CN106163026B - A kind of synchronous quick control method of sudden strain of a muscle of modulator - Google Patents
A kind of synchronous quick control method of sudden strain of a muscle of modulator Download PDFInfo
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Abstract
Synchronous the present invention relates to a kind of modulator dodges quick control method, is made of microprocessor, power module, GPS/ Beidou module, LED lamp holder, photosensitive sensor and characteristic of a navigation light dial-up and communication interface.Microprocessor modifies the characteristic of a navigation light by characteristic of a navigation light dial-up, or receives external command by communication interface to modify the characteristic of a navigation light；Microprocessor internal is provided with a time timer T1, turns on/off duration for control modulator；Microprocessor internal has the characteristic of a navigation light control structure register an of modulator, which stores following data：The data encoding array of the characteristic of a navigation light, the data encoding array serial number of the characteristic of a navigation light, current encoded data, synchronous dodge control moment and time synchronization moment；It is to interrupt in service to complete in the INT as caused by PPS signal that the synchronous sudden strain of a muscle moment, which checks, and synchronous sudden strain of a muscle control operates；In the data encoding array of the characteristic of a navigation light, the data encoding of even number serial number is bright when long codes, and the data encoding of odd indexed is the when long codes gone out.The inspection and control that can realize synchronous flashing per minute using the present invention reach more accurate synchronous sudden strain of a muscle effect.
Description
Technical field
The present invention relates to a kind of vision guided navigation facilities --- and navigation mark modulator, the synchronous of especially a kind of modulator dodge quickly control
Implementation method.
Background technique
Along the navigation light of navigation channel setting, (flicker cycle of lamp, the hereinafter referred to as characteristic of a navigation light) is rhythmically flashed under night,
Channel status can be indicated for dealing ship, be one of the critical facility for ensureing ship night flight safety.But in complex background light
Under the influence of (such as night city neon glow, harbour service light, navigating ship light), instruction of the conventional navigation light to navigation channel
Effect is weakened, therefore along navigation channel deployment, bright simultaneously or go out in synchronization with the synchronous navigation light for dodging function, can be made
Bridge approach boundary is clearly more demarcated, improves night flight environment, and then improve the ability for ensureing ship night flight safety.
ZL97204998.3 discloses a kind of buoy light synchronous flasher, by GPS receiving antenna, GPS receiver, interface
The composition such as circuit, processing circuit, electric power management circuit, output circuit and floating lamp, document is earlier the realization navigation light time
Synchronous key technology is solved by new technology GPS at that time, and points out that the content exported to GPS serial ports is programmed place
Reason, when obtaining any whole or thus whole point of information so that having makes each buoy glisten jointly in same time has established day
The synchronous hardware frame for dodging navigation light is realized based on GPS technology afterwards；ZL200420032200.7, ZL200820192645.X also needle
The synchronous sudden strain of a muscle navigation light hardware design based on GPS technology is proposed to each self-application.As it can be seen that navigation light realizes the synchronous difficult point dodged
It is：How multiple navigation lights be laid in large area and mutually independent are realized to the synchronization of time.
In December, 2002, once auspicious monarch, Yin Xianggen, K.K.Li etc. existed《Proceedings of the CSEE》It delivers《GPS clock is online
Monitoring and modification method》, detailed analysis illustrates the influence factor of GPS clock error, and points out to promote GPS clock in important work
Application in industry field need to solve two problems：The real-time monitoring and error compensation of GPS clock.Current well known, GPS
The message of receiver serial ports output is after generating PPS signal (PPS signal precision can reach nanosecond) and keeping 100ms duration
Output, it is such as only programmed the time of acquisition to the message of GPS output, at least has hundreds of milliseconds of error, this error
In the more demanding application of time precision, be it is unacceptable, therefore, using combine PPS signal or other supplementary means
Etc. precision time service is realized, undoubtedly just at the natural selection of those skilled in the art.
ZL200710180533.2 discloses a kind of high-accuracy data receiving time service instrument, by the pulse per second (PPS) information of GPS and absolutely
The internal clocking of admission control panel and Corrective control plate is passed to temporal information, is not higher than with meeting required precision as 1 × 10-4
The application of second；ZL200810060615.8 provides a kind of device based on GPS technology to ammeter time service, to guarantee time service
Precision, be delayed using caused by fixed offset compensation MCU and ammeter call duration time, specifically touched using PPS signal
Hair interrupts, and internal current time information is all stored, after the message information that GPS is sent all decodes out again
The temporal information that decoding is obtained is plus the clock and GPS that can guarantee after triggering to the decoding completion time used inside MCU
Clock keeps consistent (error is within 1us) that compares height；CN201883394U also disclose it is a kind of by serial signal with
The synchronous flashing solar energy spike of PPS second pulse signal complementation, gives hardware block diagram.
