阅读说明：本技术 基于can总线的导弹地面测试与发控装置及工作方法 (Missile ground testing and launching control device based on CAN bus and working method ) 是由 张宏巍 储海荣 刘慧� 高思远 张玉莲 于 2018-09-03 设计创作，主要内容包括：本发明公开了一种基于CAN总线的导弹地面测试与发控装置及工作方法,装置包括：地测与发控设备和远程地面监控设备,地测与发控设备根据远程地面监控设备发送的指令,完成对导弹的自动化测试、测试过程数据收集、导弹自动化发射控制,控制器通过第一隔离CAN总线收发模块向导弹各分系统发送通讯测试指令、自检测试指令、导弹初始装订参数信息,导弹各分系统根据预置程序完成相应测试,并将测试结果通过第一隔离CAN总线收发模块反馈至地测与发控设备,地测与发控设备将测试结果通过第二隔离CAN总线收发模块发送给远程地面监控设备。本发明能在导弹发射前对弹上各分系统进行射前检测,当导弹测试通过且满足发射条件后自动控制导弹发射。(The invention discloses a missile ground testing and launching control device based on a CAN bus and a working method, wherein the device comprises the following steps: the system comprises ground test and control equipment and remote ground monitoring equipment, wherein the ground test and control equipment completes automatic test, test process data collection and missile automatic launching control on a missile according to an instruction sent by the remote ground monitoring equipment, a controller sends a communication test instruction, a self-inspection test instruction and missile initial binding parameter information to each subsystem of the missile through a first isolation CAN bus transceiving module, each subsystem of the missile completes corresponding test according to a preset program and feeds back a test result to the ground test and control equipment through the first isolation CAN bus transceiving module, and the ground test and control equipment sends the test result to the remote ground monitoring equipment through a second isolation CAN bus transceiving module. The invention can detect the subsystems before the missile is launched, and automatically control the missile launching after the missile passes the test and meets the launching condition.)

1. A guided missile ground test and control device based on a CAN bus comprises: the system comprises ground test and control equipment and remote ground monitoring equipment, wherein the ground test and control equipment completes automatic test, test process data collection and missile automatic launching control of a missile according to an instruction sent by the remote ground monitoring equipment, and is characterized in that:

the ground survey and send out accuse equipment includes: the system comprises a controller, a first isolation CAN bus transceiving module and a second isolation CAN bus transceiving module, wherein the first isolation CAN bus transceiving module is used for carrying out data communication with the missile, the second isolation CAN bus transceiving module is used for carrying out data communication with remote ground monitoring equipment, the controller sends a communication test instruction, a self-test instruction and missile initial binding parameter information to each subsystem of the missile through the first isolation CAN bus transceiving module, each subsystem of the missile completes corresponding test according to a preset program and feeds back a test result to ground test and control equipment through the first isolation CAN bus transceiving module, and the ground test and control equipment sends the test result to the remote ground monitoring equipment through the second isolation CAN bus transceiving module.

2. The missile ground test and launch control device based on the CAN bus of claim 1, wherein the controller comprises a main controller and a coprocessor, the main controller comprehensively judges the communication command of the upper computer and the working state of the system by reading in the communication command sent by the upper computer and controls the coprocessor to generate a corresponding control signal time sequence; the coprocessor is used for finishing discrete digital IO control, AD analog acquisition, control signal time sequence generation, system working state detection, error judgment and processing.

3. The CAN-bus based missile ground test and launch control device of claim 2, wherein the ground test and launch control equipment further comprises: the device comprises a first isolation module, a second isolation module, a level conversion module and an initiating explosive device triggering module;

the first isolation module and the second isolation module are used for isolating signals input and output from the controller;

the initiating explosive device triggering module is used for converting discrete control signals output by the FPGA into high-power and high-current signals through the level conversion module so as to drive the activation of initiating explosive devices in the missile.

