. L. Crassidis, F. L. Markley. A Minimum Model Error Approach for Atitude Estimation. AIAA-95-3276-CP:32~35.
50 MALAB User’s Guide. The Math Work Inc, 1998:23~90.
51张永林,隶彦,李众.在SIMULINK中创建用户定义模块.华东船舶工业学院学报(自然科学版). 2001,15(3):23~29.
52闫承志,郭晓丽,陈劲操.基于Simulink的硬件嵌入式实时仿真设计及应用.系统仿真学报. 2004, 24(2):73~75.
53张旺林,熊诗波,魏晋宏.基于Matlab实时视窗目标的数据采集研究.太原理工大学学报. 2003, 34(4):463~464.
54李兴玮,叶磊,黄柯棣.基于MATLAB/XPC Target构建实时仿真系统.计算机仿真. 2003, 20(8):113~114.
2 Paul Regeon, R.Jack Chapman. Clementine Lunar Orbiter Spacecraft System Design. Advances in Astronautical Sciences. V.89, 501-513, 1995. AAS 95-130:23~26.
3余金培等.现代小卫星技术与应用.上海科学普及出版社, 2004:80~81.
4李孝同等.小卫星星务管理技术.中国空间科学技术, 2001:30~35.
5李建平等.火星之旅揭秘.计算机世界报, 2004,20(5):42~44.
6当前优先发展的高技术产业化重点领域指南(2004年度).中华人民共和国国家发展和改革委员会,中华人民共和国科学技术部,中华人民共和国商务部, 2004:352~360.
7 Peter Seebach. A cross-development primer. developerWorks,2003.11:21-22
8罗蕾等.嵌入式系统开放式交叉开发环境的研究.计算机与数字工程,1995,6(20):41~44
9谭维炽等.CCSDS标准星载数据系统的优化设计方法.遥测遥控.2001,2:21-23
10 Telemetry Summary of Concept and Rationale. CCSDS100.02G21.Issus1. Green Book. Consultative Committee for Space Data Systems, Dec.1987:26~30.
11于志坚等.在我国实施CCSDS标准的基本构想.遥测遥控,1999.20(6):15-23
12李孝同.“实践五号”卫星星务管理系统.中国空间科学技术.2000.10(5):30-34.
13廖明宏等.小卫星姿控与星务管理的一体化设计.中国空间科学技术,2001.4(2):310-325.
14徐瑞.基于多智能体的深空探测器自主任务规划方法与系统实现.哈尔滨工业大学博士论文. 2004:1~18.
15 Standard Frequencies and Time Signals. Volume 7 of Recommendations and Reports of the CCIR: XVIIth Plenary Assembly. Geneva: CCIR, 1990:78~82.
16 Robert, ES, Robert, R S. The NASA Data Standardization Program Rationale and Scope. ITC 1983: 820~827.
17 Moyd K. MacMedan, M. Application of CCSDS Packet Telemtery Recommendation by JPL. AIAA-90-5050.2005:21~25.
18 B. C. Williams, P. P. Nayak. A model-based approach to reactive self-configuring systems. In Proceedings National Conference on Artificial Intelligence, Portland, OR, August 1996:20~23.
19 IEEE Standard for Binary Floating-Point Arithmetic. IEEE Std 754-1985. New York:IEEE, 2005:21~24.
20 Standard Frequencies and Time Signals. Volume 7 of Recommendations and Reports of the CCIR: XVIIth Plenary Assembly. Geneva: CCIR, 2000:25~27.
21 Procedures Manual for the Consultative Committee for Space Data Systems. CCSDS A00.0-Y-9. Yellow Book. Issue 9, November 2003:56~58.
22 K. H. Kim. Middleware of Real-Time Object Based Fault-Tolerant Dist-ributed Computing Systems: Issues and Some Approaches. Proceedings of Pacific Rim International Symposium on Dependable Computing, 2001:3~7.
23蒋鲲鹏,芦东昕,缪敬. Linux与VxWorks的板级支持包开发的比较与分析.计算机工程. 2003, 29(22): 51~53.
24林建民.嵌入式操作系统技术发展趋势.计算机工程. 2001, 27(10):1~4.
25洪洋,白岚. VxWorks实时操作系统的BSP开发.光电技术应用. 2003, (3): 35~39.
26周启平,张扬. VxWorks下设备驱动程序以及BSP开发指南.中国电力出版社, 2004: 4~5.
27汤小明,李引娟. VxWorks环境下串口驱动程序设计.微机发展. 2003, 13(1): 42~45.
