CN113358103B - Distributed measurement architecture processing method of large-scale R-LATs measurement system - Google Patents
Distributed measurement architecture processing method of large-scale R-LATs measurement system Download PDFInfo
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Abstract
The invention discloses a distributed measurement architecture processing method of a large-scale R-LATs measurement system, belonging to the technical field of processing. Firstly, performing synchronous light identification by reading an optical pulse signal, obtaining a synchronous optical pulse signal, and decoding to obtain a coding sequence of the synchronous optical pulse signal; reading an optical pulse signal to perform plane light identification to obtain a plane laser pulse signal, identifying a scanning base station source for obtaining the plane laser pulse signal, and identifying a plane type for obtaining the plane laser pulse signal; then, continuously carrying out clock synchronization on the synchronous optical pulse signals of the reference node and the synchronous optical pulse signals of the common node; the optical plane obtains the coordinates of the common node by means of calculation according to the clock difference value in clock synchronization; thus, a distributed measurement architecture processing method of a large-scale R-LATs measurement system is realized. The processing method provided by the invention can be used for solving the problem that the R-LATs system can be separated from a local area network and a PC, and improving the measurement precision of the R-LATs measurement system when the R-LATs measurement system is applied to large-scale measurement.
Description
Technical Field
The invention belongs to the field of large-size space measurement, and relates to a distributed measurement architecture processing method of a large-scale R-LATs measurement system.
Background
The rotary laser theodolite measurement network (R-LATs) is an important method for large-size space measurement, and in principle, the measurement space expansion of any size is realized by reasonably arranging scanning base stations, and the multi-target parallel measurement capability is realized. The measurement accuracy can be kept at +/-0.2 mm, and the method is widely applied to the aerospace and military fields such as aircraft manufacturing, ship manufacturing, large antenna manufacturing and the like at present.
As shown in figure 1, in operation, each scanning base station emits two fan-shaped infrared laser planes forming a certain included angle, and the scanning base station is controlled by a servo motor to rotate at a certain rotating speed and continuously scan a measurement space. The moment when the laser plane scans the reference sensor is denoted as initial moment, the moment when the laser plane scans the space sensor P is denoted as end moment, and the synchronous light received by the two sensors is denoted as reference moment, so that the rotation angle when the laser plane 1 scans the sensor P can be calculated. Similarly, the rotation angle of the laser plane 2 when sweeping to P can be calculated. Based on the two planes and the respective angles of rotation, a single ray L in space can be determined, which passes through the emission center point O of the scanning base station and the photosensor P. Thus, when more than two scanning base stations exist, the space straight lines L determined by the two scanning base stations meet at one point in space, namely the space position point of the sensor P. Therefore, after the space relative position of the rotary scanning base station is determined, the coordinate measurement of the photoelectric sensor in the large-size space can be realized.
In order to meet the measurement of a large space range, the flexible controllability of the system is improved, for example, the R-LATs system is used in bridge deformation monitoring, and the number of nodes in a sensor network is also greatly increased. In the traditional measurement architecture, all sensor nodes only collect data and then uniformly send the data back to the PC end through the local area network for comprehensive calculation processing, the many-to-one working mode is not only limited by the range of the local area network, but also the calculation processing burden of the PC end is large, and the calculation capability of the nodes and the networking flexibility of the sensors are not exerted. The R-LATs system is low in measurement efficiency, limited in measurement range, inflexible in measurement architecture and incapable of guaranteeing measurement accuracy, and becomes a bottleneck for application of the R-LATs measurement network. In addition, aiming at the conventional processing method, in the working condition of large-scale rotation laser theodolite station distribution networking, the PC end master control working mode is that each node sensor sends information to an upper computer for summarizing, and then the upper computer calculates the coordinates of each sensor, wherein the nodes are not networked or associated, and the system cannot work under the condition of being separated from a local area network and a PC.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a distributed measurement architecture processing method of a large-scale R-LATs measurement system, which improves the measurement precision of the R-LATs measurement system when being applied to large-scale measurement while solving the problem that the R-LATs system can be separated from a local area network and a PC.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the invention discloses a distributed measurement architecture processing method of a large-scale R-LATs measurement system, which comprises the following steps:
Preferably, in step 1, the obtained synchronous optical pulse signal is decoded to obtain a code sequence of the synchronous optical pulse signal, which specifically comprises the following steps:
firstly, reading an optical pulse signal to obtain a pulse width value of the optical pulse signal; when the pulse width value of the obtained optical pulse signal is larger than a set value, the optical pulse signal is the synchronous optical pulse signal; wherein, the set value is three fourths of the pulse width value of the synchronous optical pulse signal;
then, judging whether the obtained synchronous light pulse signal is preceded by synchronous light:
when the obtained synchronous light pulse signal does not have synchronous light before, identifying and obtaining a coding sequence of the synchronous light pulse signal;
when the obtained synchronous optical pulse signal is preceded by a synchronous optical pulse signal, the number of the synchronous optical losses is calculated according to the difference value of the count values of the synchronous optical pulse signal and the last synchronous optical pulse signal, and the coding sequence number of the synchronous optical pulse signal is obtained.