4. The CAN-bus based missile ground test and launch control device of claim 3, wherein the ground test and launch control equipment further comprises: the system comprises a 24V direct-current power supply, an A/D acquisition module, a signal processing module, a power supply module and an external power supply switch;

the signal processing module and the A/D acquisition module are controlled by the controller to realize the detection of the running condition of a power supply network on the missile and the activation process of initiating explosive devices;

the 24V direct-current power supply is used for converting externally input alternating current into 24V direct current, supplying power to a power supply module in the ground test and control equipment and serving as an external power supply in a missile ground test stage;

the power supply module is used for generating direct current provided by a 24V direct current power supply through the isolation DC/DC module to be used for internal power supply of the ground test and control equipment;

the guided missile adopts a CAN bus communication network, and data exchange is carried out among subsystems on the guided missile through the CAN bus;

the controller controls the power supply switch of the external power supply to be closed, so that the external power supply of the missile is started, and the output voltage of the external power supply is collected in real time.

5. The CAN bus-based missile ground test and launch control device of claim 1, wherein the remote ground monitoring equipment comprises a ruggedized laptop and a USB to CAN interface card configured on the ruggedized laptop; the reinforced notebook computer is used for finishing missile communication test instruction sending, self-checking test instruction sending, initial binding parameter sending, missile launching instruction sending, graphical display of test process data, missile initiating explosive device triggering result display, fault indication and data storage, the CAN interface card is connected with a CAN bus, and remote communication with ground test and control equipment is realized through the CAN bus.

6. The CAN bus-based missile ground test and launch control device of claim 1, wherein the ground test and launch control equipment is less than 3m from the missile under test, and the remote ground monitoring equipment is more than 100m from the ground test and launch control equipment.

7. The missile ground test and launch control device based on the CAN bus of claim 4, wherein the input voltage of the power module is 24V, and the power module supplies power to each module in the ground test and launch control equipment after secondary power conversion.

8. The operating method of the missile ground test and control device based on the CAN bus according to any one of the claims 1 to 7, which realizes the automatic test and the automatic launching control before the launching of the missile through the interaction between the remote ground monitoring device monitoring ground test and control device and the missile, and is characterized in that the process is realized by the following steps:

s1, electrifying the ground test and control equipment, opening the upper computer software in the reinforcing notebook in the remote ground monitoring equipment, entering a man-machine interaction interface and judging whether the CAN bus communication test between the remote ground monitoring equipment and the ground test and control equipment is normal, if so, executing S2, otherwise, checking the circuit after powering off the ground test and control equipment, and returning to S1 after removing the fault;

s2, the manipulator operation man-machine interaction interface sends an external power supply electrifying instruction to the ground test and control equipment through the second CAN bus, and after the ground test and control equipment receives the instruction, the ground test and control equipment controls the external power supply switch to be closed through the controller, so that the missile external power supply is started, and the external power supply output voltage is collected in real time; judging whether the output voltage of the external power supply is normal or not, and if so, executing S3; if not, the remote ground monitoring equipment sends an external power supply power-off instruction to the ground test and control equipment through the second CAN bus, the ground test and control equipment controls an external power supply switch to be switched off, the line is checked after the power supply of the missile is switched off, and the step returns to S2 after the fault is eliminated;

s3, an operator operates a human-computer interaction interface to send missile communication test instructions to the ground test and control equipment, the ground test and control equipment sends the communication test instructions to the subsystems on the missile through the first CAN bus after receiving the instructions, the subsystems on the missile feed back test results to the ground test and control equipment after completing the communication test, and the ground test and control equipment feeds back the communication test results to the remote ground monitoring equipment; judging whether the test result is normal or not, if so, executing S4; if not, the test is stopped, an external power supply power-off instruction is sent to control the missile to be powered off and eliminate the fault, and the S2 is returned after the fault is eliminated;

s4, an operator operates the human-computer interaction interface to send missile self-test instructions to the ground test and control equipment, the ground test and control equipment sends the self-test instructions to the on-missile subsystems after receiving the instructions, the on-missile subsystems feed back test results to the ground test and control equipment after completing the self-test, and the ground test and control equipment feeds back the self-test results to the remote ground monitoring equipment; judging whether the self-test result is normal or not, if so, executing S5, otherwise, stopping the test, sending an external power supply power-off instruction to control the missile to power off and eliminate the fault, and returning to execute S2 after the fault is eliminated;

