CN101826106B - Telemetering data access method for ground station of unmanned airship system - Google Patents
Telemetering data access method for ground station of unmanned airship system Download PDFInfo
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- CN101826106B CN101826106B CN2010101421048A CN201010142104A CN101826106B CN 101826106 B CN101826106 B CN 101826106B CN 2010101421048 A CN2010101421048 A CN 2010101421048A CN 201010142104 A CN201010142104 A CN 201010142104A CN 101826106 B CN101826106 B CN 101826106B
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Abstract
The invention relates to a telemetering data access method for a ground station of an unmanned airship system, which comprises the following steps: saving the telemetering data of the unmanned airship system as an internal memory mapping data base comprising a plurality of data files, simultaneously establishing a corresponding external memory data base, and establishing worksheets corresponding to the data files of the internal memory mapping data base one to one in the external memory data base; then setting a historical variable and a current variable for each data file in the internal memory mapping data base, wherein the historical variables are used for marking recording positions in the external memory data base, and the current variables are used for marking the current recording position in the internal memory mapping data base; and finally, saving updated data to the internal memory mapping data base and saving the data files from the historical variables to the current variables in the internal memory mapping data base to the external memory data base at regular time to replace the complex and expensive internal memory mapping data base, realize the real-time monitoring on the unmanned airship and meet the demands on telemetering data access in the aspects of real-time performance, reliability and usability.
Description
Technical field
What the present invention relates to is a kind of method of remotely monitored sensing technical field, specifically is a kind of telemetering data access method that is used for ground station of unmanned airship system based on memory-mapped.
Background technology
The land station of unmanned airship system separates the telemetry frame that receives through Radio Link and is counted as telemetry.The access method of telemetry is designed with two big demands: the one, conveniently realize EDR, analysis, and the flight course reproduction; The 2nd, satisfy the in-service monitoring system state, therefore real-time and reliability are had high requirements.
Retrieval through to prior art is found, has two kinds of technical schemes at present.A kind of is directly to realize with relevant database, though traditional relational database management data function is very powerful, and poor-performing aspect real-time and reliability, the common SUAV system that only is applicable to low side.Another kind is to adopt the real-time data base mode to realize, for example document " flight test telemetry ground station (FTTGS) scheme and QUAD 7 systems " (Yu Renyang, remote measuring and controlling, 1993) etc.The core of this implementation is a memory database, and promptly the working version of database resides in the internal memory, need not carry out the I/O operation.The development of memory database at present is ripe relatively, all have diversified mode at aspects such as architecture, data organization, access method, concurrent control, fault recoveries, but the ubiquity deployment operation is complicated, the high difficulty of cost.
Memory Mapping File and its is based on the virtual memory management mechanism of Win32, allows the user in virtual address space, to keep one section region of memory, is mapped to file destination in this section virtual memory, is mainly used in the data sharing on the single computing machine.Compare with memory database, Memory Mapping File and its need not carried out I/O operation to file yet, and aspect of performance also can satisfy the real-time requirement of data access operation, and it is low, easy and simple to handle to have a system overhead of taking, easily advantage such as enforcement.
The unmanned airship system has each relatively independent sub-systems, and the data structure of its telemetry is comparatively simple, affairs and query processing can be carried out and simplified and the data of each subsystem are directly distributed and can significantly reduce concurrent operations according to subsystem.
Summary of the invention
Deficiency to above-mentioned prior art; The present invention provides a kind of telemetering data access method that is used for ground station of unmanned airship system; Mode with memory-mapped deposits data file separately in according to affiliated subsystem; Can replace complicacy and expensive memory database and satisfy telemetry and be accessed in real-time, reliability, the requirement of ease for use aspect.
The present invention realizes through following technical scheme, the present invention includes following steps:
The first step, the telemetry of unmanned airship system is saved as the memory-mapped database that comprises the plurality of data file; Set up corresponding external memory database simultaneously, and set up in the deposit data storehouse outside and memory-mapped data of database file worksheet one to one;
Described data file comprises: the navigation map data file, fly to control mapping data files, energy mapping data files, advance mapping data files and ring control mapping data files;
The queue record that the data structure of described data file constitutes for several field series connection, its field length and record length can be set as required in advance.
Second step, for each data file in the memory-mapped database is provided with historical variable and current variable, wherein: historical variable is used for identifying the record position of external memory database, current variable is used for identifying the current record position of memory-mapped database;
The initial value of described historical variable and current variable all is set to each data file reference position;
The 3rd step, will Update Information deposits in the memory-mapped database, and with the control end of the data distribution in each data files in the memory-mapped database to unmanned airship system to carry out visual monitor;
The 4th step, timing are saved to the external memory database with historical variable in the memory-mapped database to the data file between the current variable; Restart land station's program when abnormal conditions occurring; Through the fault recovery module remaining data of memory-mapped data file is directed into historical telemetry storehouse, makes and do not lose telemetry when earth station system is unusual.
Technical scheme provided by the invention can satisfy the unmanned airship system land station's telemetry is accessed in real-time, reliability, and the requirement of aspect such as operational access is convenient, and has following beneficial effect:
(1) significantly reduces the I/O operation through memory-mapped data file mechanism, improved access speed, can satisfy the real-time requirement of the unmanned vehicle system being kept watch on through telemetry;
(2) the memory-mapped data file occurs can not losing when unusual in program, preserves the position of data recording through file mode, does not lose telemetry when having realized fault, has guaranteed reliability;
(3) compare with the mode of memory database, this programme take system overhead low, realize simple, cost is low.
