CN100442016C - Integrated combined navigation computer based on double DSP - Google Patents
Integrated combined navigation computer based on double DSP Download PDFInfo
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- CN100442016C CN100442016C CNB2006101139835A CN200610113983A CN100442016C CN 100442016 C CN100442016 C CN 100442016C CN B2006101139835 A CNB2006101139835 A CN B2006101139835A CN 200610113983 A CN200610113983 A CN 200610113983A CN 100442016 C CN100442016 C CN 100442016C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The integrated combined navigation computer based on double DSP is used in combined navigation system with inertial measurement unit and GPS combination. It includes an input interface module, a DSP1 module, a DSP2 module and an input interface module mainly. The DSP1 module completes the pre-treatment of sensor data and the time sync to ensure the precise sync of data in the combined point; and the DSP2 module completes the strapdown resolving and combined filtering. Two DSP modules communicate through the system unit interface in high speed without interrupting the operation in the DSP2 module, so as to ensure the real-time performance and navigation resolving precision of the system. The present invention realizes the integrated design of double DSP combined navigation computer, and the double DSP combined navigation computer has reduced power consumption, size and weight and raised performance.
Description
Technical field
The present invention relates to a kind of integrated combined navigation computer based on two DSP, belong to the integrated navigation field, be used for the integrated navigation system of inertia and Global Positioning System (GPS) (GPS) combination, be particularly suitable for Inertial Measurement Unit (IMU)/GPS integrated navigation system volume, power consumption and performance requirement harshness.
Background technology
Along with science and technology development, the existing various at present navigational system that are applicable to the navigation carrier, they all have its advantage and characteristic separately, but intrinsic weak point is also arranged.Several navigational system of installing on the carrier are combined (for example with inertial navigation system and GPS combination), form integrated navigation system, learn from other's strong points to offset one's weaknesses, comprehensively bring into play various navigational system characteristics, can reach the purpose that improves navigation accuracy.Integrated navigation system has been widely used in Aeronautics and Astronautics, navigation and many civil areas at present, facts have proved that this is a kind of effectively way.Therefore, integrated navigation technology is the main direction of present airmanship development.
Integrated navigation system mainly is to improve navigation accuracy by the integrated navigation algorithm, and the integrated navigation algorithm is the core of integrated navigation system.Integrated navigation computer is the key component that guarantees integrated navigation system real-time and precision, and it mainly finishes functions such as data acquisition, time synchronized, integrated navigation algorithm and navigation results output.
Traditional integrated navigation computer mostly is greatly based on the special purpose computer of X86 framework, universal computer platform or industrial computer (PC104) etc., their volumes are big, the power consumption height, the circuit structure complexity is not suitable for volume, the strict applications such as Aero-Space of power consumption.And at present based on the design of the integrated navigation computer of embedded system, generally by single-chip microcomputer as main frame, finish the relevant control function of system; As slave, finish the information processing function by the powerful single-processor of calculation process ability (as DSP).This scheme is used for the integrated navigation system of micro inertial measurement unit (MIMU) and GPS more, and main frame receives gps data, and slave receives the micro inertial measurement unit data and carries out that strapdown resolves and combined filter.But this scheme is not generally considered time synchronized, so navigation accuracy is low.Though the hardware synchronization mode that also adopted that has is carried out data sync, but hardware synchronization need be added the control circuit that sampling instant is controlled to Inertial Measurement Unit, the control circuit difference that different Inertial Measurement Units is required, thereby adopt the integrated navigation computer versatility of hardware synchronization mode poor.Therefore, existing integrated navigation computer based on embedded system is unsuitable for the high-precision integrated navigation field that data processing amount is big, the real-time requirement is very harsh.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of existing integrated navigation computer, the integrated combined navigation computer based on two DSP that a kind of volume is little, low in energy consumption, precision is high, real-time is good is provided.
Technical solution of the present invention is: a kind of integrated combined navigation computer based on two DSP, form by input interface module, DSP1 module, DSP2 module and output interface module, the DSP1 module receives Inertial Measurement Unit data, Inertial Measurement Unit synchronizing pulse, gps data and GPS pulse per second (PPS) by input interface module, finish the pre-service and the time synchronized of Inertial Measurement Unit data and gps data, and the data synchronously are sent to the DSP2 module.The DSP2 module receives the Inertial Measurement Unit data after time synchronized, carries out strapdown and resolves, and when receiving pretreated gps data, then carries out combined filter and feedback compensation.Navigation results is by serial ports 1 output of output interface module.The serial ports 2 of output interface module links to each other with supervisory control comuter, can realize the monitoring to whole integrated navigation computer.
Wherein, the DSP1 module adopts a slice TMS320F2812 fixed-point DSP chip as processor, realizes the time synchronized of Inertial Measurement Unit data and gps data by the method for software synchronization.The TMS320C6713B float-point DSP that DSP2 module employing a slice has parallel host interface HPI realizes the integrated navigation algorithm as processor.Output interface module is made up of two universal asynchronous serials, and its form can be RS232, RS422 or RS485.