Further preferably, the number of synchronization light losses is obtained according to the following formula:
wherein a is an array for storing synchronous optical pulse signals, and j is the length of a;
the code sequence number of the synchronous optical pulse signal is:
a[j-1].No.＝a[j-2].No.+i。
further preferably, when the pulse width value of the obtained optical pulse signal is smaller than the set value, the obtained optical pulse signal is the planar laser signal of the scanning base station.
Preferably, in step 1, a scanning base station source for obtaining a planar laser signal is identified according to the obtained planar laser pulse signal, and the specific steps are as follows:
carrying out plane light identification on all scanning base stations based on a data structure queue b [ ], firstly, sequentially entering plane laser pulse signals of all scanning base stations into the b [ ], then setting a j-th plane laser pulse signal as a searching pointer j, and starting searching from the plane laser pulse signal before the j until the j-th signal and the i-th scanning base station are found to meet the following conditions:
wherein T is i Scanning a unit count value of a base station for an ith station; the data.rise is the pulse median count value of the laser plane; b [ j ]]RISE-data structure queue b [ sic ]]A pulse median count value of the jth plane laser pulse signal;
when data.rim and b [ j ]]The difference in counts of rise is T i And (3) indicating that the plane laser pulse signal is a laser plane sent by the ith scanning base station, wherein the scanning base station source of the plane laser pulse signal is i, and the scanning base station source of the plane laser pulse signal is obtained.
Further preferably, in step 1, a plane source of the plane laser signal is identified according to the obtained plane light pulse signal, and the specific steps are as follows:
according to the source of the scanning base station of the obtained planar laser pulse signals, two planar laser pulse signals sent by the same scanning base station are distinguished; two plane laser pulse signals sent by the same scanning base station are obtained according to data. Base, b [ j ]]Rise and T i Is judged by the following relation:
when (when)
Judging the plane laser pulse signal as one plane source;
when (when)
Judging the plane laser pulse signal as another plane source;
wherein T is i Scanning a unit count value of a base station for an ith station; the data.rise is the pulse median count value of the laser plane; b [ j ]]RISE-data structure queue b [ sic ]]A pulse median count value of the jth plane laser pulse signal; and/is the remainder symbol.
Further preferably, when the two obtained planar laser pulse signals sent by the same scanning base station do not meet the above two relations, the search pointer j is traversed forward, and the steps are repeated to perform judgment.
Preferably, in step 2, clock synchronizing the synchronous optical pulse signal of the reference node with the synchronous optical pulse signal of the common node according to the code sequence of the synchronous optical pulse signal obtained in step 1 and the data of the obtained surface laser pulse signal, including: for each newly received synchronous optical pulse signal, the clock synchronization is carried out on the plane laser pulse signal between the synchronous optical pulse signal and the last synchronous optical pulse signal.
Further preferably, when synchronizing the optical pulse signal a n And a synchronous optical pulse signal a n-1 When no synchronous optical pulse signal is lost:
in the embedded system clock, the optical pulse signal a is synchronized n The count value of (a) is a n .rise，a n-1 The count value of (a) is a n- 1 The count value of the plane laser pulse signal data is data.
Under the synchronous optical clock, a n-1 The count value clock of (2) is:
a n and a n-1 The count value clock difference of (a) is:
a n .time-a n-1 .time＝60000000+5000*(n-1)；
the count value of data in the synchronous optical clock is:
finally, the a is carried out n-1 .time、a n .time-a n-1 Substituting the time into the data time to finish clock synchronization of the plane laser pulse signal when the synchronous optical pulse signal is not lost.