Description of drawings
Fig. 1 is the embodiment synoptic diagram.
Fig. 2 is the data area structure of Memory Mapping File and its.
Embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
The operation platform of the unmanned airship system control end that relates in the present embodiment is an industrial computer, and it mainly is configured to dominant frequency P4 3.0G, internal memory 1G, hard disk 160G.Software is the application program that under Windows XP operating system environment, adopts Visual C++ too development, and the external memory historical data base that is adopted is Access.
The telemetry that described control end receives totally 130 tunnel is divided into navigation, flies control, subsystems such as ring control, the energy, propelling.For example, navigation subsystem comprises 12 road inertial navigation telemetries and 14 road GPS telemetries; Fly control subsystem and comprise 34 tunnel telemetries such as offline mode, angle of rudder reflection; The ring control subsystem comprises 16 tunnel telemetries such as pressure reduction, temperature, humidity.
Land station builds together for each sub-systems and founds 12 of memory-mapped data files.Wherein, Under pass frequency the soonest for 2Hz; Suppose that certain data file need preserve 12 road this type telemetries, add that it is 30 bytes that one time 14 tunnel telemetries of information such as clock synchronization take up room; Then the data file per second data volume that need consume is 60 bytes, if the pre-determined flight time is no more than 8 hours, it is that 2M just can satisfy the storage space requirement that the maximum memory mapping data files then is set.
As shown in Figure 1, present embodiment may further comprise the steps:
The first step, the telemetry of unmanned airship system is saved as the memory-mapped database that comprises the plurality of data file; Set up corresponding external memory database simultaneously, and set up in the deposit data storehouse outside and memory-mapped data of database file worksheet one to one;
As shown in Figure 2, described data file comprises: the navigation map data file, fly to control mapping data files, energy mapping data files, advance mapping data files and ring control mapping data files;
The queue record that the data structure of described data file constitutes for several field series connection, its field length and record length can be set as required in advance.
Second step, for each data file in the memory-mapped database is provided with historical variable and current variable, wherein: historical variable is used for identifying the record position of external memory database, current variable is used for identifying the current record position of memory-mapped database;
The initial value of described historical variable and current variable all is set to each data file reference position;
The 3rd step, will Update Information deposits in the memory-mapped database, and with the control end of the data distribution in each data files in the memory-mapped database to unmanned airship system to carry out visual monitor;
The 4th step, timing are saved to the external memory database with historical variable in the memory-mapped database to the data file between the current variable; Restart land station's program when abnormal conditions occurring; Through the fault recovery module remaining data of memory-mapped data file is directed into historical telemetry storehouse, makes and do not lose telemetry when earth station system is unusual.
In the present embodiment, the timing cycle of memory-mapped data file update to external memory database is set to 5 seconds.Finish and confirm that all telemetries all have been saved under the situation of external memory database at flight experiment, land station's program normally withdraws from emptying the memory-mapped data file automatically, and the record position that variable identified is reset to initial value; If occur withdrawing from unusually, then memory-mapped data file and variable sign remains on the state before withdrawing from, and feasiblely can continue the memory-mapped data file is imported to the external memory database after restarting land station.
Claims (4)
1. a telemetering data access method that is used for ground station of unmanned airship system is characterized in that, may further comprise the steps:
The first step, the telemetry of unmanned airship system is saved as the memory-mapped database that comprises the plurality of data file; Set up corresponding external memory database simultaneously, and set up in the deposit data storehouse outside and memory-mapped data of database file worksheet one to one;
Second step, for each data file in the memory-mapped database is provided with historical variable and current variable, wherein: historical variable is used for identifying the record position of external memory database, current variable is used for identifying the current record position of memory-mapped database;
The 3rd step, will Update Information deposits in the memory-mapped database, and with the control end of the data distribution in each data files in the memory-mapped database to unmanned airship system to carry out visual monitor;
The 4th step, timing are saved to the external memory database with historical variable in the memory-mapped database to the data file between the current variable; Restart land station's program when abnormal conditions occurring; Through the fault recovery module remaining data of memory-mapped data file is directed into the external memory database, makes and do not lose telemetry when earth station system is unusual.
2. the telemetering data access method that is used for ground station of unmanned airship system according to claim 1; It is characterized in that described data file comprises: the navigation map data file, fly to control mapping data files, energy mapping data files, advance mapping data files and ring control mapping data files.
3. the telemetering data access method that is used for ground station of unmanned airship system according to claim 1 and 2; It is characterized in that; The queue record that the data structure of described data file constitutes for several field series connection, its field length and record length can be set as required in advance.
4. the telemetering data access method that is used for ground station of unmanned airship system according to claim 1 is characterized in that, the initial value of described historical variable and current variable all is set to each data file reference position.
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| CN101315628A (en) * | 2007-06-01 | 2008-12-03 | 华为技术有限公司 | Internal memory database system and method and device for implementing internal memory data base |
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| CN101315628A (en) * | 2007-06-01 | 2008-12-03 | 华为技术有限公司 | Internal memory database system and method and device for implementing internal memory data base |
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| 张庆华等.基于Windows数据连续采集实时分析的实现及应用.《南京理工大学学报》.2004,第28卷(第3期),全文. * |
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