And, the program of DSP2 module handler left in the DSP1 module handler sheet have among the FLASH of cipher protection function, and the DSP2 module handler adopts the HPI start-up mode, can realize the encryption of integrated navigation algorithm.
Principle of the present invention is: as shown in Figure 2, after integrated navigation computer receives the Inertial Measurement Unit data, carry out strapdown and resolve.After receiving gps data, the result who resolves with strapdown carries out combined filter, estimates the navigational parameter error, and obtains precise navigation information by feedback compensation.
When the composite design filtering algorithm, must guarantee that sensing data is consistent on combined spot.That is to say the real time data stationary problem that must solve between the different navigation subsystem, such integrated navigation system just has practical significance.
The present invention's advantage compared with prior art is: the present invention has utilized fixed point and float-point DSP processor to make up the integrated navigation computer of two DSP respectively, and having the following advantages with comparing based on the integrated navigation computer of embedded system based on the integrated navigation computer of X86 framework that existing integrated navigation system generally adopts:
(1) more traditional with integrated navigation computer based on the X86 framework, the present invention has realized the integrated design of two DSP integrated navigation computers, peripheral circuit is simple, makes the present invention have advantages such as volume is little, low in energy consumption, simple in structure, debugging is flexible.
(2) based on the integrated navigation computer of embedded system, the present invention adopts the DSP1 module to carry out data sync, to guarantee that data are consistent on combined spot.Data are synchronously exported to the DSP2 module by parallel interface and are carried out that strapdown resolves and combined filter, make the present invention can be applicable to that the deal with data amount is big, real-time requires harsh occasion, and have adopted the software synchronization mode, and versatility is good.
Description of drawings
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is an IMU/GPS integrated navigation system principle schematic.
Fig. 3 is a workflow diagram of the present invention;
Fig. 4 is input interface module of the present invention and DSP1 modular circuit block diagram;
Fig. 5 realizes the sequential chart of software synchronization for the present invention;
Fig. 6 is DSP2 module of the present invention and output interface module circuit block diagram;
Fig. 7 is output interface module circuit theory diagrams of the present invention.
Embodiment
As shown in Figure 1, the present invention includes input interface module 1, DSP1 module 2, DSP2 module 3 and output interface module 4, input interface module 1 links to each other with DSP1 module 2, and DSP1 module 2 links to each other by parallel host interface and DSP2 module 3, and DSP2 module 3 links to each other with output interface module 4.
The system works flow process as shown in Figure 3, DSP1 module 2 receives Inertial Measurement Unit data, Inertial Measurement Unit synchronizing pulse, gps data and GPS pulse per second (PPS) by input interface module 1, finish the pre-service and the time synchronized of Inertial Measurement Unit data and gps data, and the data synchronously are sent to DSP2 module 3 by parallel host interface.DSP2 module 3 receives the Inertial Measurement Unit data after time synchronized, carries out strapdown and resolves.When receiving pretreated gps data, then carry out combined filter and feedback compensation.Navigation results is by serial ports 1 output of output interface module 4.
The circuit block diagram of input interface module of the present invention and DSP1 module as shown in Figure 4, wherein, input interface module 1 comprise a RS422 interface chip MAX1490 and a RS232 interface chip MAX232 (they respectively with DSP1 module 2 processor pieces in two universal asynchronous serial SCIA link to each other with SCIB), and two pulse input interfaces (they link to each other with the external interrupt interface of DSP1 module 2 processors by CPLD).DSP1 module 2 adopts TMS320F2812 as processor, and aboundresources in its sheet has the dual serial communication interface, and adopted CPLD (CPLD) XL9572 to carry out the logical and sequential control.DSP1 module 2 is connected with DSP2 module 3 by data line, address wire and the control line of TMS320F2812.
The present invention utilizes GPS pulse per second (PPS) and Inertial Measurement Unit synchronizing pulse and timer to realize the time synchronized of Inertial Measurement Unit data and gps data in DSP1 module 2.The software synchronization sequential because gps data has delay, after first pulse per second (PPS) arrives, obtains the UTC time of GPS as shown in Figure 5 by inquiry.When second pulse per second (PPS) arrives, last one constantly UTC time was added 1, obtain the current UTC time, and start the timer of TMS320F2812.When the Inertial Measurement Unit synchronizing pulse arrives, read the timer current count value, and add up with the current UTC time, can be with the UTC time that is time-synchronized to of Inertial Measurement Unit data, thus realize the time synchronized of data.
The TMS320C6713B float-point DSP that DSP2 module 3 employing a slices of the present invention have parallel host interface HPI is as processor, and when its dominant frequency was 300MHz, arithmetic speed can reach 2400MIPS, was mainly used to realize the integrated navigation algorithm.DSP2 module 3 is connected with DSP1 module 2 by 16 HPI mouths of TMS320C6713B, and the EMIF interface by TMS320C6713B links to each other with output interface module 4.Its circuit block diagram as shown in Figure 6.