Further preferably, when synchronizing the optical pulse signal a n And a synchronous optical pulse signal a k When the synchronous optical pulse signal is lost:
in the embedded system clock, the optical pulse signal a is synchronized n The count value of (a) is a n .rise，a n-1 The count value of (a) is a n- 1 The count value of the plane laser pulse signal data is data.
Under the synchronous optical clock, the synchronous optical pulse signal a n The count value of (2) is:
synchronous optical pulse signal a k The count value of (2) is:
the count value of the plane laser pulse signal data in the synchronous optical clock is as follows:
finally, the a is carried out n-1 .time、a n .time-a n-1 Substituting the time into the data time to finish clock synchronization of the plane laser pulse signal when the synchronous optical pulse signal is lost.
Preferably, in step 2, the coordinates of the common node are obtained by calculating according to the clock difference value in the clock synchronization, including the following steps: according to the clock difference value in clock synchronization, firstly solving the rotation angle of each plane laser pulse signal in each scanning base station according to a coordinate calculation model; and then, based on a least square method, calculating to obtain the coordinates of the common node.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a distributed measurement architecture processing method of a large-scale R-LATs measurement system, which can realize data communication of nodes in a sensor network by networking the sensor network nodes; through the design and implementation of the algorithm, each node can be enabled to be specific to the function of laser identification processing, and the common node can calculate the coordinate value of the node. Therefore, the distributed measurement architecture processing method of the scale R-LATs measurement system can solve the problem that the R-LATs measurement system is separated from a local area network and a PC and improves the flexibility and applicability of the R-LATs measurement system.
Further, through a complete synchronous light code identification flow, whether synchronous light is lost or not can be ensured to be identified as a code sequence.
Further, according to different rotation speeds of the scanning base station, the unit count values are different, the newly received plane laser pulse signals and the received plane laser pulse signals are compared in count values, whether the difference value of the newly received plane laser pulse signals and the received plane laser pulse signals is an integral multiple of the unit count value of the scanning base station or not is judged within a certain error range, and finally the source of the plane laser signal scanning base station is determined.
Further, the plane laser signals between the same synchronous optical codes are utilized to unify the clock of the reference node signals received by the common node and the signals received by the common node under the condition of no synchronous optical loss.
Further, clock synchronization of the plane laser pulse signals is guaranteed to be completed under the condition that synchronous light is lost.
Therefore, the distributed measurement architecture processing method of the large-scale R-LATs measurement system has the following advantages: (1) On the existing R-LATs system, a distributed measurement architecture is adopted, the parallel capacity of the system is improved, the total PC control operation pressure is small through multi-node simultaneous operation, only the total system scheduling setting is responsible, even the system can be separated from a PC, node calculation values are directly transmitted to users, and the flexibility and the usability of the system are improved greatly. (2) The invention ensures that each node of the R-LATs system can interact, so that a plurality of reference nodes can be arranged in a measurement network, thereby not only increasing the reliability of the system, but also utilizing the coordinates calculated under the condition of different reference nodes to synthesize, reducing errors and improving the measurement precision.
Drawings
FIG. 1 is a schematic diagram of the operation of a conventional R-LATs measurement system;
FIG. 2 is a flowchart illustrating the identification of the code sequence of the synchronous optical pulse signal according to the present invention;
FIG. 3 is a flow chart showing the identification of the source of a scanning base station of a planar laser pulse signal according to the present invention;
FIG. 4 is a schematic diagram of a scanning base station laser plane in the present invention; wherein, (a) is a perspective view, and (b) is a top view;
FIG. 5 is a flow chart of the identification of the planar type of the planar laser pulse signal according to the present invention;
FIG. 6 is a diagram of clock synchronization in accordance with the present invention;
FIG. 7 is a schematic diagram of node computation in the present invention;
fig. 8 is a wireless networking architecture diagram of a sensor network according to an embodiment of the present invention;
fig. 9 is a diagram of a single optical signal data structure in an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the attached drawing figures:
the invention discloses a distributed measurement architecture processing method of a large-scale R-LATs measurement system, which comprises the following steps:
reading the optical pulse signal to perform plane light identification to obtain a plane laser pulse signal, and identifying and obtaining data of the plane laser pulse signal according to the obtained plane laser pulse signal; wherein, the data for identifying and obtaining the plane laser pulse signal comprises: firstly identifying the source of a scanning base station for obtaining a planar laser pulse signal, and then identifying the type of the plane for obtaining the planar laser pulse signal;
step 2, according to the code sequence of the synchronous optical pulse signal obtained in the step 1 and the data of the obtained plane laser pulse signal, carrying out clock synchronization on the synchronous optical pulse signal of the reference node and the synchronous optical pulse signal of the common node; the optical plane is calculated according to the clock difference value in clock synchronization and the rotation angle of the corresponding scanning base station to obtain the coordinate of the common node; a distributed measurement architecture processing method of a large-scale R-LATs measurement system is realized.
