CN101067656A - Position attitude system hardware time synchronizing method - Google Patents
Position attitude system hardware time synchronizing method Download PDFInfo
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- CN101067656A CN101067656A CNA2007100996116A CN200710099611A CN101067656A CN 101067656 A CN101067656 A CN 101067656A CN A2007100996116 A CNA2007100996116 A CN A2007100996116A CN 200710099611 A CN200710099611 A CN 200710099611A CN 101067656 A CN101067656 A CN 101067656A
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Abstract
The invention is a hardware synchronizing method for position and orientation system (POS), relating to a method for synchronizing various sensor data in the POS, firstly using GPS receiver-outputted GPS second pulse signal accurately synchronous with UTC time (Coordinate Universal Time) to synchronize the system time of the POS with the UTC time, then generating UTC time-containing hardware synchronous pulse through system timer and collecting various sensor data, and then implementing synchronization of various sensor data in the POS. And the invention uses GPS second pulse to real-timely correct system clock drift and implements GPS signal monitoring and thus has features of high synchronizing accuracy, good adaptability and high reliability.
Description
Technical field
The present invention relates to a kind of position attitude system (Position ﹠amp; Orientation System, hardware time synchronizing method POS) belongs to the Remote Sensing Information Extraction field, is used for the time synchronized of each sensing data of position attitude system.
Background technology
Position attitude system is made up of Sensor section and POS computing machine.Sensor section comprise Inertial Measurement Unit (Inertial Measurement Unit, IMU), Global Positioning System (GPS) (GlobalPosition System, GPS) and aiding sensors, as mileage gauge, height indicator etc.The POS computing machine is by extracting angular velocity, the acceleration information of IMU output, speed, the positional information of GPS output, and the supplementary of aiding sensors output, as speed, height etc., carry out Data Fusion by data anastomosing algorithm, and by feedback compensation, to obtain the position and attitude information of carrier with high accuracy.
Because it is nonsensical that different data constantly merge, so when the design data blending algorithm, must guarantee that each sensing data is consistent on merging point, that is to say the data time stationary problem that must solve between the different sensors, such position attitude system just has practical value.
So-called hardware time synchronized be with the GPS pulse per second (PPS) as benchmark, control the sampling instant of other sensor, make each working sensor under same markers, to realize the time synchronized of data.GPS pulse per second (PPS) (1PPS, pulse of per second) is changed back output by the GPS receiver by decoding, and it is that (Coordinate Universal Time, UTC) second point aligns with UTC Universal Time Coordinated.
Existing hardware time synchronizing method, be as a trigger pip with the GPS pulse per second (PPS), start a timer, timer is by counting the predetermined frequency hardware synchronization pulse of output to system clock, utilize the hardware synchronization pulse that sensing data is gathered then, make each working sensor under same markers, thereby realized the time synchronized of data.But because the system clock precision is limited, the hardware synchronization pulse meeting of output produces the clock drift error of accumulation in time.The data sync precise decreasing of position attitude system when this will cause long-time remote sensing operation, and then the position and attitude precision of information that causes exporting descends.Present this method for synchronizing time is used for algorithm simulating research and laboratory demonstration and verification more.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcomes the deficiency of existing hardware method for synchronizing time, a kind of update the system clock drift in real time is provided, and the hardware time synchronizing method of the high position attitude system of timing tracking accuracy.
Another technology of the present invention is dealt with problems and is: a kind of whether losing lock of gps signal of judging is provided.Realized the hardware time synchronizing method of position attitude system of the monitoring of gps signal.
Technical solution of the present invention is: a kind of hardware time synchronizing method of position attitude system, and its characteristics are that step is as follows:
(1) POS system is time-synchronized to the UTC Universal Time Coordinated UTC time;
(2) start-up system timer, and enabled systems is regularly interrupted;
(3) regularly interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by responding system; But, then interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by response GPS pulse per second (PPS) when the GPS pulse per second (PPS) arrives and the system that do not produce when regularly interrupting;
(4) utilize the hardware synchronization pulse that comprises the UTC temporal information that IMU and aiding sensors are carried out data acquisition, GPS among the POS, IMU and aiding sensors are worked under the markers of UTC time, realized the time synchronized of data;
(5) judge whether system works finishes, if not, execution in step (3) and step (4) then continued, up to end.
