Transcript Slide 1

Welcome To
Advanced Technology Associates’
Demonstration Of An Adaptable Prototype and Test
System For Aerospace Control Software Development
Throughout this demonstration use the right and left
arrow keys to forward or rewind respectively.
Advanced Technology Associates, Inc. (ATA) is a
leading-edge aerospace software and technology
firm that provides both product and service solutions
to the aerospace industry.
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
Objective
Demonstrate how LabVIEW and the ATA Aerospace Toolkit combine to create a
prototype and test platform that adapts as the project life-cycle changes.
Iterate/
Reuse
Prototype
Test
Presentation Outline
Prototype And Test System High-Level Architecture
Typically,
as GN&C
laws areuse
defined,
they are coded and tested in an iterative process characterized
Typically
engineers
a
A 6 DOF
simulation
of
by the following
diagram.
should
be designed
to be highly modular, to
variety ofhigh-level
environments
for Each component
the
mission
is
maximize
code reuse.
development
of algorithms.
configured. The chosen
Whatever environment is used
simulation
platform
The components
the prototype
and test system
are shown
below.
it should beofeasily
integrated
should be flexible and
A model of the
into other environments.
provide easy
IMU is
reconfiguration to allow
developed.
The modules are then integrated. In the case of software-in-the-lopp, this may be as
simple as
for mission changes
integrating code modules, or in the case of hardware, could be physically connecting the modules and
working out communication protocols.
GN&C
(system under
development)
Simulated
Vehicle
(6 DOF using ATA
Aerospace Toolkit)
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
IMU
model
LabVIEW and the ATA Aerospace Toolkit as a Platform for
Prototyping and Test
To create a prototype and test system that truly adapts from one project phase to the next, the system
needs to have 5 characteristics.
Be Extensible
LabVIEW provides open connectivity with other environments including C, Ada, and Mathscript, to
name only a few.
C
LabVIEW
Maple
soft
Extensible platforms save
vast amounts of time.
They allow developers to
develop code modules in
the best language suited
to the task and then easily
integrate the modules into
the prototype system.
• Be Modular • Be Real-Time Capable • Be Hardware Friendly
The PXI is just one solution from National Instruments which provides high-performance operation
with a modular design, making it an excellent platform for aerospace prototype and test applications.
The PXI combines a PC
platform with modular I/O
and is an excellent host for
LabVIEW, with the
running real-time
LabVIEW Real-Time
applications
Module offers a high
level development
environment , with a
highly deterministic
operating system.
National Instruments solutions
come complete with drivers and
allow easy integration with
diverse I/O including (analog,
digital, a wide range of data
buses and more).
Be Capable of High-Fidelity Simulation
The ATA Aerospace Toolkit for LabVIEW extends the LabVIEW graphical development
environment. It gives the user all
the functionality
needed to build high-fidelity simulations of
Deploy
the simulation
spacecraft and air vehicle flight. The
can be easily deployed to any National
to asimulation
PXI or other
Instruments host and can operate
in real-time
mode.
National
Instruments
real-time capable
system for test
Place functions on the panel
and wire them together to
create sophisticated, highfidelity simulations of
spacecraft or air vehicle flight
in minutes.
Select functions such as
Compute Acceleration Due to
Drag from the ATA Aerospace
Toolkit palette in LabVIEW
The ATA Aerospace Toolkit for LabVIEW has 11 comprehensive libraries with over 140 functions.
Aerodynamics
Orbital
Analysis
Orbit
Propagation
Attitude
Analysis
Orbit
Maneuver
Math Analysis
Math Utilities
Coordinate
Frame
Transformation
Time
Earth Models
Mass
Properties
This simulation uses the
Creating a high-fidelity simulationIn vehicle simulation
it is function to
CartesianToKepler
requires the use of multiple time
sometimes
convenient
to use and velocity
convert
the position
This code snippet isscales
part of
3 degree
of
freedom
example
included
with the ATA
andthe
formats.
In this
different attitude
representations
vectors
from
a
Cartesian
In
any
3
degree
of
this
the ECItoLLH
Aerospace Toolkit.
It demonstrates
the
of functionality
in simulation
the ATA Aerospace
simulation
UTC is used
fordepth
input.
to perform
differentIncalculations.
representation
to
Kepler
elements
freedom
simulation
it
Toolkit.
function
to convert an
The function ExactTimeUTCtoUTCIn this simulation
the is used
for
display.
Kepler
elements
areFixed
is Date
necessary
to to convert from the
Earth
Centered Earth
is used
QuaternionToDCM
function
often much
easier for
humans
to
propagate
stateto a date format
coordinate
frame
to a Latitude,
UTCthe
format
converts a quaternion
used
to
interpret.
vector over
a given
Longitude,
Altitude
representation
(yyyy,mm,dd.ddd…)
for represent a vehicle
attitude to
a
time computational
interval
purposes. direction cosine matrix (DCM)
In this example the DCM
is then converted to an
Eigen Axis/Angle
representation for
display.
The Orbit Library contains many
functions for performing
The Toolkit orbit
contains a
alanalysis
including
Time
of library with
comprehensive time
Flight, Lineconversion
of Sight, Anomaly
between all the
The Aerospace The
Toolkit
has
a fullFlightToolkit
ATA
Aerospace
has
conversions,
Path
Angle
necessary
formats
and
The Mathtime
Analysis
Library
suite of integrators
an
orbit
anand
extensive
Math
Analysis
and Orbital scales
Elements
for and
high-fidelity
includes
attitude
propagator featuring
a
Runge
Library
that contains
functions
Conversions,
including
Kepler,
simulation such as
parameterizations
Kutta 4/5 Adaptive
Step
Size manipulation,
for quaternion
Cartesian
and
Geoditic.