In order to complete the clock synchronization task in the R-LATs sensing network, the flicker time of the synchronous light is designed into variable-interval coding pulses as shown in fig. 2. Setting the leader as T in a complete cycle period T 1 The unit tolerance is deltat, the synchronous light number is k, and each synchronous light t k Has its own number k.
I.e.
t k ＝t 1 +(k-1)Δt (1)
Wherein t is k -a blinking time of the kth synchronization light in one period; k-the code of the synchronous light, k, in one period; Δt—unit tolerance;
the time interval between the kth synchronous light pulse and the first synchronous light pulse is as follows:
t sum ＝t 1 +t 2 +…+t k-1 (2)
combining the two formulas, the absolute time of the kth synchronous light pulse can be obtained as follows:
t sum ＝(i-1)t i +Δt(i-1)(i-2)i/2 (3)
the coding sequence number of the kth synchronous light is calculated as follows:
according to the coding characteristics of the synchronous optical pulse signals, in the embedded processing system, the coding sequence number of each synchronous optical pulse signal can be obtained according to the rising edge starting time and the set leader time of each synchronous optical pulse signal and the formula (4).
When the R-LATs system works, the embedded system receives two major types of optical signals, namely a plane laser pulse signal emitted by the scanning base station and a synchronous optical pulse signal emitted by the synchronous optical system, and if the two types of signals are mixed together and do not have good distinguishing indexes, a coarse error is generated by the measuring system, and even the measuring system is difficult to work normally. In order to perform good distinction, pulse widths are selected as features for distinguishing the two, and the light intensity of emergent synchronous light is improved by using a light synchronous controller, so that the pulse width of the synchronous light received by the photoelectric sensor is at least four times larger than the pulse width of a laser plane emitted by the scanning base station.
In the experiment, a synchronous light controller is programmed to take the first term t 1 For 100 milliseconds, the count value under the 150MHZ clock period of the FPGA of the embedded processing system is six millions, the tolerance delta t is taken to be 5000, and in order to avoid that the synchronous light codes are recognized as errors in the algorithm processing process under the condition of losing a plurality of synchronous lights, the following steps are adopted:
t n <t 1 +t 2 (5)
so the synchronous light number can be up to:
is obtained by combining the formula (5) and the formula (6), k max The maximum value is 12001, so the time from the start-up of the synchronous optical system to the time when the synchronous optical circulation is one period is about two hours, and the requirement of the R-LATs measuring system is completely met.
The complete synchronous light identification flow is shown in fig. 2, after the initialization of the embedded system is completed, the ARM module always reads the FIFO data of the buffer area of the FPGA, when an optical signal is read, firstly, the pulse width value of the optical signal is judged, the optical signal is larger than a set value, namely synchronous light, the optical signal is smaller than the set value, namely, the laser plane of the scanning base station, and the set value is generally set to be three quarters of the pulse width of the synchronous light. The synchronous light identification is carried out, the stability of the synchronous light pulse width is utilized, the synchronous light pulse width is set to be far larger than the value of the plane light signal pulse width, and the classification identification of the synchronous light signal is ensured; through the identification processing of the plane laser signals, the pulse width of the plane laser signals is far smaller than the pulse width of the synchronous light, so that the classification identification of the plane laser signals is ensured. When the optical signal is identified as synchronous light, the synchronous light is added to the end of a synchronous light array a [ ], and the number of lost synchronous light is calculated according to the difference value of the count values of the synchronous light and the last synchronous light, wherein the number is as follows:
a, storing an array of synchronous optical signals; j-length of array a
The code number of this synchronization light is:
a[j-1].No.＝a[j-2].No.+i (8)
wherein a [ k ] No. is the code of k-th synchronous light of several groups; j-length of synchronous light array a [ ]
The code sequence number of the synchronous optical signal received by each node can be obtained, and the time axis scale of each node can be determined. In different nodes, although the count values of the synchronous lights are different, the coding sequence numbers are uniform, so that a basis is provided for clock synchronization of the sensing network.