s5, an operator operates a human-computer interaction interface to configure missile initial binding parameters and send the missile initial binding parameters to ground test and control equipment, the ground test and control equipment sends the received initial parameters to a missile-borne computer, the missile-borne computer receives all the initial binding parameters and then judges the validity of the parameters, if the parameters are all valid, the missile-borne computer feeds back the parameters to the ground test and control equipment to feed back a successful response, if the parameters are invalid, the parameters are fed back to a failed response, and the ground test and control equipment feeds back the parameter injection results to the remote ground monitoring equipment; judging whether the initial binding parameter injection is finished or not, if so, executing S6, if not, searching the reason and reconfiguring the missile initial binding parameters after troubleshooting, if the initial binding parameter injection fails for three times, stopping the test, sending an external power supply power-off instruction to control the missile to be powered off and troubleshoot, and returning to execute S2;

s6, the missile enters a to-be-launched state, when a missile launching condition is met, an operator operates a human-computer interaction interface to send a missile launching instruction to a ground test and control device, the ground test and control device runs a missile launching automatic control program after receiving the instruction, a thermal battery is activated through an initiating explosive device trigger module, missile bus voltage is monitored in real time through an A/D acquisition module, whether the missile bus voltage is switched to be supplied by the thermal battery from external power supply or not is judged, if yes, S7 is executed, if not, launching is stopped, an external power down instruction is sent to control the power failure of the external power supply of the missile and eliminate the fault, and the operation returns to S2 after the fault is eliminated;

and S7, the ground measuring and controlling device ignites the engine through the initiating explosive device triggering module.

9. The operating method according to claim 8, wherein in S2, the normal range of the real-time collected external power output voltage is 24 ± 2V.

Technical Field

The invention relates to the field of missile ground test and launch control, in particular to a missile ground test and launch control device based on a CAN bus and a working method.

Background

The missile ground testing and launching control device is used for carrying out pre-launching check and monitoring on each subsystem on a missile and binding flight parameters before launching the missile, and controlling the missile to launch when launching conditions are met. Before the missile is launched, although comprehensive and detailed unit test and comprehensive test are carried out, in order to ensure reliable and safe launching of the missile, a test is still required before the missile enters a launching field to prepare for launching, but test items are few and precise. The main key inspection items comprise the inspection of a power supply system on a missile, the communication test of each subsystem, the self-inspection test of each subsystem and the like, if the parameters are out of tolerance or faults are found in the test process, the parameters are carefully analyzed, fault location is carried out, and effective measures are taken to eliminate the faults; after the missile pre-launching test is completed, initial parameter binding is required to be carried out on the missile, and after the initial parameter binding is completed, when the missile launching condition is met, the missile launching manipulator triggers the launching button and the missile ground testing and launching control device automatically completes the missile launching process.

The early missile ground testing and launching control device adopts manual testing or semi-automatic testing, and has the defects of large volume of a testing system, poor portability, complex testing process, manual participation, low efficiency, long testing and launching control interval time, short distance between a person and a tested missile and potential safety hazard. With the progress of missile automatic testing technology, the traditional manual or semi-automatic testing is converted into concise automatic testing, which is imperative.

Disclosure of Invention

The invention provides a missile ground testing and launching control device based on a CAN bus, which aims to solve the problems that the existing missile testing and launching control system CAN not realize full-automatic testing and launching control, and the system has large volume, poor portability, complex testing process, low efficiency and the like.

In order to achieve the purpose, the invention adopts the following technical scheme:

on one hand, the invention provides a missile ground testing and launching control device based on a CAN bus, which comprises: the ground survey and control equipment and long-range ground supervisory equipment, ground survey and control equipment accomplishes the automatic test to the guided missile, test process data collection, the automatic control of launching of guided missile according to the instruction that long-range ground supervisory equipment sent, ground survey and control equipment includes: the system comprises a controller, a first isolation CAN bus transceiving module and a second isolation CAN bus transceiving module, wherein the first isolation CAN bus transceiving module is used for carrying out data communication with the missile, the second isolation CAN bus transceiving module is used for carrying out data communication with remote ground monitoring equipment, the controller sends a communication test instruction, a self-test instruction and missile initial binding parameter information to each subsystem of the missile through the first isolation CAN bus transceiving module, each subsystem of the missile completes corresponding test according to a preset program and feeds back a test result to ground test and control equipment through the first isolation CAN bus transceiving module, and the ground test and control equipment sends the test result to the remote ground monitoring equipment through the second isolation CAN bus transceiving module.