It is as follows in the described step (1) POS system to be time-synchronized to the step of UTC Universal Time Coordinated UTC time:
(1) sample frequency according to IMU is provided with system's fixed time interval;
(2) when obtain with the synchronous gps time of UTC after, enable the GPS pulse per second (PPS) and interrupt;
(3) when next GPS pulse per second (PPS) arrives, the gps time counting adds 1 as this gps time constantly, and is set to system time, realizes system time is synchronized to the UTC time.
Regularly the interrupt response process is as follows in system in the described step (3): the pulse of output hardware synchronization.Judge regularly interruption times, judged whether whole second constantly, if by whole second constantly, then regularly interruption times is clear 0, and the UTC time of system adds 1; If less than the whole second moment, then regularly interruption times added 1.
GPS pulse per second (PPS) interrupt response process is as follows in the described step (3): the restarting systems timer.Judge that by the timing interrupt flag bit system regularly interrupts whether producing, if system regularly interrupts producing, then the GPS pulse per second (PPS) lags behind the hardware synchronization pulse, then only the UTC counting of GPS is added 1; If system regularly interrupts not producing, then the GPS pulse per second (PPS) is ahead of the hardware synchronization pulse, the pulse of output hardware synchronization, and regularly do not interrupt producing the hardware synchronization pulse by system, regularly interruption times is clear 0 then, and respectively the UTC of GPS and the UTC counting of system is added 1.
When the present invention is regularly interrupted at responding system, by gps time relatively be synchronized to the system time of UTC after the time, judge whether losing lock of gps signal.
Principle of the present invention is: the present invention is behind the gps time of system's acquisition and UTC time synchronized, when next GPS pulse per second (PPS) arrives, system time is synchronized to the UTC time, and the start-up system timer, then according to predetermined frequency output hardware synchronization pulse.
The present invention utilizes the GPS pulse per second (PPS) that system clock drift is revised principle as shown in Figure 2, because there is drift in system clock, whole second these three kinds of situations of hardware synchronization pulse constantly may appear in advance, lag behind and be synchronized with in the GPS pulse per second (PPS).
Situation when Fig. 2 a is ahead of the hardware synchronization pulse for the GPS pulse per second (PPS).In GPS pulse per second (PPS) interrupt service routine, restarting systems timer, and the pulse of output hardware synchronization.To no longer produce system in this case regularly interrupts.After this promptly export revised hardware synchronization pulse.
Situation when Fig. 2 b lags behind the hardware synchronization pulse for the GPS pulse per second (PPS).The hardware synchronization pulse regularly produces in the interrupt service routine in system, then in GPS pulse per second (PPS) interrupt service routine, only restarts system timer.After this promptly export revised hardware synchronization pulse.
Situation when Fig. 2 c is synchronized with the hardware synchronization pulse for the GPS pulse per second (PPS).Because being higher than system, the GPS pulse per second (PPS) priority of interrupt that is provided with regularly interrupts, so in GPS pulse per second (PPS) interrupt service routine, restarting systems timer, and the pulse of output hardware synchronization.
When system time is synchronized to UTC after the time (SYS_UTC represents with variable), to count in then system time SYS_UTC regularly interrupts whole second system constantly to add 1, gps time (GPS_UTC represents with variable) counting in the GPS pulse per second (PPS) is interrupted adds 1.But when the GPS pulse per second (PPS), if the GPS pulse per second (PPS) is ahead of the hardware synchronization pulse, as Fig. 2 a, then system time SYS_UTC counting in the GPS pulse per second (PPS) is interrupted adds 1.
In the use of GPS, may occur causing the GPS receiver can not finish the situation that positioning calculation does not have pulse per second (PPS) and data output because of signal blocks, be called the gps signal losing lock.The present invention has realized the monitoring of gps signal by judging whether losing lock of gps signal, has solved system works mode switch problem, helps system fault diagnosis and isolation etc.Its principle as shown in Figure 3.
If gps signal losing lock, then GPS_UTC does not count in the moment (promptly whole second constantly) that the GPS pulse per second (PPS) should occur and adds 1, and the SYS_UTC of this moment counting in whole second, system constantly regularly interrupted adds 1, therefore GPS_UTC will be less than SYS_UTC, so just can judge whether losing lock of gps signal by comparison GPS_UTC and SYS_UTC.When the GPS pulse per second (PPS) arrives once more, then SYS_UTC is composed to GPS_UTC, so that continue gps signal is monitored.
The present invention's advantage compared with prior art is:
(1) the present invention has realized that by restarting systems timer when each GPS pps pulse per second signal arrives system clock drift revises in real time, the system that makes the still very high data time synchronization accuracy of maintenance that works long hours, therefore have synchronization accuracy height, the advantage that adaptability is good.