The identification of the laser plane includes two aspects. In the R-LATs system, a plurality of scanning base stations work simultaneously, in order to calculate the rotation angle of each plane when scanning the node, the laser plane received by each node should be well distinguished at first, and on one hand, the plane laser pulse signal is from which scanning base station, and on the other hand, the plane laser pulse signal is from which plane of the scanning base station.
When the laser plane data of the plane laser pulse signal scans the sensor, as the photoelectric sensor has a certain area and the laser plane is a line plane laser, the pulse signal is always generated from the beginning of scanning to the completion of scanning, and the central position of the photocell is taken as the standard for calculating the rotation angle, so that the median value of the pulse signal is taken as the moment when the node receives the laser plane, namely:
the laser plane source identification basis of the plane laser pulse signal is the rotating speed of the scanning base station. In the R-LATs system, the rotating speed of the scanning base station firstly determines an optional rotating speed interval according to the rotating precision and the influence of the rotating speed on the angle measurement precision, prime numbers are selected as the rotating speed of the scanning base station in the rotating speed interval, and confusion of laser planes among different scanning base stations in counting and identifying of the embedded processing system is ensured. At 150MHz clock period, the accumulated value of count values of one rotation of the scanning base station is:
wherein T is i -the ith scanning base station unit count value; n is n i -the rotation speed of the ith scanning base station;
as shown in fig. 3, the identification flow for the laser plane data (plane optical signal data) operates using the data structure queue b [ ], and the queue size is set to five times the number of scanning base stations for complete identification of the laser plane. When the queue is not full, the latest laser plane signal is directly connected into the queue, when the queue is full, the head of the queue is dequeued, and then the latest laser plane signal is connected into the queue again. After this signal is added to the queue, a search pointer j is set, starting the search from the signal preceding it until the j-th signal is found and the i-th scanning base station satisfies:
wherein T is i -the ith scanning base station unit count value; rim—the median pulse count value for the laser plane; b [ j ]]Rise-the median pulse count value of the j-th signal of array b;
after the identification is completed, the ID of data is set to i, which indicates that this signal is the laser plane emitted by the ith scanning base station.
After determining the scan base station id of data, it is next determined whether data is a laser plane p or a laser plane q, and the positioning plane sequence is shown in fig. 4, and in the plan view of the scan base station, the plane and the other plane form an included angle of more than 180 ° in the clockwise direction, and the other plane is the plane p, and the other plane is the plane q.
In the plane identification of data, the two lasers are distributed at an angle of approximately 90 degrees during installation, and the laser plane signals from the scanning base station are identified to determine the plane type by using a counting period relation. Also set up and search the pointer j in the queue b [ ], until the id of the laser signal that the pointer points to is the same as id of data, say these two laser signals come from the same scanning base station. Next, a judgment is made as to whether:
in the formula, data.rim-the pulse median count value of the laser plane; b [ j ]. Rise-the median pulse count value of the j-th signal of array b; 2, remainder symbol;
if the formula (12) is satisfied, data is q plane, otherwise, continuing to judge as follows:
in the formula, data.rim-the pulse median count value of the laser plane; b [ j ]. Rim-the median pulse count value of the j-th signal of array structure queue b [ ]; 2, remainder symbol;
and (3) if the formula (13) is met, data is a laser plane p, and if both formulas are not met, the pointer j traverses forward, and the process is repeated. The complete laser plane identification flow is shown in fig. 5.
When the identification of the laser plane data is completed, the latest code of the stored synchronous light of the synchronous light array a [ ] is assigned to the number of the data, so that the data is determined between the two scales on the node time axis, and preparation is made for the clock synchronization of the sensing network.