Furthermore, the ground test and control device comprises a controller, the controller comprises a main controller and a coprocessor, the controller mainly comprises a DSP, an FPGA and a peripheral chip, wherein the DSP is used as the main controller, the main controller reads in a communication command sent by an upper computer, and controls the coprocessor to generate a corresponding control signal time sequence after comprehensively judging the command of the upper computer and the working state of the system; the coprocessor is used for finishing discrete digital IO control, AD analog acquisition, control signal time sequence generation, system working state detection, error judgment and processing.

Further, the ground measuring and controlling device further comprises: the device comprises a first isolation module, a second isolation module, a level conversion module and an initiating explosive device triggering module;

the first isolation module and the second isolation module are used for isolating signals input and output from the controller;

the initiating explosive device triggering module is used for converting discrete control signals output by the FPGA into high-power and high-current signals through the level conversion module so as to drive the activation of initiating explosive devices in the missile.

Further, the ground measuring and controlling device further comprises: the system comprises a 24V direct-current power supply, an A/D acquisition module, a signal processing module, a power supply module and an external power supply switch; after the external power supply is started and the thermal battery is activated, monitoring of the running condition of the onboard power supply network and the activation process of the initiating explosive device is jointly completed through the signal processing module and the A/D acquisition module controlled by the controller, and monitoring voltage is sent to the remote ground monitoring equipment through the second isolated CAN bus transceiving module;

the 24V direct-current power supply is used for converting externally input alternating current into 24V direct current, supplying power to a power supply module in the ground test and control equipment and serving as an external power supply in a missile ground test stage;

the power supply module is used for generating direct current provided by a 24V direct current power supply through the isolation DC/DC module to be used for internal power supply of the ground test and control equipment;

the missile adopts a CAN bus communication network, and data exchange is carried out among all subsystems on the missile through a CAN bus;

the controller controls the power supply switch of the external power supply to be closed, so that the external power supply of the missile is started, and the output voltage of the external power supply is collected in real time.

Furthermore, the remote ground monitoring equipment comprises a reinforced notebook computer and a USB-to-CAN interface card configured on the reinforced notebook computer; the reinforced notebook computer is used for finishing missile communication test instruction sending, self-checking test instruction sending, initial binding parameter sending, missile launching instruction sending, graphic display of test process data, missile initiating explosive device triggering result display, fault indication and data storage, and the CAN interface card is connected with the CAN bus and realizes remote communication with ground test and control equipment through the CAN bus.

Furthermore, the distance between the ground measuring and controlling equipment and the measured missile is less than 3m, and the distance between the remote ground monitoring equipment and the ground measuring and controlling equipment is more than 100 m.

Further, the input voltage of the power supply module is 24V, and the power supply module supplies power to each module in the ground measurement and control device after secondary power supply conversion.

In order to achieve the purpose, the invention also adopts the following technical scheme:

on the other hand, the working method of the guided missile ground testing and launching control device based on the CAN bus is provided, the interaction between the ground testing and launching control device and the guided missile is monitored through the remote ground monitoring device, the automatic testing and the automatic launching control before the guided missile launching are realized, and the method is characterized by specifically realizing the process through the following steps:

s1, electrifying the ground test and control equipment, opening the upper computer software in the reinforcing notebook in the remote ground monitoring equipment, entering a man-machine interaction interface and judging whether the CAN bus communication test between the remote ground monitoring equipment and the ground test and control equipment is normal, if so, executing S2, otherwise, checking the circuit after powering off the ground test and control equipment, and returning to S1 after removing the fault;