(2) the present invention is provided with gps time and is synchronized to two variablees of the system time of UTC after the time, be GPS_UTC and SYS_UTC, in different interrupt service routines, count respectively and add 1, can judge whether losing lock of gps signal, realized the monitoring of gps signal, help the fault diagnosis and the isolation of system, make the present invention also have high reliability features simultaneously.
Description of drawings
Fig. 1 is a hardware time synchronizing method process flow diagram of the present invention;
Fig. 2 is a system clock drift correction principle schematic of the present invention, and wherein Fig. 2 a is ahead of the hardware synchronization pulse for the GPS pulse per second (PPS), and Fig. 2 b lags behind the hardware synchronization pulse for the GPS pulse per second (PPS), and Fig. 2 c is synchronized with the hardware synchronization pulse for the GPS pulse per second (PPS);
Fig. 3 is a gps signal monitoring principle synoptic diagram of the present invention;
Fig. 4 is a system hardware time synchronized initialization flowchart of the present invention;
Fig. 5 is a regularly interrupt service routine process flow diagram of system of the present invention;
Fig. 6 is a GPS pulse per second (PPS) interrupt service routine process flow diagram of the present invention.
Embodiment
Position attitude system is made up of IMU, GPS, mileage gauge and POS computing machine in the present embodiment.According to the sample frequency of IMU, setting the hardware synchronization pulsed frequency is 100Hz, and promptly fixed time interval is 10ms.The POS computing machine adopts dsp chip TMS320C6713B regularly to interrupt with response GPS pulse per second (PPS) interruption and system as processor in the present embodiment, and produces the hardware synchronization pulse.The specific embodiment of the present invention is as shown in Figure 1:
(1) behind the POS starting up, system time is synchronized to the UTC time.As shown in Figure 4, comprising:
The timing cycle that 1. TMS320C6713B timer T0 is set is 10ms, so that after starting timer, every 10ms produces once and regularly interrupts.
2. behind the gps time of acquisition and UTC time synchronized, enable the GPS pulse per second (PPS) and interrupt.
3. when next GPS pulse per second (PPS) arrives, in GPS pulse per second (PPS) interrupt service routine, upgrade this gps time constantly, and be set to system time, realized system time is synchronized to the UTC time.
(2) then, start timer T0, and enable the interruption of TMS320C6713B timer.
(3) regularly interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by responding system.But, then interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by response GPS pulse per second (PPS) when the GPS pulse per second (PPS) arrives and the system that do not produce when regularly interrupting.
System regularly the interrupt service routine flow process as shown in Figure 5, its response process is as follows:
After the hardware synchronization initialization, wait for that then the system that every 10ms produces once regularly interrupts.In the 10ms of TMS320C6713B timing interrupt service routine, the pulse of output hardware synchronization, and, judged whether whole second constantly by judging regularly interruption times.If then regularly interruption times is clear 0 constantly to whole second, the system UTC time, promptly the SYS_UTC counting adds 1; If less than the whole second moment, then regularly interruption times added 1.
GPS pulse per second (PPS) interrupt service routine flow process as shown in Figure 6, its response process is as follows:
In GPS pulse per second (PPS) interrupt service routine, at first carry out the correction of clock drift, and judge that by the timing interrupt flag bit system regularly interrupts whether producing by the timer that restarts TMS320C6713B.If system regularly interrupts producing, illustrate that the GPS pulse per second (PPS) lags behind the hardware synchronization pulse, then only the GPS_UTC counting is added 1; If system regularly interrupts not producing, illustrate that the GPS pulse per second (PPS) is ahead of the hardware synchronization pulse, then exports the hardware synchronization pulse, and does not regularly interrupt producing the hardware synchronization pulse by system.Regularly interruption times is clear 0 then, and respectively GPS_UTC and SYS_UTC counting is added 1.
(4) the UTC temporal information (millisecond) that comprises of the hardware synchronization pulse of the generation of system time after synchronously can be expressed as: SYS_UTC * 1000ms+ timing interruption times * 10ms.
Utilize the hardware synchronization pulse that comprises the UTC temporal information that produces, IMU and mileage gauge output are gathered.Thereby realized the time synchronized of IMU, GPS and mileage gauge data among the POS.
(5) after this, execution in step (3) and step (4) finish until system works always.
The present invention is as follows for the monitoring of gps signal: in the next regularly interrupt service routine after whole second, if SYS_UTC＞GPS_UTC illustrates the gps signal losing lock, and put gps signal losing lock zone bit.This moment, system switched to IMU and mileage gauge integrated mode by IMU, GPS and mileage gauge integrated mode, provided high-precision position and attitude information to continue as carrier.
