COMPLEX FOR REAL-TIME EXPERIMENTS BY USING OPERATED FLYING ON BALLOON

Transcription

1 COMPLEX FOR REAL-TIME EXPERIMENTS BY USING OPERATED FLYING ON BALLOON O.Brekhov, Yuri. Tsvetkov, N.Nikolaev Moscow Aviation Institute, Volokolamskoe Shosse 4, ,GSP-3, Moscow, Russia address: ABSTRACT Necessity of carrying out of experiments for real time by means of use of operated flight of a balloon it is caused by a number of the reasons. We name some of them: the research of the physical phenomena, such as studying of a spatial magnetic field of the Earth; monitoring of the terrestrial surface, for example, for the purpose to test of a states of gas and oil lines; the research of terrestrial and a cosmic space; carrying out of tests of space devices and the equipment in the conditions of close to the space. For the purpose of the task in view decision the groundonboard complex of a balloon including is offered: On-board part, including: The onboard COMPUTER, working under control of an UNIX-like operating system. The onboard COMPUTER is intended for working off of functional tasks of flight control and interaction with actuation mechanisms of a balloon and devices. The module of definition of a site of a balloon. The module works on the basis of satellite navigating system, obtaining the data from satellites of system GPS. The complete set of radio transferring equipment consisting of transceivers and radio-controlled of package communication. Transceivers are intended for reception and transfer of packages of the information to three ranges of frequencies. The complete set of devices, in particular, the magnetic system consisting of three proton magnetometers and three blocks of automatic registration, in regular intervals carried along a vertical line within 6 km. Ground part (control command point - CCP), including: The computer of type IBM PC with an operating system of type Windows NT and the established complete set of radio transferring equipment. The software - The user interface for control of a balloon, a database of winds, the module of reception of the data on a radio channel, the module of display and the analysis of a profile of flight and the flight task, a subsystem of modeling of flight. CCP provides working off of functions of flight control of a balloon by the operator from stationary or portable command control point, check and testing of all functions and possibilities of management of a balloon. CCP includes reception of the data and messages from a balloon, processing and display of the received data, mapping, forecasting of operated flight of a balloon in the real or accelerated time scale. On the basis of the developed complex four flight experiments on measurement of a spatial magnetic field of the Earth are executed. 1. INTRODUCTION The use of automatic balloons (AB) for terrestrial surface monitoring, over ground and space research, as information traffic repeaters, for long flights with considerable cargoes and solving other problems is a rather perspective direction. Thus, it is necessary to create a control system of flight AB. In the present work the experience of working out of universal complexes for controlling AB of different types is presented. The balloon flight is influenced by the environmental processes which physical characteristics have an effect on the parameters of AA movement. AA flight control is carried out by choosing a starting point and selecting the height of the flight to achieve the demanded direction and speed of AA movement taking into consideration the wind for arriving to given point. It is known reaching the set height is provided by throwing down the ballast or gas releasing. The works were carried out in the following directions: 1. Working off of the technical shape and structure of the united set of onboard equipment for the balloon (BEB) flight control. 2. Working out and realization of the flight control commanding post. 3. Working out the system of forecasting the working capacity of the complex of onboard and land control flight facilities. 4. Working out the algorithms of high-altitude and horizontal flight control AB. Proc. 20th ESA Symposium on European Rocket and Balloon Programmes and Related Research Hyère, France, May 2011 (ESA SP-700, October 2011)