The present invention can realize the encryption of integrated navigation algorithm.Concrete grammar is: the integrated navigation program among the TMS320C6713B is left among the FLASH that has cipher protection function in the TMS320F2812 sheet, and TMS320C6713B adopts the HPI start-up mode.During the system electrifying startup, download to the TMS320C6713B internal RAM by the program that the HPI mouth will be stored in its in-chip FLASH, begin then to carry out by TMS320F2812.
The present invention can be used as a kind of general integrated navigation computer that is applicable to inertia/GPS integrated navigation system, and enough hardware resources are provided.Application person can realize its function by revising software flexibly and easily according to its special application.
Claims (7)
1, a kind of integrated combined navigation computer based on two DSP, it is characterized in that: by input interface module (1), DSP1 module (2), DSP2 module (3) and output interface module (4) are formed, wherein DSP1 module (2) receives the Inertial Measurement Unit data by input interface module (1), the Inertial Measurement Unit synchronizing pulse, gps data and GPS pulse per second (PPS), finish the pre-service and the time synchronized of Inertial Measurement Unit data and gps data, and the data after inciting somebody to action synchronously are sent to DSP2 module (3), DSP2 module (3) receives the Inertial Measurement Unit data after time synchronized, carrying out strapdown resolves, when receiving pretreated gps data, then carry out combined filter and feedback compensation; Navigation results is by serial ports 1 output of output interface module (4).
2, the integrated combined navigation computer based on two DSP according to claim 1 is characterized in that: the serial ports 2 of described output interface module (4) links to each other with supervisory control comuter, realizes the monitoring to whole integrated navigation computer.
3, the integrated combined navigation computer based on two DSP according to claim 1, it is characterized in that: described DSP1 module (2) adopts a slice TMS320F2812 fixed-point DSP chip as processor, realizes the time synchronized of Inertial Measurement Unit data and gps data by the method for software synchronization.
4, the integrated combined navigation computer based on two DSP according to claim 1, it is characterized in that: the TMS320C6713B float-point DSP that described DSP2 module (3) employing a slice has parallel host interface HPI realizes the integrated navigation algorithm as processor.
5, the integrated combined navigation computer based on two DSP according to claim 1 is characterized in that: described output interface module (4) is made up of two universal asynchronous serials, and its form is RS232, RS422 or RS485.
6, the integrated combined navigation computer based on two DSP according to claim 1; it is characterized in that: the program of described DSP2 module (3) processor is left in DSP1 module (2) processor piece have among the FLASH of cipher protection function; and DSP2 module (3) processor adopting HPI start-up mode can realize the encryption of integrated navigation algorithm.
7, according to claim 1 or 3 described integrated combined navigation computers based on two DSP, it is characterized in that: described method for synchronizing time is: because gps data has delay, after first pulse per second (PPS) arrives, obtain the UTC time of GPS by inquiry; When second pulse per second (PPS) arrives, the UTC time in a last moment is added 1, obtain the current UTC time, and the timer of startup DSP1 module (2), when the Inertial Measurement Unit synchronizing pulse arrives, read the timer current count value, and add up with the current UTC time, with the UTC time that is time-synchronized to of Inertial Measurement Unit data, thus the time synchronized of realization data.
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| CN101246210B (en) * | 2008-03-25 | 2011-05-04 | 南京航空航天大学 | GPS locating method |
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| CN102608625B (en) * | 2012-03-30 | 2014-04-16 | 武汉大学 | Real-time deformation monitoring pre-warning system and real-time deformation monitoring pre-warning method based on inertia-assistance positioning receiver |
| CN103248364B (en) * | 2013-04-12 | 2016-02-10 | 东南大学 | A kind of inertial sensor IMU signal analog-to-digital conversion module |
| CN104536328A (en) * | 2014-11-04 | 2015-04-22 | 安徽国科电力设备有限公司 | serial port resource expansion module of bus operation device |
| CN104764453A (en) * | 2015-03-26 | 2015-07-08 | 北京航空航天大学 | Navigation and interface computer based on dual-DSP and CPLD |
| CN105652883A (en) * | 2016-01-15 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Unmanned plane self-driving instrument realizing single board modularization and high reliability |
| CN106154299A (en) * | 2016-06-22 | 2016-11-23 | 陕西宝成航空仪表有限责任公司 | A kind of GPS/SINS integrated navigation system method for synchronizing time |
| CN106289256A (en) * | 2016-07-25 | 2017-01-04 | 湖北师范大学 | Signal calculated processing system based on two CSTR Yu FPGA architecture |
| CN109752738A (en) * | 2018-12-26 | 2019-05-14 | 广州中海达卫星导航技术股份有限公司 | Target IMU and GNSS data synchronous method when based on standard |
| CN109631885B (en) * | 2018-12-27 | 2024-03-19 | 陕西航天时代导航设备有限公司 | Navigation method based on dual-port RAM |
| CN110553645B (en) * | 2019-09-20 | 2023-01-10 | 湖南航天机电设备与特种材料研究所 | Dual-system clock synchronization processing method based on periodic pulse reference |
| CN113759409A (en) * | 2021-08-24 | 2021-12-07 | 广州文远知行科技有限公司 | Navigation data transmission device and method and computer readable storage medium |
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