Wherein, for clock synchronization, the basis of clock synchronization of each node is synchronous optical coding of the system. As shown in FIG. 6, a 1 To a n For two synchronous optical pulse signals received by a node in sequence, the synchronous flow is as follows, and each time a synchronous light is received, the clock of the plane laser pulse signal between the synchronous light and the last synchronous light is synchronized. And the standard node sends the identified signal to the common node, and the common node performs clock synchronization processing. Suppose a n For the latest received synchronous optical pulse signal, the former synchronous optical pulse signal is a n-1 Next, clock synchronization of the plane laser pulse signal data between the two synchronization optical signals is performed. Known synchronous optical pulse signal a n And a n-1 The code serial numbers of the code are n and n-1 respectively, and in the embedded system clock, a is as follows n 、a n-1 And the count value of data are known as a, respectively n .rise，a n-1 .rise，data.rise。
First, under the synchronous optical clock, the optical pulse signal a is synchronized by summing according to an arithmetic progression n-1 The count value clock of (2) is:
synchronous optical pulse signal a n And a n-1 The count value clock difference of (a) is:
a n .time-a n-1 .time＝60000000+5000*(n-1) (15)
the count value of the plane laser pulse signal data at the synchronous optical clock is:
the formula and the formula are substituted into the formula, so that clock synchronization can be completed on the plane laser pulse signals.
The clock synchronization of the plane laser pulse signals is to synchronize the optical pulse signals a n And a n-1 Without loss of synchronous light between them, while in the synchronous light pulse signal a n And a k With loss of synchronous light between a n And a k The clock synchronization process of the plane laser pulse signal data with the code sequence numbers of n and k is more complicated.
Synchronous light a k The count value clock of (2) is:
synchronous light a n The count value clock of (2) is:
the count value of the plane laser pulse signal data at the synchronous optical clock is:
substituting the formula and the formula into the formula can complete clock synchronization of the laser plane under the condition of synchronous light loss.
For coordinate calculation, real-time coordinate calculation is completed, and according to a coordinate calculation model, firstly, each plane rotation angle of each scanning base station is calculated.
FIG. 7 shows a reference node and a common reference node for performing clock synchronizationSchematic representation of the signals of the nodes, a under synchronous clocks 1 To a n Is a scale table of synchronous clocks. Wherein p is i Scanning the laser plane p of the base station for the ith station, and storing it in a two-dimensional array datum [ [][]Line i, first in first out in queue order. p's' i Scanning the laser plane p of the base station for the ith station to pass through a common node, q' i The laser plane q of the ith scanning base station is scanned by a common node and stored in a two-dimensional array norm][]Line i, first in first out in queue order.
For example, the scanning base station i in the figure scans p 'of the common node' i 、q′ i Is included. In datum [][]The i-th row sets the search pointer j, traversing from end to end. Until the following conditions are satisfied:
datum[i][j].time-p′ i .time＞0&&datum[i][j-1].time-p′ i .time＜0 (20)
i.e. the plane P sweeps the signal P of the reference node before sweeping the normal node 1 The method comprises the following steps:
P 1 ＝datum[i][j-1] (21)
i.e. the plane P, after sweeping the normal node, sweeps that signal P of the reference node 2 The method comprises the following steps:
P 2 ＝datum[i][j] (22)
that is, the scanning base station scans the reference node for one circle of time:
t＝P 2 .time-P 1 .time (23)
the time from the sweeping of the plane p from the reference node to the normal node is:
t p ＝p′ i .time-P 1 .time (24)
the time from the sweep of plane q across the reference node to the normal node is:
t q ＝q′ i ·time-P 1 .time (25)
laser plane p' i The rotation angle of (2) is:
laser plane q' i The rotation angle of (2) is:
and combining the formulas to obtain the rotation angle of the scanning base station, which scans the common node this time. In the same way, for each newly received laser plane signal, its rotation angle can be determined. And finally, solving the coordinates of the common node by using a least square method and displaying the coordinates in real time.
Examples
The wireless networking connection structure of the sensing network is shown in fig. 8, a wireless module USR-WIFI232-B2 is used for networking, the module can realize bidirectional transparent transmission from a serial port to a WIFI data packet, protocol encapsulation is completed in the module, a user only needs to manage input and output, development can be conveniently and rapidly carried out, and various physical devices are connected to the WIFI network, so that management and control of the Internet of things are realized.