28芮力,芮雨,俞志强.实时操作系统VxWorks下设备驱动程序的设计.空间雷达学院学报. 2001, 15(1): 41~43.
29李捷,王汝传.基于VxWorks设备驱动程序实现技术的研究.南京邮电学院学报. 2003, 23(2):68~70.
30 P. A. Morris, A. T. Beling. Space Shuttle RTOS Bayesian Network. Diaital Avionics Systems, 2001, 1(4): 1~13.
31 H. R. Simpson. Temporal Aspects of Real-Time System Design. IEEE Colloquium on Methods and Techniques for Real-Time System Development, 1994,1:1~9.
32喻德.嵌入式调试方法分析及基于VxWorks的调试工具实现.电子科技大学硕士学位论文. 2002: 8~23.
33孔祥营,柏桂枝.嵌入式实时操作系统VxWorks及其开发环境Tornado.电力出版社, 2002: 27~31.
34 Tornado User’s Guide 2.0. WindRiver Systems, Inc. 2000:15~200.
35王炳全,崔祜涛,杨涤.仅用反作用轮进行小卫星姿态大角度机动.飞行力学.1999.17(1):86~90.
36孙兆伟,耿云海,何平.小卫星大角度姿态机动控制研究及半实物仿真.航天控制.2000.12(1):15~18.
37吕振铎,轨道机动期间的姿态控制,中国空间科学技术1994,(5):30~40.
38 P.DeLaHunt, S.Gates, M.Levenson, and G.Creamer.Clementine Attitude Determination and ControlS ystem.J ournalo f Spacecraft and Rockets 1995,32(6):1054~1059.
39 G.Creamer,P .DeLaHunt,S .Gates,a ndM .Levenson.A titudeD etermination and C on trolo fC lementineD uringL unarM apping.J ournalo fG uidance Co ntr ol an dD ynamics.1 996,19(3):505~511.
40 J.Farazian, R.McEwen, and R.Tod. Msti 3 Star Tracker Atitude De ter mi nationa ndE stimationA lgorithm.A IAA-96-374:43~56.
41 L. Y. Bar-itzhack, Y. oshman. Attitude Determination from Vector Observations: Quaternion Estimation. IEEE Transactions on Aerospace and Electronic Systems,Vol.21,No.1,1985:43~58.
42 M.IDAN. Estimation of Rodrigues Parameters From Vector Observations. IEEE Transactions on Aerospace and Electronic Systems.Vol.32, No.2, 1996:32~46.
43 M. D. Shuster. Kalman Filtering of Spacecraft Attitude and the QUEST Model. Joumal of Astronautical Sciences. Vol. 38, No.3, 1990:89~91.
44 Itzhack Y.Bar-Itzhack, Jocob Reiner. Recursive Attitude Determination from Vector Observations: Direction Cosine Matrix Identification. Journal of Guidance Control & Dynamics, Vol.7, No. l, 1984:12~34.
45 Yaakov Oshman. F.L. Markley. Minimal-Parameter Attitude Matrix Estimation From Vector Observations.AIAA-97-3451:54~67.
46 J. A. Sorensen, S. F. Schmidt, T. Goka. Application of Square-Root Filtering for Spacecraft Attitude Control. Journal of Guidance Control&Dynamics.Vol.2, No.5, 1979:20~23.
47 Andy Wu. Normal Mode Attitude Determination Algorithm Extended KalmanFiltering Approach. AIAA-97-3525:32~40.
48 Thomas E. Strikwerda, J. courtney Ray,David R.Haley.The Near Guidance and Control System. Johns Hopkins APL Technical Digest ,1998(19):207~209
49 J. L. Crassidis, F. L. Markley. A Minimum Model Error Approach for Atitude Estimation. AIAA-95-3276-CP:32~35.
50 MALAB User’s Guide. The Math Work Inc, 1998:23~90.
51张永林,隶彦,李众.在SIMULINK中创建用户定义模块.华东船舶工业学院学报(自然科学版). 2001,15(3):23~29.
52闫承志,郭晓丽,陈劲操.基于Simulink的硬件嵌入式实时仿真设计及应用.系统仿真学报. 2004, 24(2):73~75.
53张旺林,熊诗波,魏晋宏.基于Matlab实时视窗目标的数据采集研究.太原理工大学学报. 2003, 34(4):463~464.
54李兴玮,叶磊,黄柯棣.基于MATLAB/XPC Target构建实时仿真系统.计算机仿真. 2003, 20(8):113~114.