The system of current such software and hardware combining, general character place is that have GPS receiver, microprocessor, to agreement report
Time service precision is improved based on the mode that text programming is decomposed and PPS is combined, if you need to meet higher precision requirement, can be increased toward contact
Add some auxiliary devices, but specifically how to cooperate with the method between PPS and protocol massages decoding, then pen and ink are few, the money used
Source is such as interrupted, here language is unknown by RAM.
With the development of technology and the deep understanding to industry, CN103929859A further disclose a kind of navigation light without
Line locking flickering method, control circuit board have the timing circuit with local zone time timing ability, with the side of second pulse signal
Precise synchronization is carried out along signal along the second to timing circuit, establishes an accurate absolute time reference on control panel with this
System, synchronization time starting point is realized and is synchronized per hour once since each integral point.
Therefore, how synchronous using fewer resource realization navigation mark on the navigation mark modulator hardware existing based on GPS/ Beidou
It dodges, and improves the synchronous effect of flashing, be still an of great value research.
Summary of the invention
Applicant in this case proposes " a kind of precision time service method based on GPS " and (invents in proposition on July 2nd, 2014
Patent application, the number of accepting：201410306188.2) RTC clock and interrupt mechanism based on MCU microprocessor, are illustrated,
How PPS signal and the NMEA-0813 message protocol processing method of GPS are cooperateed with to realize the precision time service at zero second moment per minute
Method.
The purpose of the present invention is providing a kind of synchronous quick control method of sudden strain of a muscle of modulator.
In order to achieve the above objectives, design technology project of the invention is：
A kind of hardware terminal of modulator is by microprocessor 101, power module 102, GPS/ Beidou module 103, LED lamp holder
104, photosensitive sensor and characteristic of a navigation light dial-up 105 and communication interface 106 composition；Power module 102 respectively with microprocessor 101,
GPS/ Beidou module 103, LED lamp holder 104 are connected；Microprocessor 101 and GPS/ Beidou module 103, LED lamp holder 104, photosensitive biography
Sensor is connected with characteristic of a navigation light dial-up 105 and communication interface 106, and wherein microprocessor 101 has the INT pin and GPS/ of interrupt function
The PPS signal pin of Beidou module 103 is connected, the UART pin of microprocessor 101 and the UART pin of GPS/ Beidou module 103
It is connected, an I/O pin of microprocessor 101 is connected with LED lamp holder 104.
The microprocessor 101, by characteristic of a navigation light dial-up modify the characteristic of a navigation light, or by communication interface 106 receive external command come
Modify the characteristic of a navigation light；Photosensitive sensor measurement obtains illuminance, decides whether that bright light operates.
The microprocessor 101 is internally provided with a time timer T1, for controlling the duration that turns on/off of modulator, T1
Period (TT1) unit be millisecond, value range：5~100.
There are the characteristic of a navigation light control structure register an of modulator in the microprocessor 101, inside, store following data：The characteristic of a navigation light
Data encoding array, the data encoding array serial number of the characteristic of a navigation light, current encoded data, synchronous dodge control moment (unit：Point) and
Time synchronization moment (unit：Second).
The microprocessor 101, FLASH saves 255 kinds of characteristics of a navigation light and its coding for meeting national standard, when dial-up or instruction
When modifying the characteristic of a navigation light, the data that the characteristic of a navigation light of the data encoding of the corresponding characteristic of a navigation light to characteristic of a navigation light control structure register is read from FLASH are compiled
In yardage group, then calculates and obtain synchronous sudden strain of a muscle control moment (unit：Point), and it is stored in the synchronization of characteristic of a navigation light control structure register
It dodges in the control moment.
The data encoding of the characteristic of a navigation light, algorithm are：With each bright, duration of going out (unit in the characteristic of a navigation light：Second) multiplied by after 1000
Again divided by TT1, as a result it is necessary for integer (i.e. TT1Value must satisfy this condition), which is saved in the data encoding of the characteristic of a navigation light
In array, if being not integer, the period of T1 need to be readjusted, is integer to meet each data encoding that is bright, going out in the characteristic of a navigation light.