Quaternions, Euler angles,
Integrator with the
ability
to select computation,
matrix
exponential
Eigen Axis/Angle and Direction
between threelinear/inverse
gravity models
linear interpolation
Cosine Matrix.
(Spherical, J2 and Vinit
J6)matrix
and diagnalization.
Jacobi
the capability to model
atmospheric drag.
The Coordinate Frame
Library in the ATA
Aerospace Toolkit contains
9 coordinate frames,
including ECI, North East
Down, True of Date, Mean
of Date and a high-fidelity
frame called ECI J2000
Typical Test Project Lifecycle
Development and test of GN&C systems can be viewed as a three stage process.
•Purpose: verify control algorithm
(software) meets specification.
•Method: The control software is
placed In-The-Loop with the
mission simulation module and
simulated IMU.
Software-InThe-Loop (SIL)
Processor-InThe-Loop (PIL)
•Purpose: verify that control
software functions properly on
selected target.
•Method: the control software
module is replaced “In-The-Loop”
by the controller and embedded
software.
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
•Purpose: verify that controller
operates as specified within the
system.
•Method: integrate flight
hardware “In-The-Loop” with the
controller. The same high-fidelity
mission simulation is used.
Hardware-InThe-Loop (HIL)
During the SIL phase
all modules may reside
within a single
environment such as a
desktop PC.
SIL Test
Note, the use of blue in these diagrams
indicates software. As the system is
The system
is characterized
control algorithms
are developed. Algorithms are tested against a
adapted
some of theseand
components
will
mission simulation.
All components
are modeled with software. This process supports rapid prototyping
be replaced
with hardware.
SIL Setup
GN&C
Algorithm
(system under test)
Simulated
Vehicle
(6 DOF with ATA
Aerospace Toolkit)
At this phase of
Any number of development
development the mission
environments may be usedThe
for SIL Test setup is
simulation may not be fully
developing the GN&C ideal for rapid protorefined and does not
algorithms including LabVIEW,
typing. Allowing for quick necessarily need to
MATRIXx, MATLAB, Simulink,
and inexpensive testing
operate in real-time.
C, Ada, which all have the ability
of control algorithms.
to be called from LabVIEW.
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
IMU
model
During the PIL all
The control code has been The same 6 DoF model used during
flight hardware,
Note that red
embedded
on the target and the GN&C algorithm development is
except the
denotes is placed In-The- again used for PIL testing. The
the controller
controller, is still
hardware
or connection isvehicle simulation is transferred to a
Loop.
Physical
simulated with
embedded
made
between the controller PXI or other platform running a realsoftware.
Control and
software
has beenhosting
developed
on the selected target; the controller is
time OS.
software.
the platforms
the and is embedded
tested In-The-Loop,
with the
simulated vehicle, operating in a real-time environment in
Simulated Vehicle
andsame
the IMU
accordance with mission
Model.parameters. This allows the engineer to verify that the controller operates
according with mission specifications.
PIL Test
PIL Setup
GN&C Control
Board
(system under test)
The output of the IMU is
physically cabled to the
controller and the output of
the controller is connected
to the real-time system.
This verifies that the GN&C
control board operates in
real-time and within mission
parameters.
Simulated
Vehicle
(6 DOF model using ATA
Aerospace Toolkit)
The mission simulation built
with the ATA Aerospace Toolkit
is modified as needed and
deployed to the PXI to operate
in real-time.
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
IMU
Model
The 6 DoF simulation runs in realtime on a PXI or other system. The
mission simulation is further refined
as needed, to accommodate project
Additional flight
changes.
GN&C
is will consist of
The controller
hascontroller
been verified and is now ready for a system test. Thehardware
system test
been verified.
brought intowill
the“fly” in a highthe GN&Chas
controller
operating in a closed loop with the IMU. These components
loop to fully test the
fidelity simulation in accordance with mission parameters.
capability of the
controller
HIL Test
HIL Setup
GN&C Control
Board
(system under test)
Simulated
Vehicle
(6 DOF model using ATA
Aerospace Toolkit)
IMU
Flight
Hardware
Some tests can only be performed once (such as the
firing of a rocket motor). In such cases there are great
advantages to using a modular, adapting test system
HIL Testing is an expensive and time consuming proposition. As
for development. Using such a process ensures that
much work and testing as possible should be done before reaching
components and connections are verified in a system
this stage of development. Setting up an efficient SIL and PIL
that is as like the environment of the final test as
system will allow developers to work out problems before
possible, prior to the final test event.
integration,
lowering
costAssociates,
and reducing
Advanced
Technology
Inc. risk.
(303) 948-7980
www.atacolorado.com
Summary
• A good prototype and test system will be capable of
adapting to meet the project life-cycle requirements.
• The ATA Aerospace Toolkit extends the LabVIEW
graphical development environment, allowing the user
to build high-fidelity spacecraft and air vehicle
simulations for prototyping and test.
• LabVIEW, the modular National Instruments platforms
(like the PXI) and the ATA Aerospace Toolkit combine to
provide an excellent integrated solution for control
software prototyping and test.
Advanced Technology Associates, Inc.
(303) 948-7980
www.atacolorado.com
Want to Know More?
•
Learn more about the ATA Aerospace
Toolkit.
www.atacolorado.com/aerospace_tool
kit.htm
•
Download the ATA Aerospace Toolkit
and try it free for 30 days.
www.atacolorado.com/downloads.htm
•
Learn more about National Instruments’
LabVIEW graphical development
environment or other embedded design
and test solutions.
www.ni.com