s2, the manipulator operation man-machine interaction interface sends an external power supply electrifying instruction to the ground test and control equipment through the second CAN bus, and after the ground test and control equipment receives the instruction, the ground test and control equipment controls the external power supply switch to be closed through the controller, so that the missile external power supply is started, and the external power supply output voltage is collected in real time; judging whether the output voltage of the external power supply is normal or not, and if so, executing S3; if not, the remote ground monitoring equipment sends an external power supply power-off instruction to the ground test and control equipment through the second CAN bus, the ground test and control equipment controls an external power supply switch to be switched off, the line is checked after the power supply of the missile is switched off, and the step returns to S2 after the fault is eliminated;

s3, an operator operates a human-computer interaction interface to send missile communication test instructions to the ground test and control equipment, the ground test and control equipment sends the communication test instructions to the subsystems on the missile through the first CAN bus after receiving the instructions, the subsystems on the missile feed back test results to the ground test and control equipment after completing the communication test, and the ground test and control equipment feeds back the communication test results to the remote ground monitoring equipment; judging whether the test result is normal or not, if so, executing S4; if not, the test is stopped, an external power supply power-off instruction is sent to control the missile to be powered off and eliminate the fault, and the S2 is returned after the fault is eliminated;

s4, an operator operates the human-computer interaction interface to send missile self-test instructions to the ground test and control equipment, the ground test and control equipment sends the self-test instructions to the on-missile subsystems after receiving the instructions, the on-missile subsystems feed back test results to the ground test and control equipment after completing the self-test, and the ground test and control equipment feeds back the self-test results to the remote ground monitoring equipment; judging whether the self-test result is normal or not, if so, executing S5, otherwise, stopping the test, sending an external power supply power-off instruction to control the missile to power off and eliminate the fault, and returning to execute S2 after the fault is eliminated;

s5, an operator operates a human-computer interaction interface to configure missile initial binding parameters and send the missile initial binding parameters to ground test and control equipment, the ground test and control equipment sends the received initial parameters to a missile-borne computer, the missile-borne computer receives all the initial binding parameters and then judges the validity of the parameters, if the parameters are all valid, the missile-borne computer feeds back the parameters to the ground test and control equipment to feed back a successful response, if the parameters are invalid, the parameters are fed back to a failed response, and the ground test and control equipment feeds back the parameter injection results to the remote ground monitoring equipment; judging whether the initial binding parameter injection is finished or not, if so, executing S6, if not, searching the reason and reconfiguring the missile initial binding parameters after troubleshooting, if the initial binding parameter injection fails for three times, stopping the test, sending an external power supply power-off instruction to control the missile to be powered off and troubleshoot, and returning to execute S2;

s6, the missile enters a to-be-launched state, when a missile launching condition is met, an operator operates a human-computer interaction interface to send a missile launching instruction to a ground test and control device, the ground test and control device runs a missile launching automatic control program after receiving the instruction, a thermal battery is activated through an initiating explosive device trigger module, missile bus voltage is monitored in real time through an A/D acquisition module, whether the missile bus voltage is switched to be supplied by the thermal battery from external power supply or not is judged, if yes, S7 is executed, if not, launching is stopped, an external power down instruction is sent to control the power failure of the external power supply of the missile and eliminate the fault, and the operation returns to S2 after the fault is eliminated;

and S7, the ground measuring and controlling device ignites the engine through the initiating explosive device triggering module.

In S2, the normal range of the real-time collected external power output voltage is 24 ± 2V.

The invention has the beneficial effects that:

1. the missile ground testing and launching control device is suitable for carrying out pre-launching check and monitoring on each subsystem on the missile and binding flight parameters before the missile enters a launching field to prepare for launching, and controlling the missile to launch when launching conditions are met. The device adopts the CAN bus communication mode, CAN finish the automatic test before the missile launches and the automatic launch control of the missile, and has the characteristics of convenient carrying, simple operation, high working efficiency, short test time, safe use and the like.

2. The missile ground testing and launching control device provided by the invention is in a bus type, the communication distance can reach hundreds of meters, an operator can be ensured to test and control missile launching before missile launching in a safe region in the stage of missile irreversible launching, and automatic testing and launching control are realized.

3. The missile ground testing and launching control device solves the problem of safety of testers, the traditional missile detection requires that the testers detect nearby missiles by operating special testing equipment, the safety is poor, the missile ground testing and launching control device based on the CAN bus completes the inspection and launching control before guided launching through automation equipment, and the operators are far away from the missiles, so that the safety of operators is ensured.