Synchronous dodge controls the moment, is to calculate to obtain after the characteristic of a navigation light determines, calculation method is：
N=M × SUMDZ×TT1/(1000×60)
Wherein, SUMDZFor set the characteristic of a navigation light data encoding accumulation and；
TT1For the period of timer T1, unit：Millisecond；
M is to realize that N is the smallest positive integral value of integer；
N is integer, indicates synchronization point, unit：Point, value range：1~59.
The numerical value of N is stored in synchronous dodge in the control moment.
The microprocessor 101 first checks for whether current encoded data is 0 when time timer T1, which is interrupted, to be occurred,
If not being 0, current encoded data carries out subtracting one operation, else if being 0, then by the data encoding array sequence of the characteristic of a navigation light
Number plus one, that is, move back, then read corresponding data encoding to current encoded data from the data encoding array of the characteristic of a navigation light accordingly.
The microprocessor 101 obtains UTC points in message and UTC seconds moment, leads to when starting the parsing of GPS message data
Cross calculation formula：60-UTC seconds time obtained the time synchronization moment and was stored in the time synchronization moment.
The microprocessor 101 interrupts service when entering the INT as caused by the PPS signal of GPS/ Beidou module 103
When, whether the data for first checking for the time synchronization moment are 0, and when not being 0, the data that the time synchronization moment saves are subtracted
One operation, then whether judging result is 0, if not being 0, dodges control operation without synchronous, is otherwise 0, then means to work as
The preceding moment is x point 0 second (x is between 0~59), need to synchronize dodge the moment check and it is synchronous dodge control operation, i.e., it is synchronous when dodging
Carving and checking and synchronize sudden strain of a muscle control operation is completed in the INT as caused by PPS signal is interrupted and serviced.
It is described it is synchronous dodge the moment and check, with time when UTC multiplied by the accumulated value after 60 between UTC timesharing divided by synchronous sudden strain of a muscle
The numerical value of moment preservation is controlled, i.e. complementation operation dodges control operation without synchronous, be otherwise 0 if remainder is not 0, progress
It is synchronous to dodge control operation.
Synchronous dodge controls operation, is 0 by the data modification of the data encoding array serial number of the characteristic of a navigation light, i.e. the direction characteristic of a navigation light
Data encoding array first address, read the data encoding of serial number 0 in the data encoding array of the characteristic of a navigation light to current encoded data.
The microprocessor 101, in the data encoding array of the characteristic of a navigation light, the data encoding of even number serial number is that bright duration is compiled
Code, the data encoding of odd indexed is the when long codes gone out.
Compared with prior art, the beneficial effects of the invention are as follows：It, can be every point on existing navigation mark terminal hardware resource platform
Clock realizes the inspection and control of synchronous flashing, reaches more accurate synchronous and dodges effect, even if GPS once in a while can not effective position, but
As long as there is PPS signal, the timing ability continued synchronization triggering of microprocessor can still rely on.
The purpose of the present invention, feature and advantage will be described in detail by embodiment and in conjunction with attached drawing.
Detailed description of the invention
Fig. 1 is hardware platform structure chart of the invention.
Fig. 2 is GPS message data process of analysis figure of the invention.
Fig. 3 is that PPS signal INT of the invention interrupts service flow diagram.
Fig. 4 is to check and control operational flowchart at the synchronous sudden strain of a muscle moment of the invention.
Specific embodiment
In Fig. 1,101 be GPS module, and 102 be microprocessor, and 103 be power module, and 104 be LED lamp holder, 101 PPS
Pin, UART pin are connect with 102 INT, UART pin respectively, and 102 pin is connect with 104,103 respectively with 101,
102 and 104 connections.
In order to describe in more detail the present invention, it is described further below with reference to Fig. 2, Fig. 3 and Fig. 4.
Step 201：The parsing of GPS message data starts, and executes step 202；
Step 202：Judge whether there is UTC time in GPS message, if it is not, step 205 is executed, if so, then holding
Row step 203；
Step 203：Parsing obtains UTC time-division second data, executes step 204；
Step 204：UTC second data is substituted into conversion formula, calculates and obtains the time synchronization moment, conversion formula is：60-
Then UTC seconds time executed step 205；
Step 205：The parsing of GPS message data terminates.