The wireless fidelity system has three WIFI working modes, namely STA, AP and STA+AP, and can provide a very flexible networking mode and a network topology structure. In the R-LATs sensing network, the working mode of the reference node is set to be an AP mode, and the mode of the common node is set to be an STA mode. The AP mode is equivalent to using a node as a center of a wireless network, i.e., a wireless router, and other terminals may be connected to each other through an AP, and the STA mode, i.e., a wireless station, is used as a common wireless terminal.
After the R-LATs sensing network networking is completed, a convenient and reliable networking communication protocol is established to complete smooth transmission of system data and coordinate calculation of nodes. The final established communication protocol is as follows:
after the sensor network is started, firstly, inquiring whether the system operates normally in a response mode, sending a character 'a' to a reference node by a common node, and after receiving the information, responding to the character 'a 1' if the system operates normally, otherwise responding to the character 'a 0'; when the disconnection is performed, the common node transmits a reference node character 'b', and the reference node responds to the character 'b 1', so that the disconnection instruction is completed. In the operation calculation of the node, in order to ensure the reliability of communication, byte definitions as shown in fig. 9 are made for a single optical signal, in order to prevent data analysis abnormality caused by communication interference interruption, identification characters are set at the beginning and the end of each signal, the beginning is "aaa", the end is "ddd", the middle is in turn rising edge time, scanning base station ID, optical signal type, whether a flag bit is available, overflow judgment bit and pulse width value, and the length is 27 bytes.
And subsequently, carrying out experimental verification on the R-LATs sensing network networking, respectively connecting 10 common nodes to a reference node, and observing the coordinate refreshing frequency on a screen of the common node. Experimental results demonstrate that the designed wireless communication protocol is available and that one-to-many communication is possible when the reference node acts as a router. According to the technical scheme, the sensor network nodes can completely identify synchronous light and laser planes, clock synchronization and coordinate calculation of common nodes are completed through communication among the nodes, and the final node coordinate refreshing frequency is 50 HZ.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A distributed measurement architecture processing method for a large-scale R-LATs measurement system, comprising the steps of:
step 1, reading an optical pulse signal to perform synchronous optical identification to obtain a synchronous optical pulse signal, and decoding the obtained synchronous optical pulse signal to obtain a coding sequence of the synchronous optical pulse signal, wherein the specific steps are as follows:
firstly, reading an optical pulse signal to obtain a pulse width value of the optical pulse signal; when the pulse width value of the obtained optical pulse signal is larger than a set value, the optical pulse signal is the synchronous optical pulse signal; wherein, the set value is three fourths of the pulse width value of the synchronous optical pulse signal;
then, judging whether the obtained synchronous light pulse signal is preceded by synchronous light:
when the obtained synchronous light pulse signal does not have synchronous light before, identifying and obtaining a coding sequence of the synchronous light pulse signal;
when the obtained synchronous optical pulse signal is preceded by a synchronous optical pulse signal, the number of the synchronous optical losses is calculated according to the difference value of the count values of the synchronous optical pulse signal and the last synchronous optical pulse signal, and the coding sequence number of the synchronous optical pulse signal is obtained;
reading the optical pulse signal to perform plane light identification to obtain a plane laser pulse signal, and identifying and obtaining data of the plane laser pulse signal according to the obtained plane laser pulse signal; wherein, the data for identifying and obtaining the plane laser pulse signal comprises: firstly identifying the source of a scanning base station for obtaining a planar laser pulse signal, and then identifying the type of the plane for obtaining the planar laser pulse signal;
step 2, according to the code sequence of the synchronous optical pulse signal obtained in the step 1 and the data of the obtained plane laser pulse signal, carrying out clock synchronization on the synchronous optical pulse signal of the reference node and the synchronous optical pulse signal of the common node; according to the clock difference value in clock synchronization, the coordinates of the common node are obtained through calculation; a distributed measurement architecture processing method of a large-scale R-LATs measurement system is realized.
2. The method of claim 1, wherein the number of simultaneous light losses is obtained according to the following formula:
wherein a is an array for storing synchronous optical pulse signals, and j is the length of a;
the code sequence number of the synchronous optical pulse signal is:
a[j-1].No.＝a[j-2].No.+i。
3. the method of claim 1, wherein the obtained pulse width of the optical pulse signal is the planar laser signal of the scanning base station when the pulse width is smaller than a predetermined value.