Drawings

FIG. 1 is a schematic block diagram of a missile ground testing and launching control device based on a CAN bus according to the present invention;

FIG. 2 is a flowchart of the operation of the CAN bus-based missile ground test and control device of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.

The embodiment is described with reference to fig. 1 and fig. 2, and the missile ground testing and launching control device based on the CAN bus provided by the embodiment of the invention is composed of ground testing and launching control equipment and remote ground monitoring equipment. The device adopts a ground measurement system, namely all equipment is placed on the ground, wherein the ground measurement and control equipment is placed near a measured missile, the data communication is carried out between the missile and the ground measurement and control equipment through a first isolated CAN bus transceiver module with the length not more than 3 meters, the remote ground monitoring equipment is placed in a safe area far away from the ground measurement and control equipment, and the data communication is carried out between the remote ground monitoring equipment and the ground measurement and control equipment through a second isolated CAN bus transceiver module with the length more than 100 meters.

The ground measuring, transmitting and controlling equipment comprises a controller, a first isolation module, a second isolation module, an A/D acquisition module, a signal processing module, a level conversion module, an initiating explosive device triggering module, a first isolation CAN bus transmitting and receiving module, a second isolation CAN bus transmitting and receiving module, a 24V direct-current power supply, an external power supply switch and a power supply module;

the controller mainly comprises a DSP, an FPGA and a peripheral circuit. The DSP is used as a main controller, and TMS320F28335 chips of TI company and the main frequency is 150 MHz. The DSP controller has rich interfaces, 3 UART interfaces which CAN be configured into RS232/RS422, 2 CAN interfaces and at most 64 IO interfaces, and CAN meet the requirements of missile ground testing and launching control devices on external interfaces. The FPGA is used as a coprocessor, the AFS600 of the ACTEL is used as a high-performance FPGA series chip of the ACTEL, a FLASH process is used inside the FPGA, programmable logic resources of 60 ten thousand gates, an internal RAM of 108K bits and a FLASH of 4M are included, and the use of a user is greatly facilitated. Meanwhile, the power-on starting device is manufactured based on the FLASH process, has the advantages of high power-on starting speed and high reliability, and is particularly suitable for occasions with high reliability in severe environments.

The first isolated CAN bus transceiver module and the second isolated CAN bus transceiver module both adopt an isolated transceiver chip ADM3053 of ADI company, and the DSP controller realizes CAN bus communication with the missile-borne subsystems and the remote ground monitoring equipment through the two modules. The two CAN buses adopt standard frame data formats, and the application layer communication protocol adopts a self-made protocol. In order to meet the requirement of CAN bus signal transmission integrity, the first isolated CAN bus transceiver module and the second isolated CAN bus transceiver module are both connected with a matching resistor of 120 omega by default, and the resistor CAN be controlled to be connected to a CAN network or not through a switch.

The level conversion module is mainly realized by adopting a 74LV16245 chip, and the first isolation module and the second isolation module are both realized by adopting a PS2805 optical coupler.

The initiating explosive device triggering module is mainly responsible for converting discrete control signals output by the FPGA into high-power and high-current signals to drive the activation of initiating explosive devices in the missile, namely, the initiating explosive devices are activated through a thermal battery activation signal and an engine ignition signal, digital signals output by the FPGA are mainly isolated through an optical coupler and then drive a high-power MOSFET, and meanwhile, necessary protection circuits such as a current-limiting resistor and the like are used for completing the purpose of converting the discrete signals into the high-power control signals.

The 24V direct-current power supply is used for converting externally input alternating current into 24V direct current, supplying power to a power distribution module inside the ground test and control equipment and serving as an external power supply at the ground test stage of the missile; when the controller controls the power supply switch of the external power supply to be closed, the 24V direct-current power supply serves as the external power supply of the missile to supply power for the ground test of the missile; the controller monitors the on-board power supply network voltage conditioned by the signal processing module in real time through the A/D acquisition module, and sends the power supply network voltage to the remote ground monitoring equipment through the CAN bus. The 24V direct current power supply adopts a Taiwan Ming latitude switch power supply RSP-500-24, the power is 500W, the output voltage is 24V, the maximum current is output to be 18.6A, and 100-240V alternating current is input.