2 5. The analysis, choice and program realization of the protocol concerning the command-telemeter information exchange between CCP BEB. 2. THE STRUCTURE OF THE EQUIPMENT OF FLIGHT CONTROL BY AUTOMATIC BALLOONS The equipment of flight control by automatic balloons (EAB) consists of the land commanding post (CCP) which is single for the set of simultaneously operated AB and the onboard equipment of the automatic balloon (ОAB). The generalized scheme of EAB AB is presented on (Fig. 1). Figure 1. The scheme of EAB AB Figure 1. The scheme of EAB AB Flight control is carried out by EAB on the basis of the data about the environment and parameters of the balloon movement that get to BEB from the navigating system and onboard gages, and also on commands and taking into account the data which can be transferred with (to) CCP. CCP carries out the formation flight control AB commands by means of processing the information from external gages (pressure, temperature, navigating etc.). The signals from the gages arrive at the computer complex (CC), where they are processed by various algorithms according to the demanded flight program. CC sends signals of AB flight control (ballast dump, gas release). Simultaneously CC forms the telemeter signal containing the information on the parameters of BEB work, the coordinates of AB location, its speed, pressure, quantity of the let out gas and the dumped ballast, the condition of mechanisms etc. This information is transmitted through the package communication controller by radio station. The telemeter information received by the transceiver which is a part of BEB goes through the package communication controller to the stationary or portable CCP. The Software of CCP processes the information and displays it. EAB is intended to solve some functional problems onboard AB, to control AB flight from CCP, to receive the navigating data about the location, speed and course of AB, from the receiver of satellite navigating system, and to exchange the telemeter information with the earth on a radio channel, according to the specialized protocol of data packet transmission. BEB consists of: The onboard computer made according to the PC/104 standard, working under control of Linux operating system. CC is meant for working off functional problems of flight control and interaction with actuation mechanisms AB. The module of AB location determination. The module works on the basis of satellite navigating system, obtaining the data from GLONAS ore GPS system and transforms them into coordinates. The radio transferring equipment set consisting of the transceiver and the radio controller of package communication. The transceiver is intended for reception and transferring radio signals. The radio controller processes the analog signal received from the transceiver, transforms it into a digital signal and forms packages. The module of relay switching is intended to control the AB executive mechanisms. Special software CC includes the following functional tasks: Vertical control, the Flight task, command-telemetering system, providing the basic functions of flight control. The commanding post CCP is intended for working off the functions of AB flight control by the operator from the stationary or portable command post, checking and testing all functions and possibilities of control CCP, and forecasting of AB movement. The portable command post of control provides checking the equipment of AB before the start and carries out the local operating control of AB, providing decentralized AB control. The Software of AB allows to carry out forecasting of operated AB flight over territory the Russian Federation or other country in the real or accelerated time scale. The structure CCP consists of: Portable CCP or stationary CCP Software of CCP provides the operator with a convenient window interface which displays the projection of trajectory of flight AB to a horizontal surface of the map, a high-rise profile of AB flight, and special information on fulfilling earth and flight program commands. The interface makes possible to input commands by the operator and transferring flight control commands on BEB. Besides, there is an algorithm of horizontal flight control which automatically forms commands of vertical flight control and transfers them to board by a radio channel in case the operator approves them.