Step 301：PPS signal INT interrupts service and starts, and executes step 302；
Step 302：Whether the data for judging the time synchronization moment are 0, are 0, then follow the steps 306, are not otherwise 0, hold
Row step 303；
Step 303：The data at time synchronization moment carry out subtracting one operation, execute step 304；
Step 304：Whether the data for judging the time synchronization moment are 0, do not then follow the steps 306 for 0, are otherwise 0, are executed
Step 305；
Step 305：Synchronous sudden strain of a muscle moment inspection and control operation are executed, step 305 is executed；
Step 306：PPS signal, which interrupts service, to be terminated.
Step 401：The synchronous sudden strain of a muscle moment checks and control operation starts, and executes step 402；
Step 402：Current point is calculated, calculation formula is：When UTC between time × 60+UTC timesharing, step is then executed
403；
Step 403：Complementation operation is carried out to the synchronous sudden strain of a muscle control moment with current point that calculating obtains, such as：X=is current
Divide % is synchronous to dodge the control moment；(% symbol is complementation operator in C language), then executes step 404；
Step 404：Judge x is obtained in step 403, if it is 0, then follow the steps 405, is not otherwise 0, executes
Step 406；
Step 405：Data encoding array serial number=0 of the characteristic of a navigation light, current encoded data=characteristic of a navigation light data encoding array sequence
The data encoding array first address that number 0 data, i.e. the data encoding array serial number of the characteristic of a navigation light are directed toward the characteristic of a navigation light, reads the data of the characteristic of a navigation light
The data of array first address are encoded to current encoded data, then execute step 406；
Step 406：Terminate.
Although specific embodiments of the present invention have been described above, those familiar with the art should be managed
Solution, we are merely exemplary described specific embodiment, rather than are used for limiting the scope of the invention, any to be sent out by this
Bright technology path inspires made equivalent modification and variation, should all cover the range protected in the claims in the present invention
It is interior.
Claims (1)
1. a kind of the synchronous of modulator dodges quick control method, the hardware terminal of modulator is by microprocessor 101, power module
102, GPS/ Beidou module 103, LED lamp holder 104, photosensitive sensor and characteristic of a navigation light dial-up 105 and communication interface 106 form, power supply
Module 102 is connected with microprocessor 101, GPS/ Beidou module 103, LED lamp holder 104 respectively；Microprocessor 101 and GPS/ Beidou
Module 103, LED lamp holder 104, photosensitive sensor are connected with characteristic of a navigation light dial-up 105 and communication interface 106, and wherein microprocessor 101 has
There is the INT pin of interrupt function to be connected with the PPS signal pin of GPS/ Beidou module 103, the UART pin of microprocessor 101 and
The UART pin of GPS/ Beidou module 103 is connected, and an I/O pin of microprocessor 101 is connected with LED lamp holder 104, the sudden strain of a muscle of lamp
The bright period is known as the characteristic of a navigation light, it is characterised in that：
1) there is the characteristic of a navigation light control structure register an of modulator inside microprocessor 101, which stores following data：
The data encoding array of the characteristic of a navigation light, the data encoding array serial number of the characteristic of a navigation light, current encoded data, synchronous dodge control moment, unit：
Divide, the time synchronization moment, unit：Second；
2) synchronous to dodge the control moment, it is to calculate to obtain after the characteristic of a navigation light determines, calculation method is：
N=M × SUMDZ×TT1/ (1000 × 60),
Wherein, SUMDZFor the characteristic of a navigation light data encoding accumulation and；
TT1For the period of timer T1, unit：Millisecond；
M is to realize that N is the smallest positive integral value of integer；
N is integer, indicates synchronization point, unit：Point, value range：1~59,
It is stored in synchronous dodge and controls the moment；
3) it is to interrupt in service to complete in the INT as caused by PPS signal that the synchronous sudden strain of a muscle moment, which checks, and synchronous sudden strain of a muscle control operates；
4) synchronous described in is dodged the moment and is checked, is controlled multiplied by the accumulated value after 60 between UTC timesharing divided by synchronous sudden strain of a muscle with time when UTC
The numerical value that moment processed saves, i.e. complementation operation dodge control operation without synchronous if remainder is not 0；Otherwise it is 0, carries out same
Step dodges control operation；
5) synchronous dodge described in controls operation, and the data encoding array serial number data of the characteristic of a navigation light is revised as 0, that is, is directed toward the number of the characteristic of a navigation light
According to coding array first address, the data encoding of serial number 0 in the data encoding array of the characteristic of a navigation light is read to current encoded data；
6) in the data encoding array of the characteristic of a navigation light, the data encoding of even number serial number is bright when long codes, and the data of odd indexed are compiled
Code is the when long codes gone out.
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