摘要
针对空间机器人星载计算机的高性能、高可靠、小质量、低功耗和低成本的要求,采用商用的现成产品(COTS)设计了一个星载计算机系统。该系统以 ARM 处理器为数据处理核心,采用双机容错结构,实现了基于现场可编程门阵列(FPGA)的硬件检错纠错技术,以及基于复杂可编程逻辑器件(CPLD)的 ARM 与 CAN 控制器之间的总线转换桥技术、多级看门狗技术和具有闩锁处理的电源等关键技术。实验结果表明该系统可满足空间机器人的需求。
According to the requirements of high capability, high reliability, light weight, low power constnnption and low cost for on-board computers （OBC） for space robot control, an on-board computer system was designed by using commercial off-the-shelf （COTS） devices. The dual fault tolerance architecture was introduced in the system in which the ARM （advanced RISC machine） processor was regarded as the data processing kernel. The key technologies, including the error de- tection and correction （EDAC） based on the field programmable gate array （FPGA）, the bridge of bus converter between ARM and CAN controller, and the multi-watch dog and power supply with latch-up handling, were realized in the OBC system. The experimental results demonstrate that the developed system can satisfy the requirements for space robot control.
出处
《高技术通讯》
EI
CAS
CSCD
北大核心
2008年第12期1285-1290,共6页
Chinese High Technology Letters
基金
863计划(2006AA04Z228)资助项目
关键词
空间机器人
星载计算机
商用器件
space robot, on-board computer, commercial off-the-shelf （COTS）