In the GPS pulse per second (PPS) is interrupted,, can judge that the GPS pulse arrives once more by gps signal losing lock zone bit.System recovery is IMU, GPS and mileage gauge integrated mode, clear then gps signal losing lock zone bit, and SYS_UTC composed to GPS_UTC, so that gps signal is proceeded monitoring.
The present invention can be used as the hardware time synchronizing method of multi-sensor combined navigation systems such as a kind of IMU of being applicable to, GPS, mileage gauge, height indicator, and application person can realize hardware time synchronized function by revising software flexibly and easily according to its special application.
Claims (6)
1, a kind of hardware time synchronizing method of position attitude system is characterized in that step is as follows:
(1) POS system is time-synchronized to the UTC Universal Time Coordinated UTC time;
(2) start-up system timer, and enabled systems is regularly interrupted;
(3) regularly interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by responding system; But, then interrupt producing the hardware synchronization pulse that comprises the UTC temporal information by response GPS pulse per second (PPS) when the GPS pulse per second (PPS) arrives and the system that do not produce when regularly interrupting;
(4) utilize the hardware synchronization pulse that comprises the UTC temporal information that IMU and aiding sensors are carried out data acquisition, GPS among the POS, IMU and aiding sensors are worked under the markers of UTC time, realized the time synchronized of data;
(5) judge whether system works finishes, if not, execution in step (3) and step (4) then continued, up to end.
2, the hardware time synchronizing method of position attitude system according to claim 1 is characterized in that: described step (1) POS system to be time-synchronized to the step of UTC Universal Time Coordinated UTC time as follows:
(1) sample frequency according to IMU is provided with system's fixed time interval;
(2) when obtain with the synchronous gps time of UTC after, enable the GPS pulse per second (PPS) and interrupt;
(3) when next GPS pulse per second (PPS) arrives, the gps time counting adds 1 as this gps time constantly, and is set to system time, realizes system time is synchronized to the UTC time.
3, the hardware time synchronizing method of position attitude system according to claim 1 is characterized in that: regularly the interrupt response process is as follows in system in the described step (3): the pulse of output hardware synchronization; Judge regularly interruption times, judged whether whole second constantly, if by whole second constantly, then regularly interruption times is clear 0, and the UTC time of system adds 1; If less than the whole second moment, then regularly interruption times added 1.
4, the hardware time synchronizing method of position attitude system according to claim 1 is characterized in that: GPS pulse per second (PPS) interrupt response process is as follows in the described step (3): the restarting systems timer.Judge that by the timing interrupt flag bit system regularly interrupts whether producing, if system regularly interrupts producing, then the GPS pulse per second (PPS) lags behind the hardware synchronization pulse, then only the UTC counting of GPS is added 1; If system regularly interrupts not producing, then the GPS pulse per second (PPS) is ahead of the hardware synchronization pulse, the pulse of output hardware synchronization, and regularly do not interrupt producing the hardware synchronization pulse by system, regularly interruption times is clear 0 then, and respectively the UTC of GPS and the UTC counting of system is added 1.
5, the hardware time synchronizing method of position attitude system according to claim 1, it is characterized in that: described step (3) when responding system regularly interrupts, also by gps time relatively and the system time after being synchronized to UTC judge whether losing lock of gps signal.
6, the hardware time synchronizing method of position attitude system according to claim 5, it is characterized in that: described comparative approach is: in the next regularly interruption after whole second, if the UTC of system is greater than the UTC of GPS, gps signal losing lock then, and put gps signal losing lock zone bit.
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| CN110879519A (en) * | 2019-11-08 | 2020-03-13 | 中国科学院长春光学精密机械与物理研究所 | Time system method and system for aerial stereo mapping camera |
| CN111288987A (en) * | 2020-01-17 | 2020-06-16 | 北京控制工程研究所 | Attitude measurement system based on soft synchronization |
| CN113633953A (en) * | 2021-06-21 | 2021-11-12 | 国家体育总局体育科学研究所 | Relay baton integrated with positioning module |
| CN113945229A (en) * | 2021-12-20 | 2022-01-18 | 北京北斗华大科技有限公司 | Embedded INS measuring time calibration system and method based on PPS |
| CN115281653A (en) * | 2022-06-29 | 2022-11-04 | 北京航天时代光电科技有限公司 | Wearable gait measurement system |
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