3 3. FORECASTING AND CHECK OF WORKING CAPACITY OF AB Equipment of AB allows to predict balloon flight, simulating of flight AB, working of onboard and land control facilities of the flight that are close to real conditions. The forecasting system is a built in function of software CCP. Basic purposes of system of forecasting are: 1. Imitation of processes of flight and flight control of AB at all stages in real time in interaction with CCP; 2. Checking AB flight control algorithms intended for work of software AB; 3. Debugging of functional tasks of AB; 4. Working off of the principles of horizontal flight control on the basis of the average and real meteodata; 5. Preflight forecasting of real balloons flight. The imitating models are realized within the limits of forecasting system engineering: model of a balloon movement of, model of atmospheric processes, model of onboard gages, and model of onboard navigating system. The result of work of mathematical model of flight of a balloon is presented on fig. 2. atmospheric processes and model of flight of a free balloon. On the basis of the forecast data of the balloon flight it is possible to make a conclusion about possibility of the task fulfillment. 4. THE PRIMARY GOALS OF AB The main tasks of EAB AB during a real flight are: providing with autonomous control (program-time, high-altitude-speed, navigating) and radio channel flight control of high-rise and stratospheric AB (from 6 km to 50км at flight time duration till 15 days with possibility of repeated compulsory change of height of the flight; giving commands on operating of fulfilling mechanisms and dumping of cargoes according to the established program on time and height, the navigating information, according to radio commands from CCP with preliminary or real time set variants and dump intervals. Automatic and radio control of special equipment work; Definition of AB flight location; Transferring radio telemetering information from AB board to the land (air) CCP. Radio designation of AB in flight and its suspension brackets after the landing providing radio control of AB flight on КВ and VHF ranges. diagnostic check of working capacity of AB equipment. 5. STRUCTURE AND SETTING OF ONBOARD EQUIPMENT OF FLIGHT CONTROL Figure 2. Result of work of model of flight of a free balloon The onboard equipment of flight control of an automatic balloon (a Fig. 3.) represents the combination of computing means both functionally and informational connected. The methodic of the trajectory characteristics calculations allows calculating the key parameters of AB flight, on the basis of the meteorological data and AB technical characteristics. The model of atmospheric processes allows connecting the base of the meteorological data which defines the direction and speed of movement of a wind. In case of absence of the meteorological data it is possible to use the preset area an average map of winds in the preset area. It allows predicting AB trajectory, the direction and speed of its movement. The onboard gages data is formed according to «Standard atmosphere» and get into the algorithm of vertical control as input parameters. The onboard navigating system is realized by means of model of Figure 3. The equipment of automatic balloon БАУП

4 The structure of the equipment of an automatic balloon includes the following functional modules: The onboard computer complex (CC) Navigating system The radio sending device The block to control the fulfilling mechanisms CC provides solving of onboard functional problems of a balloon which contain the following primary goals: Flight control, including height stabilization, The forced change of height, the flight termination Independent definition of AB location and the height using the data from navigating system, applying this information onboard the balloon and its transferring on the earth through a communication radio channel. Directing AB by CCP. Gathering and sending the telemetering information to the earth. CC is made on the basis of the industrial computer according to PC/104 standard. It possesses the expanded system of data gathering including analog inputs, analog conclusions, digital input and outputs. It allows connecting a considerable quantity of gages and controlling facilities. It possesses the full isolation of all inputs and outputs overheat protection, don t need an external source of cooling, and also possess means of visual monitoring of the device condition. The expanded BIOS function improves the system adaptability to various aspects of hardware-software surroundings. The subsystem of discrete input-output of general purpose with 24 lines of external signals on the basis of microcircuit which lines are equipped with resistive terminators, and analog-digital input-output with 16 channel ADT of 16-digital accuracy. Subsystems can work in inquiring modes, on interruptions or through DMA channel. The synchronization of measurements can be both external, and internal. For module work the power supply which forms 4 channels having protection against an overload. The power supply provides high degrees of reliability. The power supply has added supplemented the control block allowing putting on and off power device in the established intervals of time. This block represents microcontroller programmed in specialized language, with a serial port for loading of programs. The navigating module is universal 12-channel the GPS receiver allowing defining with the big accuracy of coordinate and a vector of speed of object on which it is located. In BEB it is used for information delivery in a control system of flight AB about current position and about components of a vector of speed AB. Thanks to universality of the consecutive interface of data transmission and software ОAB, it is possible using any other navigating module with similar parameters. Universal complete set of firm ICOM is used for data transmission on a communication radio channel between CCP and BEB. The protocol of АХ.25 provides multistation (plural) access. The control unit is intended by executive mechanisms for switching scheme of power chains variable and a direct current by means of electromagnetic relays. 6. THE SOFTWARE OF ONBOARD EQUIPMENT OF FLIGHT CONTROL Control functions of ОAB are carried out by the specialized software computer working under the control of real time operating system RT-Linux and solving the following functional tasks: Receiving of control commands from the earth from a radio receiver and checking the integrity of their delivery; Decoding of control commands of AB and their processing; Definition of parameters AB by checking onboard gages; Forming commands on mechanisms: Producing vertical control Data transmission parameters of the condition of AB, and sending messages on the earth through a radio transmitter. Receiving the data from navigating system about parameters AB and their processing according to the given algorithms of control. Codings and decoding of the accepted data, check of integrity of the package. The numerical modeling of processes of vertical flight control was carried out. It is shown that algorithms of vertical control provide the demanded trajectory of flight (stabilization of height of flight, program transition from one height to another). 7. COMMAND POST OF FLIGHT REGULATION Specialized software CCP is intended for flight and real time control by one or more flying automatic balloons. Software CCP provides: The multipurpose window interface; Screen display of a map with scaling possibility; Possibility of efficient flight control of one or more AB; Possibility of flight AB according to the set trajectory, efficient change of height and testing any parameters AB; Showing horizontal profile of flight (trajectory) of all traced AB on the map;