The power supply module is used for generating direct current provided by a 24V direct current power supply through the isolation DC/DC module to be used for internal power supply of the ground test and control equipment.

The signal processing module has the functions of attenuating or amplifying an input analog signal and conditioning and filtering the signal, so that an output signal meets the input requirement of the analog-to-digital converter (ADC). The A/D acquisition module finishes sampling of the analog signal under the control of the controller and feeds back a sampling value to the controller.

In the embodiment, the ground measuring and controlling equipment is arranged near the missile launcher, the distance between the ground measuring and controlling equipment and the missile to be measured is less than 3m, and the distance between the remote ground monitoring equipment and the ground measuring and controlling equipment is 100-200 m of a safety region. And the automatic test and launching control of the missile are controlled by remote ground monitoring equipment.

The remote ground monitoring equipment in the embodiment has the advantages of small volume, light weight and portability. The system comprises a reinforced notebook computer and a USB-CAN interface card, wherein the reinforced notebook computer is in remote communication with a ground test and control device through the USB-CAN interface card.

The reinforced notebook computer runs missile ground testing and launching control upper computer software, and the upper computer software can complete the functions of sending various testing instructions of the missile, injecting initial binding parameters, graphically displaying testing process data, displaying the activation state of initiating explosive devices in the missile launching process, displaying missile bus voltage, indicating faults, storing data and the like.

The upper computer man-machine interaction interface adopts MFC design, is compiled through VS2010 and can run on an operating system of Windows XP and above versions, and the software interface mainly comprises 6 functional boards in total, namely board initialization, instruction sending, result display, initial parameter injection, missile bus voltage display and test process graphical display.

The board initialization area is used for completing parameter configuration of a USB-CAN interface card, including an equipment index number, a CAN channel number, a bus baud rate and the like.

The instruction sending area is mainly used for completing communication test and self-checking test of all subsystems on the missile and completing injection of initial binding parameters of the missile.

The result display area mainly comprises a test result indicator light and a CAN information window, and CAN visually display test time sequence information, test result information and initiating explosive device activation state information.

The initial parameter injection area is used for completing parameter binding before missile launching, and main initial parameters comprise a pitch angle, a yaw angle, a roll angle, an initial pressure value, an initial temperature value, a working mode configuration of a self-driving instrument and the like of the missile before launching.

The missile bus voltage display area mainly displays the missile-borne bus voltage monitored by the missile ground measurement and control equipment, so that an operator can conveniently monitor the working condition of the missile-borne power supply network in the test process.

The graphical display area is mainly used for displaying the intermediate test state information fed back by the on-missile subsystems, so that the fault location of an operator after the test fault is found is facilitated.

All tests can be automatically completed by one key before missile launching, testers only need to observe the test process and test results through remote monitoring equipment, if faults occur, the software interface of an upper computer on a reinforced notebook computer is displayed by a fault indicating lamp, and the testers can perform troubleshooting treatment according to fault categories. After the examination before the guided launch is passed, the launch control of the guided missile can be automatically completed by one key.

As shown in fig. 2, the embodiment of the invention also discloses a working method of the missile ground testing and launching control device based on the CAN bus, namely the missile pre-launching testing and launching control process is monitored through the remote ground monitoring equipment, and the method is realized by the following steps:

s1, electrifying the ground test and control equipment, opening the upper computer software in the reinforcing notebook in the remote ground monitoring equipment, entering a man-machine interaction interface and judging whether the CAN bus communication test between the remote ground monitoring equipment and the ground test and control equipment is normal, if so, executing S2, otherwise, detecting the circuit after powering off the ground test and control equipment, and electrifying again after removing the fault;