4. The method of claim 1, wherein in step 1, the scanning base station source of the plane laser signal is identified according to the obtained plane laser pulse signal, and the specific steps are as follows:
carrying out plane light identification on all scanning base stations based on a data structure queue b [ ], firstly, sequentially entering plane laser pulse signals of all scanning base stations into the b [ ], then setting a j-th plane laser pulse signal as a searching pointer j, and starting searching from the plane laser pulse signal before the j until the j-th signal and the i-th scanning base station are found to meet the following conditions:
wherein T is i Scanning a unit count value of a base station for an ith station; the data.rise is the pulse median count value of the laser plane; b [ j ]]RISE-data structure queue b [ sic ]]A pulse median count value of the jth plane laser pulse signal;
when data.rim and b [ j ]]The difference in counts of rise is T i And (3) indicating that the plane laser pulse signal is a laser plane sent by the ith scanning base station, wherein the scanning base station source of the plane laser pulse signal is i, and the scanning base station source of the plane laser pulse signal is obtained.
5. The method of claim 4, wherein in step 1, the step of identifying the plane source of the plane laser signal according to the obtained plane light pulse signal comprises the following specific steps:
according to the source of the scanning base station of the obtained planar laser pulse signals, two planar laser pulse signals sent by the same scanning base station are distinguished; two plane laser pulse signals sent by the same scanning base station are obtained according to data. Base, b [ j ]]Rise and T i Is judged by the following relation:
when (when)
Judging the plane laser pulse signal as one plane source;
when (when)
Judging the plane laser pulse signal as another plane source;
wherein T is i Scanning a unit count value of a base station for an ith station; the data.rise is the pulse median count value of the laser plane; b [ j ]]RISE-data structure queue b [ sic ]]A pulse median count value of the jth plane laser pulse signal; and/is the remainder symbol.
6. The method of claim 1, wherein in step 2, clock-synchronizing the synchronous optical pulse signal of the reference node with the synchronous optical pulse signal of the common node according to the code sequence of the synchronous optical pulse signal obtained in step 1 and the data of the obtained surface laser pulse signal, comprising: for each newly received synchronous optical pulse signal, the clock synchronization is carried out on the plane laser pulse signal between the synchronous optical pulse signal and the last synchronous optical pulse signal.
7. According to the weightsThe method of claim 1, wherein when synchronizing the optical pulse signal a n And a synchronous optical pulse signal a n-1 When no synchronous optical pulse signal is lost:
in the embedded system clock, the optical pulse signal a is synchronized n The count value of (a) is a n .rise，a n-1 The count value of (a) is a n- 1 The count value of the plane laser pulse signal data is data.
Under the synchronous optical clock, a n-1 The count value clock of (2) is:
a n and a n-1 The count value clock difference of (a) is:
a n .time-a n-1 .time＝60000000+5000*(n-1)；
the count value of data in the synchronous optical clock is:
finally, the a is carried out n-1 .time、a n .time-a n-1 Substituting the time into the data time to finish clock synchronization of the plane laser pulse signal when the synchronous optical pulse signal is not lost.
8. The method as set forth in claim 6, wherein when the optical pulse signal a is synchronized n And a synchronous optical pulse signal a k When the synchronous optical pulse signal is lost:
in the embedded system clock, the optical pulse signal a is synchronized n The count value of (a) is a n .rise，a n-1 The count value of (a) is a n- 1 Rise, count value of plane laser pulse signal dataIs data.
Under the synchronous optical clock, the synchronous optical pulse signal a n The count value of (2) is:
synchronous optical pulse signal a k The count value of (2) is:
the count value of the plane laser pulse signal data in the synchronous optical clock is as follows:
finally, the a is carried out n-1 .time、a n .time-a n-1 Substituting the time into the data time to finish clock synchronization of the plane laser pulse signal when the synchronous optical pulse signal is lost.
9. The method of claim 1, wherein in step 2, the coordinates of the common node are obtained by resolving according to the clock difference in the clock synchronization, comprising the steps of:
according to the clock difference value in clock synchronization, firstly solving the rotation angle of each plane laser pulse signal in each scanning base station according to a coordinate calculation model; and then, based on a least square method, calculating to obtain the coordinates of the common node.
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