5 Showing a high-rise profile of flight of any AB, chosen by the user; Showing in a separate window the parameters AB, chosen by the user; Having a local database of all user commands and commands of AB control with possibility of their viewing and choosing; Receiving of the data from the controller of package communication; Checking of integrity of delivery of data packages coming through the communication channel; Gathering and registration of the data coming through the communication channel, its decoding and presentation of the received information the form suitable for the user for the purpose of its further analysis. The present program complex works under control of multitask multiuser OS. The user interface CCP (fig. 5) allows adjusting the appearance depending on the task or according to the operator wish. To delete, add, filter visible parameters of a balloon, the set soundtrack to events. on executive mechanisms, opening the gas valve or ballast for the set time. The data is sent directly through a radio channel, CCP conducts gathering and registration of the data coming by the communication channel, their decoding, and check of integrity of delivery of data coming by a communication channel and representation of the received information in a form comfortable for the user for the purpose of its subsequent analysis. 8. THE INTERFACE OF CCP The interface of CCP consists of: 1. Keys of tools line Figure 4. The main window of "Command point of management» AB flight is displayed on the screen of a map with possibility of dynamic scaling. The current location of the balloon and the schedule of its flight can be seen on the screen. During the balloon flight the operator can control the flight of one or more AB: check the set trajectory, change the height and control the condition of parameters of any AB, dump of cargoes, control the external devices, etc. A change of height of balloon flight is carried out by formation of the flight task directly on CCP or on ОAB during preflight preparation. The flight task consists of set parameters allowing precisely the trajectory of balloon flight at the set height and quality of transient from one height to another. Also it is possible to change the trajectory of AB movement by the direct influence Figure 5. Keys of tools line 2. The message window. The message window is meant for: showing diagnostic messages on CCP work; Recordings the commands sent between CCP and AB. 3. Route window: The route window is meant for indication of the current AA position and its route on the map in three scales. 4. Window of parameters. The window of parameters is intended for indication of parameters of active AB. 5. Window of wind direction. The window of wind direction displays distribution of speed and directions of a wind depending at current AB height and at any AB height on height. 6. Window of the vertical profile of AB flight. The window of the vertical profile of flight is intended for indication of height of AB flight. It allows seeing a deviation of balloon movement from the set trajectory. There are two methods of scaling of a vertical profile: automatic and manual. 7. Dialogue window «the Flight task». The given dialogue allows forming the Flight task by the list of commands of automatic transition to the set height for AB.