s2, the manipulator operation man-machine interaction interface sends an external power supply electrifying instruction to the ground test and control equipment through the second CAN bus, and after the ground test and control equipment receives the instruction, the ground test and control equipment controls an external power supply switch to be closed through the controller, so that the missile external power supply is started, and the external power supply output voltage is collected in real time; judging whether the output voltage of the external power supply is normal, if the voltage is out of the range of 24 +/-2V, determining that the external power supply does not work normally, and if the voltage is normal, executing S3; if not, the remote ground monitoring equipment sends an external power supply power-off instruction to the ground test and control equipment through the second CAN bus, the ground test and control equipment controls an external power supply switch to be switched off, the line is checked after the power supply of the missile is switched off, and the step returns to S2 after the fault is eliminated;

s3, an operator operates a human-computer interaction interface to send missile communication test instructions to the ground test and control equipment, the ground test and control equipment sends the communication test instructions to the subsystems on the missile through the first CAN bus after receiving the instructions, the subsystems on the missile feed back test results to the ground test and control equipment after completing the communication test, and the ground test and control equipment feeds back the communication test results to the remote ground monitoring equipment; judging whether the test result is normal or not, if so, executing S4; if not, the test is terminated, an external power supply power-off instruction is sent to control the missile to be powered off and eliminate the fault, and the S2 is returned after the fault is eliminated;

s4, the operating hand operates the human-computer interaction interface to send missile self-checking test instructions to the ground test and control equipment, the ground test and control equipment sends self-checking test instructions to the on-missile subsystems after receiving the instructions, the on-missile subsystems feed back test results to the ground test and control equipment after completing self-checking test, and the ground test and control equipment feeds back the self-checking test results to the remote ground monitoring equipment; judging whether the self-test result is normal or not, if so, executing S5, otherwise, terminating the test, sending an external power supply power-off instruction to control the missile to power off and eliminate the fault, and returning to execute S2 after the fault is eliminated;

s5, configuring missile initial binding parameters by an operator operation man-machine interaction interface and sending the missile initial binding parameters to ground test and control equipment, sending the received initial parameters to a missile-borne computer by the ground test and control equipment, judging the validity of the parameters after the missile-borne computer receives all initial injection parameters, feeding back parameter injection success responses to the ground test and control equipment if the parameters are all valid, feeding back parameter injection failure responses if the parameters are invalid, and feeding back parameter injection results to remote ground monitoring equipment by the ground test and control equipment; judging whether the initial parameter injection is finished, if so, executing S6, if not, searching the reason and reconfiguring the missile initial parameters after troubleshooting, if the initial parameters fail to be stapled for three times continuously, terminating the test, sending an external power-off instruction to control the missile to be powered off and troubleshoot, and returning to execute S2;

s6, the missile enters a to-be-launched state, when a missile launching condition is met, an operator operates a human-computer interaction interface to send a missile launching instruction to a ground test and control device, the ground test and control device runs a missile launching automatic control program after receiving the instruction, a thermal battery is activated through an initiating explosive device trigger module, missile bus voltage is monitored in real time through an A/D acquisition module, whether the missile bus voltage is switched to be supplied by the thermal battery from external power supply or not is judged, if yes, S7 is executed, if not, launching is stopped, an external power down instruction is sent to control the power failure of the external power supply of the missile and elimination of faults, and the operation returns to S2 after faults are eliminated;

and S7, the ground measuring and controlling device ignites the engine through the initiating explosive device triggering module.

The system of each branch on the missile described in the embodiment refers to a missile-borne computer, a seeker, power management and an electric steering engine. In the process, if the fault cannot be solved on site, the test is immediately terminated, and the missile ground test and control device is powered off.

It should be noted that: the normal range of the real-time acquisition external power supply output voltage is 24 +/-2V.

It should be noted that: first CAN bus and second CAN bus, in S2, remote ground monitoring equipment sends external power outage instruction to ground survey and control equipment through the second CAN bus, and remote ground monitoring equipment communicates with second isolation CAN bus transceiver module through USB changes the CAN interface card. In S3, after receiving the instruction, the ground test and control equipment sends a communication test instruction to each subsystem on the missile through the first CAN bus, after receiving the instruction, the ground test and control equipment sends a communication test instruction to each subsystem on the missile through the first isolated CAN bus transceiver module, and the missile and the ground test and control equipment are in data communication through the first isolated CAN bus transceiver module with the length not more than 3 m.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.