6 Figure 6. A window of the flight task 8. Window of the mode of the flight forecast. To start the mode of the flight forecasting it is necessary to choose "Modeling" in the main menu, then to choose point «modeling Start». 9. Window of mode of testing of equipment. Possibilities of onboard equipment allow testing EAB AB without start AB. 10. Window of mode Flight mode. For activation of real or Emulation flight it is necessary to choose in the main menu "Adjustment" point, and then point «Flight " or «Flight Emulation». 11. Window of Formation of the flight task. Open a window «the Flight task». In the appeared window it is possible to add and delete tasks for AB on automatic transition to height. 12. Giving of signals on executive mechanisms. In the course of flight AB possibility the operator of CCP can to operate directly of executive mechanisms. A dialogue window «Opening of executive mechanisms» (fig. 7.) it is intended for opening of the gas valve and ballast dump. Figure 7. A dialogue window «Opening of executive mechanisms» Dialogue window "Blocking" (fig. 9.) it is intended for blocking of executive mechanisms. Actions of a command "Blocking" on a priority above a command «Opening of executive mechanisms». Figure 8. A dialogue window "Blocking" 13. The flight termination. For the flight termination it is necessary to cause dialogue «the flight Termination» (fig. 9.). Figure 9. Dialogue of input of a command «to Stop flight»

7 The command «the flight termination» makes active a complex of preparatory measures on preparation and carrying out of dump of cover AB and descent of BEBAB to the earth. 14. REALISATION In process of the realization it is created: - The experimental sample of onboard equipment of flight control AB; Figure 12. Flight tests of BAUP AB on the basis of balloon ВАЛ120-МА. 7. CONCLUSIONS Necessity of carrying out of experiments for real time by means of use of operated flight of a balloon it is caused by a number of the reasons. With this aim the ground-onboard complex of a balloon is offered. Figure 10. Testing - Command point of management AB; - The design documentation on the experimental sample of onboard equipment of flight control AB. Figure 11. Prepare to Flight At carrying out land and flight tests it is shown that the experimental sample of the equipment of an automatic balloon of flight control by automatic balloons is efficient, flight tests has sustained, corresponds to appointment. The equipment of an automatic balloon is designed on the basis of computer PR-32Z-EA, and allows making data transmission and control in HF/VHF communications, control of devices, switching of executive mechanisms, reading of indications of various gages, definition of current coordinates. The software of the equipment of an automatic balloon is developed in system of real time Diamond RT Linux. It allows controlling of an automatic balloon and provides delivery of commands on operation of actuation mechanisms and dump of cargoes according to the established program, automatic and radio control by work of special equipment, transfer of the radio telemetering information from board AB on land (air) CCP, to spend diagnostic check of working capacity of equipment AB. The software of CCP is developed in system Windows, allows to carry out flight and operational control by one or more automatic balloons being in flight, provides the multipurpose window user interface, possibility of conducting flight AB on the set trajectory, operative change of height and control over a condition of parameters AB. REFERENCES 1. Tsvetkov Yu., Filippov S., Brekhov O., Baranov Ya., Nikolaev N. Experimental estimations of errors of measurements carrying-out by the stratospheric balloon magnetic gradiometer. Proceeding of the 18th ESA Symposium on European Rocket and Balloon Programmes and Related Research (ESA EP-647, November 2007). pp

8 2. Tsvetkov Yu., Filippov S., Brekhov O., Baranov Ya., Nikolaev N. Magnetic fields measured by stratospheric balloon flights and their role for the problem of constructing an analytical model of the magnetic field of the earth s crust. Proceeding of the 18th ESA Symposium on European Rocket and Balloon Programmes and Related Research (ESA EP-647, November 2007). pp O.M. Brekhov The deviation of the position of measuring base of the balloon gradiometer concerning a vertical line at drift of a balloon. The 19 th ESA Symposium on European Rocket and Balloon Bad Reichenhall, Germany, Yu. P. Tsvetkov, V. D. Kuznetsov, V. P. Golovkov, O. M. Brekhov, V. A. Pelle, N. S. Nikolaev Extraction of the Anomaly Magnetic Field of the Earth from Stratospheric Balloon Magnetic Surveys at Altitudes of km. ISSN 1028_334X, Doklady Earth Sciences, 2011, Vol. 436, Part 1, pp Pleiades Publishing, Ltd., 2011.